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KRYPTON Help Pages on DMM Modular

1. See also increasetestname 16 32 terminate terminate Input Output S o Description This function terminates DMM i o Example s terminate o o Seealso o 16 33 transform Result transform Element NewRef LedNumber Element STRING Required NewRef STRING Required LedNumber INTEGER Optional Output Result STRING Description This function transforms that is changes the frame of reference the element Element into a new reference frame called NewRef The result will be stored in a new element called Result H NewRerf is a static frame or a dynamic frame element the transformation will be a 6D transformation that is the orientation are converted to the new reference as well If NewRef is a LED file and a valid led sequence number is specified the transformation will be a 3D transformation this means that led no LedNumber will be the origin for the transformation but that the 3 LS orientation angles will not change this boils down to a pure translation of the old frame of reference Example s Pos6D ObjlnNewRef transform Pos6D ObjlInOldRef Identification NewRef Pos6DVObjinDynFrame transform Pos6D ObjInOldRef Pos6D DynFramelnOldRef Pos6D ObjlnNewRef transform Pos6D ObjInOldRef Acquisition Position3DWLedsnOldRef 3 See also KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 89 98 16 3
2. Toolbars Heset Figure 45 Customize tab sheet toolbars Toolbars this tab allows you to create new toolbars hide existing toolbars or deleting toolbars It is suggested to create a personal toolbar to place all user chosen icons on When a new toolbar is created this starts as a very small grey block Drag it besides the icon bar Checking or unchecking a toolbar shows or hides the toolbar Warning If you click Reset all all menu entries of additional modules will be deleted If you want to reset the toolbars while retaining the module toolbars go to the tab Menu and click on Reset for Default menu Commands this menu shows per category every possible menu item and its corresponding icon Just select the icon of a function and drag it onto the icon bar If you want to remove an icon just click on it on the menu bar drag it into the form while holding your left mouse button down Keyboard this menu allows to configure keystrokes as shortcuts for certain functions Select a category in the listbox Commands a list of all functions for that category appear Select the command you want to create a shortcut for In the Description window you ll get a description for the chosen command Should a shortcut already be defined for this command it will appear in the list box Current keys Click with the mouse in the text box labeled Press new shortcut key Just press the
3. Resanich Pork Ste EL rfereuvenioon D z Leuven ell LA oye 400 4 i ae Ove wie e a sm sd eee Es re kriplon De 3 I KRY PION INDUSTRIAL METROLOGY page 2 98 KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 3 98 Table of contents ke START HERE ee 11 2 INTRODUC HON BE 12 3 INSTALLING THE DMM MODULAR SOFTWARE ssrsnvnnvnvnnennvnnennennennennen 14 4 PRINCIPLES OF DMM MODULAR rrnesnennornnennennvnnnennennennnennennennnennensensnennenne 17 4 1 Measuring Be un 17 4 2 Measuring single points 3Dj nnnnvernnnnnnnvvevnnnnnnnnvevnnnnnnnneennnnnnnnveennnnnn 17 4 3 Measuring Frames 6D nnnennnnnnnennnnnnnennnnnnnennnnnnnennnnnnnennnnnnnennnnnnnnennnn 17 AA Transform to a user chosen reference frame annrnnnnnvennnnnevnnnnnnnnnnr 18 4 5 Orientation conventiOnNS rr sanruvnannunnnnnnnnnnnnennnnnnnnnnnnnnnnnnennnnvennnnnennnnne 19 5 MEASUREMENT SETUP CONSIDERATIONS rssensennvnnnennvnnnnnnennvnnnnnnennenne 20 5 1 Environment considerations n xxnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnennnnnnennnn 20 5 2 Camera position amp setting considerations rnrxrrrrvvnnnnnnnnnnnvevnnnnnnnn 20 6 ACTIONS BEFORE CONDUCTING MEASUREMENTS rservervennennennvnnvnnn 21 6 1 Configuring the camera S rrrrrnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnne 21 6 2 Checking LED visibility amp environment runnnnervrvevvnnnnnnnnnnnnn
4. but for each function will be specified wether it is available in the Standard or Advanced version KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 36 98 11 2 1 The function Offset ka This function offsets an entire data file Purpose is to add subtract a fixed offset in each direction so that the start or the end of a measurement coincides with the origin of the reference frame with the mean value of each direction or the static position of another element This function is available in the Standard and Advanced version Warning For 6D frames the function will also offset the angles this will result in erroneous orientation angles The results yielded for 3D data files 6D translations only or analog channels are correct If you want to offset the 6D orientations in a proper way create with Geoloc a static frame for the requested position teleport it to DMM Modular and transform the data file into this Static frame Output enter a data file in which for X Y and Z and the three angles a fixed offset is added or subtracted Offset Output Best Velocity modified ath Sai Input Original foriginalPath C Start C Mean C End EES 1dentiicationmyZera y This function substracts an offset from lt Unginal gt This offset can be the average value over 30 elements at the begin or at the end of lt Onginal gt or the average over the comp
5. Software changes from version 2 1 to version 2 2 1 a a 27 2 2 G i 2 When creating 6D frames the data file sequence number will be equal to the number of the corresponding led files Untill now this numbering was independent and could lead to confusion All the icons have tooltips to get a quick indication of their function The spreadsheet has a Delete function that allows to trim non functional data from a data file See chapter The Edit menu on page 51 2D graphs have a new ruler that indicates dX dY and distance between 2 points See chapter The 2D graph on page 52 scripts will no longer output messages to a separate tab sheet in the output window when recording a script variable names are put between double quotes automatically Scripts can run from a specific line without commenting the previous lines see chapter Script menu on page 67 Geoloc is closed automatically when DMM needs the camera New functions have been added to the base module minimum maximum average standard deviation and overshoot See chapter Calculation module Base on page 35 The memory management has been improved recent files remain in memory to accelerate calculations older files are removed to free up memory Software changes from version 2 0 to version 2 1 G a 7 2 FEI G i The acquisition pop up form was slightly changed See chapter Measuring single LED
6. active cursor The active cursor is marked in red The newest cursor will automatically be the active cursor To change the active cursor use the Arrow up or Arrow down key on the keyboard To remove a cursor right click in the white area of the output window and choose the option Cursor Remove A list box will appear with all the existing cursors select the cursor s you want to remove and click OK KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 49 98 12 1 2 12 1 3 12 2 Working with difference cursors As soon as two cursors exist you can define a difference cursor this cursor indicates the difference per variable between two cursors For example create a difference cursor SEN CHE Make cursor 2 active and move it to a ba 592 18 minimum position of a certain motion Now p3 200 18 make cursor 1 the active cursor and place F3 392 E cursor 1 at a maximum position the difference cursor now indicates the maximum 0 103 swing between those two positions 0 103 0 000 A difference cursor is always labeled Cx Cy where x and y are the cursor numbers Messages A Cursors Difference cursors are always marked blue NN Figure 30 difference cursors When there are only two cursors the only Curtar differance possible difference cursor is C1 C2 Cursor 1 Cursor 2 As soon as you have three cursors the nr following po
7. Apply system local e preferences Row delimiter da Decimal symbol W Add headers Cancel Help i PITT EP Figure 43 ASCII export settings tab sheet KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 64 98 File extension extension of exported data ASCII files The extension can be chosen from predefined extensions CSV or TXT or can be entered manually Row delimiter this character will separate two data cells from each other The delimiter can be chosen from the combo box or can be entered manually Decimal symbol this character will separate the decimal fraction of a number from the rest of the value The decimal symbol can be chosen from the combo box or can be entered manually Apply system local preferences if you click this button the software will search the operating system for the row delimiter and decimal symbol as set forth in the regional settings Clicking this button is the best guarantee that applications such as Excel can read the exported files However if you wish to send the files to a colleague who uses different regional settings you might have to specify row delimiter and decimal symbol manually Add headers if you select this option two lines with textual information will be inserted at the beginning of the file The first line holds the name of each column the second line holds the unit in which each column is expressed 14 3 1 3
8. Calculate point in 6D frame ps This function calculates the position of a 3D point in a chosen reference frame based on the coordinates of this point with respect to a dynamic object frame and the 6D position of that dynamic frame in the reference frame E g we know the coordinate of the corner of a cube in the cube object frame we know how the cube frame with its origin in the middle of the cube moved with respect to a world frame so we can calculate how the corner point moved with respect to the world frame This function is available in the Standard and Advanced version Express a grid of points in a dynamic 6D position x Result Fesults cloudPointsPositions Se ED element Position myED frame SS Grid of normal points dentificatonsmyPomntsCloud EE New grid DE Cancel Figure 21 calculate point in 6D frame pop up form Grid of nominal points this is the point cloud a set of multiple points of which you want to calculate the positions Either this point cloud was teleported from GeoLoc or you can create a new cloud on the spot by clicking New Grid enter the number of points in the cloud click on set and enter the coordinates in the grid 6D element Browse to the data file of the dynamic frame in which the point cloud is expressed The dynamic frame is expressed in a reference frame Result Enter the name of the data file in which for each point of the cloud the position is
9. My toolbars and menu are garbled after installing a new module In the main menu go to Tools customize Select the tab Menu and click on the Reset button Select the tab Toolbars and click Reset all See also chapter Customize on page 65 Creating spreadsheets amp graph s 7 My cursors are not functioning Go to the cursors tab in the output window Right click and choose Synchronize KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 95 98 19 6 Exporting to Matlab When I close Matlab and open it again I can t teleport my data files any more You ve lost the connection between DMM Modular and Matlab Save your workspace close Matlab and DMM Modular start Modular again In DMM Modular click on the Matlab icon H I can t teleport my data files not even when DMM Modular started Matlab for the very first time In the message window it says Matlab could not be started Probably DMM Modular could not register itsself with Matlab during installation It is likely that Matlab was installed after DMM Modular was installed Re install DMM Modular If this does not work delete the files LIBENG DLL LIBMX DLL LIBMI DLL and LIBUT DLL from the DMM lt root gt bin directory by default it s the directory c rodymdmma bin Locate these files in the bin directory of your currently installed Matlab version Copy them to t
10. Properties to open the properties sheet of the frame whose data file we re looking at See chapter The workspace window on page 23 Export exports the current data to CSV file or MAT file See chapter The function export on page Error Bookmark not defined Close to close the spreadsheet KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 51 98 12 2 2 12 2 3 The Edit menu The edit menu allows you to modify the cell data using existing data in another spreadsheet Copy to copy the spreadsheet partially or in whole to the clipboard This data can be pasted as is in Microsoft Excel The menu offers three possibilities a To copy paste the entire spreadsheet choose All if the soreadsheet exceeds 1500 samples the copy might start taking very long b To copy paste only the part you selected choose Selection C To copy paste the results of a search query choose Results of search see chapter The Search menu on page 51 Paste to copy a selection of spreadsheet cells into the opened spreadsheet starting at the currently active cell This data can be copied from Microsoft Excel Attention The pasted data permanently overwrites the old cells in the data file Delete to delete selection of spreadsheet rows If you have selected one or more rows delete will remove these rows permanently from the data file Before deleting the rows a pop up form ap
11. ACQUISITION men 66 Lee TEE Lei kanna meine 74 Addfromfile ner 74 Advanced See base Sail E 93 OG gt EE EEE ee 33 base menu rarnrnrnrnrnrnanananananananener 67 calculate point in 6D frame 39 Calculatemean 1 75 Calculatestd Juan 75 GAIN le EE NER 11 change orientation convention 38 Clearmemory 1 75 MMM 10 ele Huele LEE 46 47 Compensatelinearphasefilter 76 configure acquisition ararnnnnnnnnnnr 25 configure camera cc eceeeeeeeeeeeeeees 19 Configure DMM Modular 22 CODY TEE 76 COP varer 9 create 6D dala e ccrainnsieii an 32 createframe 1 76 SEE 38 39 48 60 MEN 45 91 data menu 48 data organisation ccceeeeeeeeeees 87 PG 49 al CC E L distance rnrnanananarananavavanavenanannnnrn 35 NS Herren 77 DMM Modular 10 dynamic frame erannnnanannnnnnnnanenr 16 93 edit menu 49 GTwIrOnment 18 O ee E 17 HE 47 49 52 3 400 4 ee 38 39 3 JO UG NE 78 PET Lenser 78 filecopy 1 78 Hiter dola EE 42 MEN E E 79 findmaximum 1 79 el La ago d 79 fit polynome sassoseosennensensenseresrrererrenne 40 EE 93 frequency spechrum 42 function SCripi seu n e guer gea E et S 70 1 70 e 10 23 58 64 globaladd WEE 80 KRYPTON Help Pages on DMM Modular page 97 98 globalemptylist 1 80 89 GAON EC 45 91 NSIP MONU secdcdcouuereitessorrenanasneoereonass 67 Id NtifiCatiOn sinirinin 93 identify men 64 EN ee 80
12. Comment optional comment field 11 2 5 The function statistics The function statistics groups 4 statistical functions find the maximum find the minimum calculate the average value and calculate the standard deviation Each of these functions yield one or more numbers which can be added to the result files This way results from multiple measurements can be compared These functions are available in the Standard and Advanced version 11 2 5 1 The function Find maximum ha This function finds the maximum value for X Y and Z and the angles if applicable in a data file Maximum refers to the absolute value negative values are taken into account too Parameters Result name of the data file to which the maximum s will be added as a new line Original name of the data file in which to find the maximum s Comment optional comment field 11 2 5 2 The function Find minimum This function finds the minimum value for X Y and Z and the angles if applicable mi ON ATA nm I j in a data file Minimum refers to the absolute value negative values are taken into account too Parameters Result name of the data file to which the minimum s will be added as a new line Original name of the data file in which to find the minimum s Comment optional comment field 11 2 5 3 The function Calculate mean Tt This function calculates the mean value for X Y and Z and the an
13. Data STRING Result STRING Description This function copies the element Data to a new element Result Example s Position6D File_B copy Position6D File_A NN ME E See also 16 8 createframe Result Residu createframe Data Identification ledNr Data STRING Required Identification STRING Required ledNr INTEGER Required Result STRING Required Residu STRING Optional Example s Pos6D object createframe Acquisition camera ledsOnObject DynObject 4 Pos6D object ResidualErr object createframe Acquisition camera ledsOnObject DynObject 4 See also Description This function creates a 6D element Result based on the measured led data Data and the dynamic frame Identification ledNr is the sequence number of the first led of the dynamic frame in the measured led data The 6D element Result will be expressed in the same reference frame as Data If Residu is specified a new element will be created that holds for each led the residual error error between measured led position and nominal led position in the dynamic frame He 16 9 delete delete Element1 Input Elementi STRING KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 80 98 Description This function deletes the element Element1 from the workspace At least 1 element name must be specified Multiple element names are accepted
14. Frequency on page 44 Join measurements this function has been described in chapter Ihe function Join measurements on page 45 Distance this function has been described in chapter Ihe function Distance on page 37 14 8 Help menu This menu has two functions Help activates the Windows on line help function on DMM Modular About DMM Modular returns a splash screen with DMM Modular s version number and build number Always communicate these numbers when reporting problems to Krypton KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 71 98 15 15 1 15 1 1 Scripting writing and using macro s Scripting is a very powerfull utility of DMM Modular Scripting allows you to record or program a set of measurements This macro can be replayed an infinite number of times In a script clarifying messages can be sent to the operator this means that one person can write scripts distribute them to multiple measurement stations where an operator just follows screen instructions DMM Modular scripts can execute a variety of functions 2 they can execute menu actions they can execute other DMM Modular scripts they can execute Matlab scripts DMM Modular scripts are ASCII files they can be read modified or saved by any text editor DMM Modular s own script editor however has some utilities that make it a very handy tool when dealing with scripts
15. General Camera Analog Digital Counters Enable Enable Mame 1 my specified nam ST Figure 10 measurement configuration tab digital Enable enable disable the individual channel Name keep the default name or specify your own channel name by double clicking and overtyping the name Tab Counters This tab is only relevant if you have an ADC600 for measuring counter inputs If you have no ADC600 proceed with chapter Measuring single LED s or objects on page 32 To enable or disable all 3 channels at once check uncheck the Enable checkbox on top Configure for each channel the following General Camera Analog Digital Counters Enable Enable Mame pit Factar Offset Counterl i 100 000 2 1 Counter 1 00 DO 3 oO Counter3 1 00 0 00 Figure 11 measurement configuration tab counters Enable enable disable the individual channel Name keep the default name or specify your own channel name by double clicking and overtyping the name Unit specify the unit you want the result to be expressed in You can have the result immediately as a linear function of the number of increments Y M X Q Factor Factor is the M the linear scale factor Offset Offset is the Q in the linear scaling KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 32 98 10 Measuring single LED s or objects This chapte
16. KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 13 98 This page is only intended for users that are upgrading to a newer version Software changes from version 2 2 to version 2 4 SC 2 2 Ge 2 ce ae 2 From now on DMM Modular comes in two versions Standard and Advanced The Advanced version supports exportation to Matlab and has more functions See chapter Calculation module Base on page 35 The DMM Modular now supports 2 Krypton camera families the Rodym camera and the K600 camera The 3D view has been changed from now on it supports DXF files LED s in the 3D view can be connected by lines a Copy to Clipboard function Zaxis invertion 9ee chapter The 3D view on page 55 The function Transform has been modified See chapter The function Transform on page 35 The function Change orientation convention has been modified See chapter The function Change orientation convention on page 40 The function export has been extended with an RPC3 output format See chapter The function export on page 40 When exporting to file from within a script script variables can be used to replace fixed test names or sequence numbers See chapter export _ on page 81 New functions have been added to the base module filter frequency and joinmeasurements See chapter Calculation module Base on page 35
17. The total length of a script file name plus his path can not exceed 128 characters If it does the script will not be run We ll start with explaining how to write an easy top level script Next we ll go into how to use scripts within scripts Writing a single level script DMM Modular scripts can be created in two ways they can be written off line using a dedicated DMM Modular editor they can be teached DMM Modular records all the operations performed by the user Both methods have their advantages and drawbacks off line writing has the greatest flexibility but requires the user to be familiar with the DMM Modular script syntax Unexperienced users can easily make mistakes this way teaching is the easiest the user is not confronted with DMM Modular s syntax But this means that a number of functions such as the message function are not accessible in teach mode Scripts are sometimes longer due to rename operations The advised method is a mix of the two record the first draft of the script using the teach mode then open the script in the DMM Modular editor or any other editor filter out the overhead manually and add message functions at will When reading the following chapters please bear in mind that choosing an option from the main menu can also be done by clicking the corresponding icon on the icon bar See chapter Script menu on page 67 for these icons Writing a scri
18. dropped behind the opening brace of the parameter list KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 73 98 15 2 If in the function selector a function syntax is depicted as element1 element2 than this means that one of the elements between braces should be picked If in the function selector a function syntax is depicted as lt element gt than this means it is optional Optional elements should NOT be written in the script and should not be put between the lt gt signs E g Right outoput velocity input outout velocity input Scalar modified_in_world offset myFrame in world START Wrong output velocity input lt scalar gt modified in world offset myFrame in world START Using scripts within scripts A script can be regarded in two ways as a fixed set of operations or as a function that calculates one specific sort of data The single level script see chapter Writing a single level script on page 71 usually is a fixed set of operations When using nested scripts the top level script also is just a fixed set but the branches can be of two sorts We ll clarify the difference with an example Suppose I have a calculated a data file measurementi and measurement2 Suppose I have three scripts TOPLEVEL script FOO script and BAR script top of file this is script TOPLE
19. identifying objects eseseeeennn 23 91 increasetestname 1 80 installation orrnraroronrnvovanrnvenener 13 joinmeasurement 1 81 joinmeasurements rrrnannrnrnavanannnnr 43 LED viabulgv 19 30 210 1 1 0 EE EE 52 markere 48 52 MAUD senest 56 92 Matlab function orerarararnrnrnrnrnrnenr 69 MAXIMUM rerernarerernrnenr See Statistics Me Narr See Statistics MEN 32 measurement Setup See setup measuring LED s 00eee 24 91 MESSAGE dried 81 minimum See Statistics modules rn 11 32 44 object EEN 21 Object TAME sersut 93 Object identification See Identification offe 34 39 EE EE 82 orientation convention 17 38 39 orientationchangef csceeeeeeees 82 Overshoot cece cee eee eeeeeeeeeeeeeeueeeas 36 41 OVERS rema 83 DASS VON uusadeenpampaajginige 20 64 pointinframef cece eee eee eee eeee eee 83 DOIIE EE EE 84 Dolvnomal See fit polynome Droe 5ee data organisation Project men 57 properties rrararorararararnrnrnenenenene 21 53 ES e T 49 rename EE 84 EEE T 51 FU 65 saveall ln 84 Script mem 64 SCO UNG NEE 11 68 search menu 49 settestnamef 1 85 SEENEN 18 SUD EN 18 Space Probe sses a 19 spreadsheet nnnnnnnenneneen 11 21 91 Stand rd RE See base Static frame 0 cece eec cece cece eens eeeeees 16 93 STANS e 37 42 KRY PION INDUSTRIAL METROLO
20. measure 3D and 6D motions and how to represent them Finally we ll discuss the possibilities of the main menu Each of the 4 steps will be explained in a separate chapter This chapter is written assuming that all default values for directories program groups and such were chosen during installation The DMM Modular user interface In this chapter we ll look at the DMM Modular user interface and the division into different zones The use and yield of each zone is independent from the chronology of operations and is therefore discussed as first topic Open the program group Krypton Start Rodym DMM E Rodym DMM mytest Project View Tools Identify Script Extension Window Help EET Identification Ele Acquisition H E position I Analog HE Digital G views EH Data F Messages A Cure Beach Supervisor mptest Figure 5 DMM Modular user interface KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 23 98 7 1 1 You will be prompted to enter a user login and a password By default the user login is supervisor and the password is nil no password New users can be created and their rights can be modified see chapter Users on page 66 The interface is divided into 4 different zones each with a specific function 1 main menu icon bar on top Through this menu all options configurations and features are accessible
21. open the tab Data of the workspace window Drag the requested data file from the workspace window onto the 3D view and drop it there Do NOT drag dynamic frames or static frames into the 3D view The information comprised in these files is differently interpreted by the animation relying on their information might set you off on the wrong foot If the data file contains 3D data you ll see red spheres appear in the 3D view representing the LED s If the data file contains 6D data you ll see a frame appear in the 3D view representing the object frame If the properties were set appropriately you ll also see a rendered CAD model around the object frame KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 56 98 Click right in the 3D view a pop up menu will appear with different Zoon all settings Add cursor Look from V 12 4 1 1 Cursor controls Look at H Add cursor every pose in the 3D view corresponds to 1 cursor You S can add this cursor it will appear in the cursors tab of the output SE window Do not forget to synchronize your cursor Navigating the Animation cursor in the cursors tab will show the 3D perspective corresponding with that sample in the data file He aa eet As Make line mark Remove line marks Copy Pririt Settings 12 4 1 2 Animation controls The animation controls configure the moving properties of the 3D view Amplified motion This option allows you to ampl
22. 1 Working with single cursors cccccccecececececeeeeeeeeeeeeeeeeaeaeeeeeeeaesenenees 47 12 1 2 Working with difference cursors EEN 49 12 1 3 Remaining cursor OPTIONS cece cccecec ec ec ec eceeeeeeeeeeeeeeneaeeeaeeeeeaeeenenees 49 12 2 The Spreadsheet ViICW nnnnnnuunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnuununnnvnevennnnnnnnnnnnnnn 49 1221 The Data men eee 50 1222 Tne Edit NOEN 51 12 2 3 The Search menu 51 I72 323 TCriterium na anaona na naonna DAAA AEAEE DAADA DAADA D aa annann 51 12 2 3 2 Reset SCAICH cissicvncscosaisis stavizvesdesiessdidsnsenianiaecatdensiicdsetarcasdvtieheseathedacssatantdereeseesdectenias 52 KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 5 98 12 3 116201 IM 52 12 4 The3D view annunnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnennnnennnnnnnnnnennnnen 55 12 4 1 1 Cursor Controls EE 56 12 4 1 2 Animation controls 56 12 4 1 3 View SEE 57 13 EXPORTING TO MATLAB rsvrravnnvrnvnnnvnnvnnennnvnnvnvennnvsnenvensnvsvervnnsnenvensnnsnennenn 59 14 OPTIONS IN THE MAIN MENU 60 141 Project TB 60 V NN 62 14 3 TOOIS MEMU EE EEE NE anini aiia 62 Vo ODO eee 62 14 3 1 1 General options 63 er 63 ER EP Acquisition OPON EEE EEE 64 14 3 2 9101 0 0 0 74 gt aasnneaenneeennnennnnrnnnnnrnnnnrnrrrnnnrrunnrrrnnnrrnnarrrnnnrrunaerrnnnern nannt 65 VL RR 66 14 4 Identify NE 67 4S SP MENU serso cv 67 14 6 e IECH e o Wun UE 69 14 B
23. Acquisitionyposition3bypenduledd AcquisitionyposittonSBypenduledd Time Fort 2 led x Acquisitionspositionsbypenduledd AcquisitionyposittionSBypenduleQd Time Port 2 led 2 Acquisitionspositionsbypenduledd AcquisitionyposittionSBypenduleQd Time Port 2 led 1 z Acquisitionipositions OD pendule HF AcquisitionipositionsBypendule HF Figure 36 2D graph legend window To delete a line plot click on the X or the Y of the plot and choose Delete from the legend s menu To change a plot colour click on the X or the Y of the plot and choose Change colour from the legend s menu Select the colour you want and confirm To close the legend choose Close from the legend menu Add To add a line plot to the 2D graph This option is interesting if you want to compare synchronised data from two files e g an analog displacement sensor vs the optically measured displacement The first pop up asks for an element for the X axis Enter the name of the data file that describes the motion of an element If the variables for the Y axis come from the same data file uncheck Select a different element for the Y axis In case of a different data file check the checkbox and enter the name of the other data file KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 55 98 Select elements Ei Element for ais e The next pop up is the dual list box as seen in the beginning of this chapter Compl
24. Modular KRY PION INDUSTRIAL METROLOGY page 11 98 1 Start here Welcome to the DMM Modular user manual DMM Modular is a software package to measure and analyze complex kinematic and dynamic properties of structures both in 3D and 6D Each acquisition can be expressed in a static or dynamic user specified reference coordinate system This guide is intended for all users working with DMM Modular This document will guide you through all the features this software has to offer This guide will follow a top down approach as you would approach the system for the first time Step by step we ll go through all of the possibilities starting with the obvious features and ending with the most powerfull and versatile features This guide assumes you have a basic knowledge of the Krypton camera systems the GeoLoc software CMM 5 xx and that you have some basic experience with the Windows operating system This guide assumes that all hardware is set up and that all components including the Space Probe are operational If you don t have a basic knowledge of the Krypton camera systems or you are interested in its features please refer to the following manuals 2 Rodym6D system guide and Rodym6D utilities guide if you are using a Rodym camera 2 Krypton helo pages on Kx00 Utilities if you are using a Kx00 camera If you don t have a basic knowledge of the Krypton GeoLoc software or you are interested in its f
25. Points STRING Required hold the 3D motions of each point of interest with respect to the reference frame in which the dynamic frame Frame is expressed Pos3DlengineCorners pointinframe Pos6D engineVsWorld Identification CornersVsEngine The element Frame expresses the motion amp orientation of the Origin of a dynamic frame with respect to a reference frame However if you are interested in the motion of another point of the dynamic frame with respect to the reference frame you can use this function to calculate it The element Points is a matrix holding XYZcoordinates of the points of interest expressed in the dynamic frame Result will SS See alen o O KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 87 98 16 28 polyfit Result Residu polyfit Xinput Xchannel Yinput Ychannel Degree Xinput STRING Required Xchannel INTEGER Required Yinput STRING Required Ychannel INTEGER Required Degree INTEGER Required Residu STRING Optional Description This function fits a polynome function of a measured or calculated timeseries The polynome can also be calculated to express two channels versus each other e g the linear regression between force and displacement The polynome fit of Degree th order will use the Xchannel th channel of element Xinputas X coordinates and the Ychannel th channel of element Yinput as Y coordinates as input data The polynome X values equa
26. STRING Required Destination STRING Required Output Example s filecopy C Results report xls D transferdata xls See also p Description This function copies the physical file Source to the physical file Destination Source and destination should hold full path and file m names i oe 16 15 filter Result Filter Element Type Poles Frequency Element STRING Required Type STRING CONSTANT lowpass highpass Required Poles INTEGER Required Frequency FLOAT Required Output Result STRING Required Description This function applies a digital filter algorithm to a data file Element that corresponds to a classic Butterworth low pass or high pass filter This digital filter does not shift the filtered data with respect to the unfiltered data as do analog filters If Type equals lowpass a low pass Butterworth filter is emulated if Type equals highpass a high pass Butterworth filter is emulated Poles specifies the number of poles of the filter Frequency specifies the cut off frequency This digital filters does NOT resolve alias effects Example s Result filtData filter Pos6D ObjectA lowpass 6 5 0000 See also o o 16 16 findmaximum Output findmaximum Element ExtraComment MEN Element STRING Required ExtraComment STRING Output Output STRING Required Description This function finds the maximum for each column in the data fi
27. adding an infinite number of sines with different frequencies and amplitudes Due to mathematical limitations and the fact that we are KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 45 98 sampling signals in a discrete manner the highest frequency that can be calculated is half the measurement frequency E g we measure at 100 Hz so the highest frequency in the calculated spectrum will be 50 Hz When choosing this function the frequency pop up form appears Frequency Output Result Frequency Position D i MotionFrequehey5pectrum D Input Original Position6D original otion Comment optional Figure 25 the frequency pop up form Parameters Result name of the data file in which the frequency spectrum will be stored Original name of the data file from which a spectral analysis is required Comment optional comment field 11 2 12 The function Join measurements dte This function applies only for situations where synchronized data from two PC s must be joined on one PC to perform calculation A good example is the measurement of two car wheels for which the relative angles are to be calculated on 1 PC This function is only available in the Advanced version Before executing this function make sure the two data files are present in the project workspace the data file from the other PC must be imported either by the menu option Add From file see c
28. animation sequence Start animation to show the specified sequence at a very slow pace allowing you to carefully study every detail of the motion The motion will be repeated indefinitely Should you right click and choose Animation again you ll see that this menu item changed to Stop animation choosing this option will stop the animation Save as AVI to export the animation as an AVI file that you can view with any multimedia player Set endpoint Start animation Save as AV View to set the observer s viewpoint at 1 of 7 predefined viewpoints top bottom left right front back or isometric KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 57 98 Look from to set the observer s viewpoint equal to the current position of one of the objects in the current view these objects are listed when opening the menu item The current position is indicated by the cursor Look at to set the observer s point of focus equal to the current position of one of the objects in the current view these objects are listed when opening the menu item The current position is indicated by the cursor 12 4 1 3 View controls You can pan the view by moving the mouse over the graph holding down the Shift key and the left mouse key as long as the left button is down the graph will follow the movements of the mouse You can rotate the view by moving the mouse over the graph holding down the Ctrl key and the
29. export allows to configure the data export to ASCII files depending on regional settings Acquisition configures for acquisition related settings Every time a module is added a new tab sheet will appear where the user can enter the settings for this new module KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 63 98 14 3 1 1 General options Settings General Acquisition ASCII export Synchro settings Default orientation all Ech ae ss Language Data directory for new projects English Deutsch Script directory Fraricals Geoloc application f Use Matlab in scripts Figure 42 General settings tab sheet Default orientation this is the default orientation convention see chapter Orientation conventions on page 19 Language language of the user interface The changes will be applied the next time the application is started Data directory for new projects this is the default directory DMM Modular will create subdirectories in every time a new project is created Script directory default directory where DMM Modular will look for scripts Geoloc application full path and name of the application that will be called when an object identification must be performed Use Matlab in scripts if checked DMM Modular scripts will be able to execute Matlab scripts 14 3 1 2 ASCII Export options Settings General A5L0II export Acquisition File extension
30. let s call this frame lt object_rest gt replace object by your chosen name create with GeoLoc a dynamic frame see GeoLoc manual Name the dynamic frame lt object gt Use the static frame lt object_rest gt as external coordinate system Repeat this for every object you want to track in 6D During these actions bear in mind the recommendations specified in chapter Measurement setup considerations on page 20 Drag all the created dynamic frames into GeoLoc s operand window and teleport the dynamic frames see GeoLoc manual to DMM Modular They will appear in DMM Modular in the identification folder of the workspace window KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 26 98 9 9 1 Configuring a measurement This sub chapter describes how to measure raw LED data This LED data can be viewed as movements of single points 3D or can be grouped to derive an object s 6D motion from Et An acquisition is started by choosing Acquisition SE Measure from the main menu or by clicking the Measure icon on the icon bar A pop up form will appear with 5 tab sheets If you have installed an ADC600 the last 3 will be enabled if not the last three will be disabled Tab General This tab configures all common settings for the acquisition Acquisition settings General Camera Analog Digital Counters Output to Measureme
31. low pass or high pass filter This digital filter does not shift the filtered data with respect to the unfiltered data as do analog filters Digital filters do NOT resolve alias effects When choosing this function the filter pop up form appears Filter Output Dest Pasition6D VilteredD ata S Input Original Position6D untilteredD ata Filter type lowpass sl Filter onder ap Cut off Hz US Comment optional F Figure 24 the filter pop up form Parameters Result name of the data file in which the filtered data will be stored Original name of the data file which holds the data to filter Filter type select low pass to filter out all high frequency components select high pass to filter out all low frequency components Filter order specify the filter order For every order an attenuation of 20 dB per frequency decade is obtained Cut off Hz specify the filter cut off frequency the frequency which is attenuated by 3 dB All higher lower frequencies for a low pass high pass filter will be attenuated stronger depending on the selected filter order Comment optional comment field 11 2 11 The function Frequency This function performs the spectral analysis of a given signal This function is only available in the Advanced version This function calculates the frequency spectrum of each variable in a given data file that is try to obtain the same time series by
32. rotating around this vector brings us with 1 rotation from position A to B The angle of rotation is the vector norm in radians this is always the smallest angle to transit Preferred convention when indicating small orientation errors comparison expected measured path Disadvantage is an ambiguity once the vector norm exceeds The three coordinates are the lengths of the three vectors Sx Sy and S that compose the screw vector When using the first two orientations it is important to avoid identifications that place a frame axis 1 or 3 parallel to the reference frame axis 3 or 1 this is a singular position a position where it is possible to calculate an indefinite number of points Such situations will amplify noise and reduce accuracy of the angles In general if an object frame is identified parallel to the reference frame there is no problem KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 20 98 9 Measurement setup considerations This chapter describes a few precautions to take when using a Krypton camera system to optimise visibility and accuracy of a measurement Naturally these considerations can be overruled by factors imposed by the measurement setup reference points that are not easy to acces LED adhesion points 5 1 Environment considerations a ae 2 Gei 2 Avoid hot light sources containing infrared light by not orienting the camera towards windows light
33. stored in a sub folder camera If you selected Calculate residual deviations see subchapter Tab camera on page 27 the software will calculate a time history of the residual errors of frames KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 34 98 11 11 1 Calculating result files Sometimes the automatic calculations after an acquisition are not sufficient and you d like to perform extra calculations this can be the calculation of an extra frame to express measurements in another frame convert data units Since DMM Modular allows for custom modules to be added the number of applications is unlimited Therefore we restrict the possible postcalculations to the most common ones Calculation module Acquisition This standard module gives the user all the tools to measure create 6D motion data files and express data in different reference frames 11 1 1 The function measure EZ This function has been described in chapters Configuring a measurement on page 26 and Measuring single LED s or objects on page 32 11 1 2 The function Create 6D data a The function Create 6D data is only useful for 6D motions It calculates the position and orientation of a dynamic frame of an object based on the positions of the LED s linked to that object Result Enter a name for the result file This file will hold for each moment in time
34. the position and orientation of the dynamic object frame with respect to the LED s frame of reference Measurement browse to the file holding the raw LED data Identification browse to the dynamic frame as identified for this object see chapter Configuring DMM Modular on page 24 First LED first led in the file lt Measurement gt that is part of the dynamic frame lt Identification gt This value is filled in automatically but can be changed anyway Create 60 variable Ei Result Position6D myDynObjFrame ES Measurement f cquisitioniposition3D myleds P ldentification fldentificatiorimplbj First led GB Generates 6D data lt Result from 3D data Measurement using the identification information lt Identification gt lt LedNumber gt re the first Led which is attached to the 6D object This value 12 automatically set OF Cancel Figure 13 create 6D variable pop up form KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 35 98 11 1 3 The function Transform 11 2 4 The function Transform recalculates 3D or 6D data files from one reference frame to another e g from camera frame to a world frame If you want to transform the data into a static frame of reference frame did not move with respect to camera select a static frame in the Identification folder If you want to transform the data into a dynamic frame of reference frame did move with res
35. the function is a new data file with three columns X the independent variable Y the calculated polynomial dependant variable Ey the error between each Y value and his polynomial Y value When choosing this function the polynomial fit pop up form appears Parameters Name name of the calculated data file X data data file from which to retrieve the independent variable X X Channel once the file is selected you can select the variable that will be the independent variable of the polynomial fit X from if unchecked the range lower limit will be the first value of the X channel If checked the user must specify the range lower limit X to if unchecked the range upper limit will be the last value of the X channel If checked the user must specify the range upper limit Y data data file from which to retrieve the dependent variable Y Y Channel once the file is selected you can select the variable that will be the dependent variable of the polynomial fit KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 43 98 Y from if unchecked the range lower limit will be the first value of the Y channel If checked the user must specify the range lower limit Y to if unchecked the range upper limit will be the last value of the Y channel If checked the user must specify the range upper limit Degree of fit highest power of nin the fit Remember you n
36. time It can be used as index when investigating values or when looking at spreadsheets 2D graphs or 3D views You can define multiple cursors A special kind of cursor is the difference cursor this cursor makes the difference between the values at which two other cursors are pointing This is an easy feature to visually find the distance between a graph maximum and minimum 12 1 1 Working with single cursors All cursor values are displayed in the output window Select the tab Cursors in the output window Add Move the mouse into the white area of the Add difference Variable output window and click right select Remove Synchronize Cursor then select Add TF Messages A Cursors 4 Sct peng In the white window a line will appear labeled Cx where xis the cursor number Figure 27 cursor tab in output window The cursor line will have no columns yet because there are no variables selected yet Move the mouse into the white area of the output window and click right select Variable Add a pop up labeled Variable selection will appear with all available files Select one file and click OK Next a listbox labeled Select channels will appear Select all the variables you want to track from this listbox and click OK KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL MIE TRO ES SS page 48 98 Variable selection Select channels C RodymbMM2 Bi
37. 0 camera refer to the manual Krypton help pages on Kx00 Utilities chapter K Check LED visibility amp environment If you purchased a Rodym 6D camera refer to Rodym6D system guide chapter configuring amp operating the Rodym 6D hardware Checking the Probe If you purchased a Kx00 camera refer to the manual Krypton help pages on Kx00 Utilities chapter ProbeCheck checking the Probe functionality If you purchased a Rodym 6D camera refer to Rodym6D utilities user guide chapter using the Rodym 6D utilities Calibrating the Probe If you purchased a Kx00 camera refer to the manual Krypton help pages on Kx00 Utilities chapter ProbeCal calibrating the Probe If you purchased a Rodym 6D camera refer to Rodym6D utilities user guide chapter using the Rodym 6D utilities KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 22 98 T 7 1 Using DMM Modular The following chapters will describe all options and features of DMM Modular When measuring with Rodym DMM Modular in general always follow these steps Identification of the object s measuring the LED s calculations and analysis of the object s motions showing the results roa Jr First we ll take a closer look into the DMM Modular user interface so we know which information can be found or expected where on the screen Next we ll discuss how to
38. 4 11 1 2 The function Create 6D data 0 cece cece ence eenceeeueeeeueeeeuaeenueeenas 34 11 1 3 The function Transtom 35 11 2 Calculation module Base rvarvaxvnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnenn 35 11 2 1 The function Offset 36 11 2 2 The function Distance cece cece ccc eee eee ee eeeaeeeeeaeeeeeuaeeennnneeennnees 37 11 2 3 The function Calculate velocity anennnnonenanennnnnnnnenernennnnrerernnnsene 37 11 2 4 The function overshoot 2 0 0 ccc c cece cceccccceeeeccucceeeecuuueeeeeeuuuuneeeeenuunnens 38 11 25 TAG function eat ukunst BENENNEN EE bind sex 39 11 2 5 1 The function Find maximum 39 11 2 5 2 The function Find minimum 39 11 2 5 3 The function Caloulatemean 39 11 2 5 4 The function Calculate sid 40 1 26 VAG UNCION EPO teen eege ege geen eeng 40 11 2 7 The function Change orientation Convention 40 11 2 8 The function Calculate point in 6D frame rrannrnanarnrvarnrrennrnennrnevennen 41 11 2 9 The function fit polynome E 42 11 2 10 The function Filter 44 11211 The tuncton Frequency seiciisarntorciesncnstriesvetaremvereseseseranmmenstebaseenant 44 11 2 12 The function Join measurements ccc cecccceeececcceceeucueceeeeuuuueeenens 45 11 3 Adding Calculation modules rervrvvvnnnnnnnnnnnnnnnnnnnnnnnnnvnnnnnnnnnnnnnnnnnnnn 46 12 CREATING SPREADSHEETS amp GRAPH S ENEE 47 121 Working WIIN TC EC 47 12 1
39. 4 velocity Result velocity Element Scalar NN Element STRING Required Scalar STRING CONSTANT scalar Optional LedNumber INTEGER Output Result STRING Description This function derives any element Element holding timeseries once versus time The velocities will be expresses separately along the axes of the frame of reference If Scalar is defined the norm of the total velocity V Vx 2 Vy Vz is calculated Example s Velocity ObjSpeed velocity Position6D Obj aa Velocity ObjSpeed velocity Position6D Obj scalar See also 16 35 wait wait WaitTime E Input WaitTime INTEGER Optional Output PG Description This function stalls script execution for WaitTime milliseconds If WaitTime is not specified the software waits for a key to be vr Example s wait wait Geer See also also 16 36 waitmessage Am MA MSSSEGE Message LT input Message SRNG STRING output n This function shows a pop up box with a message string EE Eee which the user has to confirm by clicking OK Example s waitmessage Click the OK button to proceed ann See also 16 37 warning warning WarnMessage SS Input WarnMessage STRING FLOAT or INTEGER Output OCS SS Description This function generates a warning condition that will display the string WarnMessage in the DMM message window Be carefull A
40. 98 Freely specified when calculating data e g to save all velocity calculations in a folder test_01 08 2001 velocity To create a new project see chapter Project menu on page 60 To create a new test within a project select SS See the option set test name from the project menu A pop up form appears in which the name of the new test can be entered If the test already existed this test will be the Testname active test untill a new test is created or Test name myNewT es untill the software is closed created The test folder will NOT appear in Lancel Reset the workspace window untill the first data file If the test did not already exist a new test is is created or imported Figure 52 data organisation set test name In case the user wants to execute multiple runs of the same test DMM Modular has a feature to increment a test To when incrementing a test DMM Modular will create new tests whos names end with sequence numbers myNewTest1 myNewTest2 Incrementing test names can only be done from within a script setT est script Of x settestname settestname myNewTest Tneressetestnamet Identification ymyFrame sddfromfilel C yframes jmyFrame mat settestname Figure 53 data organisation incrementing test names from a script Settestname will create open a new project with the same pop up form as when creating opening a test fro
41. Acquisition options Settings Ka General ASCII export Acquisition Camcheck path ce rodymbD camcheck camcheck exe Mavmum allowed 60 deformation mm os M ADCEOD present Cancel Sapp Help Figure 44 Acquisition settings tab sheet CamCheck path full path and name of the application that can act as configuration program and can check the environment refer to the manual Rodym 6D system guide Maximum allowed 6D deformation this is a quality factor for deriving frame motions from individual LED motions If the calculation error exceeds this value the frame will be considered invisible invisible LED s are projected at a very large distance making it look as if the frame deformed enormously Warm up time the time in seconds in which the LED s will warm up before the actual measurement starts ADC600 present check this box if you have an ADC600 acquisition box connected 22 AND you re using it measure at least 1 analog digital or counter channel If not the analog digital and counter acquisitions could be erroneous and your camera external synchronisation will not work KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 65 98 14 3 2 Customize ER Customize this menu brings up a form that allows you to customize every item on the menu and icon bar The form has a number of tab sheets Commands Toolbars Keyboard Menu Mouse Option
42. CD pop upiom 14 FOUC AES CAMO E 17 Figure 3 dynamic frame with 2IEDiIe 18 Figure 4 frame transformation s rnnrnnnnnnnnnnnnnnnrnnnnnnnnnnnnnnsnrnnnnnnnnnnnnnssnnnnnnnnnnen 18 Figure 5 DMM Modular user INLET ACC Jaer 22 Figure 6 Identifying objects EE 25 Figure 7 the measurement configuration pop up form 26 Figure 8 measurement configuration tab camera 28 Figure 9 measurement configuration tab analog 30 Figure 10 measurement configuration tab digital rrrrnvnnrrrnnnnnnnrvrvnnnnnnnnnn 31 Figure 11 measurement configuration tab Counterg 31 Figure 12 ACQUISITION status WINdOW rrrrnnnnrrrrvvvnnrrnnnnnrrrrvrrrrvnnnnnnerrrrernnnnnnnnn 32 Figure 13 create 6D variable pop up Tomm 34 Figure 14 Transform pop up Tom 35 Fe NNN 36 Figure 16 the distance pop up Tomm 37 Fe Velocity NNN 38 Figure 18 the overshoot POP UP form 38 Figure 19 file export GDop upform 40 Figure 20 change orientation convention POP UP form rrrrrrrrnnnnnrnrvrvvvvrnnnnnn 41 Figure 21 calculate point in 6D frame pop up form cceccececeeceeeeeeeeeeeeeeeeees 41 Figure 22 the polynomial fit Gop upfomm 43 Figure 23 polynomial fit the polynomial Coefficients rrrrrrrvvrrrrvrrrrnnnnnnnnnrr 43 Pig re 24 he Tiler DOD UD TOM EE 44 Figure 25 the frequency pop up form rwrvvvvvvrrnnnnnnnnnnnnnnnnnnvvrnnnnnnnnnvnnnnnnnnnnnnn 45 Figure 26 the join m
43. ENN 70 14 8 Hep NAL ua evne 70 15 SCRIPTING WRITING AND USING MACRO S rerrsernnvnnvnnnvnnnvnnvnnnennnenner 71 15 1 Writing a single level Script r asnnnnnrrnnnnnnnunevnnnnnnnnnennnnnnnnnevnnnnnnnnuennn 71 Pike 71 15 1 2 The script svntanx rene 72 15 2 Using scripts within SCriptS ererrrnnnnnnnnnnnnvernnnnnnnnnnnnnnennnnnnnnnnnnnnnnennnn 73 16 SCRIPT FUNCTION REFERENCE ursesesvnvnnnnnnnnvnvnnnnnnnnenennnnnnnnenenennennnenenenen 75 16 1 PETN 77 16 2 addfromfile EEN 77 16 3 calculatemean cccsscescciicscccissniccessniscecsssuncestsnescecdssadeweesniicedersaneweesenes 78 164 ENT jace 78 16 5 ciearmemMory Lusgurereersssspeenen 78 KRYPTON Help Pages on DMM Modular 16 6 16 7 16 8 16 9 16 10 16 11 16 12 16 13 16 14 16 15 16 16 16 17 16 18 16 19 16 20 16 21 16 22 16 23 16 24 16 25 16 26 16 27 16 28 16 29 16 30 16 31 16 32 16 33 KRYPTON INDUSTRIAL METROL GY page 6 98 compensatelinearphasefilter J nnnnnnnnnnrrrnnnnnnnnnnnnnvernnnnnnnnnnnnevenenn 79 CODE EN NE EA 79 eee Lassen 79 FEE E 79 0 EE ge EE 80 OGG EEE NE EN 80 NOT nn 81 FI 81 LET e3 O A 82 Me 82 MST E nmecusarumetonan omeessannmuessaunwees 82 findmMminiMuUmM EE 83 globaladd EEE 83 globalemptylist D 83 CETA 83 increasetestname annnnennnnnnnennnnnnnennnnnnnennnnnnnennnnnnnennnnnnnennnnnnvennnnnn 84 joinmeasurement Lae 84 MESSAGE 0 Jerrie aaraa araara 84 ONSE J
44. Each option configuration or feature corresponds to an icon that acts as a shortcut Each of these icons can be dragged onto the icon bar or can be removed 2 Workspace window red on the left this window is the reservoir in which all measured data files are displayed in the Data tab In the View tab a new data view can be selected 3 Result window yellow on the right in this window each new graph spreadsheet or 3D view will appear 4 the Feedback window green at the bottom this window holds all feedback from the program to the user The window has 3 tabs a Messages these are general messages warnings or error reports from DMM Modular b Cursors if you add a cursor the measurement values will be displayed in this tab C Commands this window echoes all the actions the user has taken untill NOW If you accidentally closed the output window move the standard Toolbar mouse over the main menu and right click with the mouse a menu will appear check the appropriate window to be vi Workspace displayed again v Output r Customize The main menu The main menu icon bar is discussed in chapter Options in the main menu on page 60 The workspace window The workspace window will list all measured and calculated data files Every file will be shown in a directory like file organization Identification contains all object identifications see SE pendule HF repere de
45. GY page 98 98 Std deviation 0 0 n See Statistics user interface Lead 20 PON DO Mncestaaatcoriaspuneeindacnscisenens 23 56 92 IG ge ele BEER 20 64 terminate 1 85 velocity ee 86 NOSE EE See data organisation NC EEE EE Se 59 test level See data organisation WANG E 86 1510 JE 59 WAITMESSAGE le 86 ENEE 9 NA 4 86 transform MP 33 writing SCriptS arnrnnnanernnnrnavennnnener 68 re ee ee 85 ZO OU E 52 transformation ccceeeeeeeees 11 16 93 KRYPTON Help Pages on DMM Modular
46. KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 70 98 14 7 Base menu r Fo P R L RF E Calculate velocity this function has been described in chapter The function Calculate velocity on page 37 Change orientation convention this function has been described in chapter The function Change orientation convention on page 40 Calculate point in 6D frame this function has been described in chapter The function Calculate point in 6D frame on page 41 Offset this function has been described in chapter The function Offset on page 36 Fit polynome this function has been described in chapter The function fit polynome on page 42 Overshoot this function has been described in chapter The function overshoot on page38 Find maximum this function has been described in chapter Ihe function Find maximum on page 39 Find minimum this function has been described in chapter The function Find minimum on page 39 Calculate Mean this function has been described in chapter The function Calculate mean on page39 Standard deviation this function has been described in chapter The function Calculate std on page40 Filter this function has been described in chapter The function Filter on page 44 Frequency spectrum this function has been described in chapter The function
47. Optional not specified the name of Element is used lf TimeSeries is specified a normalized overshoot time serie is created always positive overshoot end value offsetted to zero ovshislam overshoot Pos6D doorslam01 X ovsh slam overshoot Pos6D doorslam02 XZ 2nd test ovsh slam overshoot Pos6D doorslam03 XYA 3rd test ovsh slam ovsh time Slam04 overshoot Pos6D doorslam04 XYZA 4 test 16 27 pointinframe Result pointinframe Frame Points Description Example s Result STRING This function calculates the overshoot for each channel in Element Overshoot is defined as the difference between the maximal channel excitation and the mean end value Overshoot will add a new line These overshoot values are appended as one line with multiple columns at the end of element Output if Output doesn t exist it is created The parameter Axis determines in which directions the overshoot is calculated if Axis contains X Y or Z the overshoot according to the X Y and or Z axis of the reference frame is calculated if Axis contains A the absolute value of the overshoot D x2 y2 z is calculated lf Comment is specified an extra column is added holding this comment string serving as markers for 2D graphs If Comment is an ME Frame STRING Required
48. Output seconds will be cleared from memory Example s clearmemory clearmemory 120 Seealso LG Description All measured and calculated files are kept in memory but a full memory degrades performance quite strongly This function will clear the memory from all elements that are not currently locked If Time is specified only elements that remained unused for Time NM KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 79 98 16 6 compensatelinearphasefilter Result compensatelinearphasefilter Data nofSamples Kal hull Data STRING Required nofSamples INTEGER Required Output Result STRING Optional Description Analog filters such as anti alias filters delay the measured analog signals with respect to the physical analog signals In reality this time lag is expressed in a rounded number of samples nofSamples time lag x frequency This function will shift the analog measurements Data forward in time over nofSamples samples so it is in phase again with the physical analog values Result is the result file in which the analog data will be saved If KE Ed Result is not specified Data will be replaced by the shifted data Example s compensatelinearphasefilter Acquisitionlanalog Test01 7 Acquisition analog_sync Test01 compensatelinearphasefilter Acquisition analog Test01 7 See also 16 7 copy Syntax Result copy Data
49. Since we can assign a frame to each object we measure an object is usually replaced by its frame Each frame can be either the reference for a motion or can be the object we want to express with respect to a reference 2 Frame can also mean a snap shot of all configured LED s Before a measurement we must configure the number of LED s we will measure The camera will scan its measurement volume for LED 1 2 n Each set of n LED coordinates is also called a frame Object frame this is a frame that is explicitly linked to an object No special actions must be taken to calculate an object frame Object identification see dentification Static frame a static frame is a frame whos position is fixed with respect to the reference frame The relation between these two frames is called a transformation Transformation a transformation is a static relation between two frames A transformation can express two mathematical features 1 it expresses one frame into another reference frame both in position as in rotation 2 it allows to recalculate coordinates known in one frame into a second frame or vice versa This is usefull e g when calculating individual LED positions from camera frame into a chosen world frame KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL MIE TRO Oo SS 21 Index 2D gra e 11 21 50 EE 15 3D VICW vo cccceeeeeeeeeeeeeeeeeeeeues 11 21 53 Pr 15 ACQUISIION BE 24 30 32
50. T TOM JO Scripts Scripts test copy mike endurance HJ _ test suspension GL test suspension Figure 51 data organisation object based left or person based right Of course the list above does not restrict you to the listed organisation schemes It is up to the user to define a scheme that fits your needs and or company policy best For each test a new hierarchy is created to separate identifications measurement files 6D files and other calculated files The different folders are E 0 test 01 08 2001 GI Acquisition Identification contains identifications of reference frames GC Analog ans objects see chapter Identifying objects on page 25 4 objectMotiont2 Acquisition contains all raw acquisition files El camera Camera raw individual LED 3D data in camera frame Position3D individual LED 3D data in world reference frame Analog ADC600 analog input measurements Digital ADC600 digital input measurements Counters ADC600 encoder counter input measurements Position6D contains calculated object in world 6D motion files It is possible that other folders exist since they can be KRYPTON Help Pages on DMM Modular TN object otion 1 4 objectotionO2 CJ Counter I 1 Digital CT PositionaD Ty objectMotion01 PY obtectotont C Identification PY DynBodyFrame 3 TN staticworldfeference 1 40 Porsitions6D EC DynBodyFramel TN DynBodyFramed KRYPTON INDUSTRIAL METROLOGY page 91
51. VEL script this executes the script FOO script FOO this executes the script BAR script output3 BAR measurement1 Bottom of file The script FOO is a fixed set of operations All the parameters it uses and generates are global i e they are created and known within DMM Modular top of file this is script FOO script output1 velocity measurement1 output2 velocity measurement2 Bottom of file The script BAR is a function The first line states the syntax and return parameters to call this function The first comment block starting with percentage signs will return information in the user interface should you call this function without specifying parameters All data files created within a script have a only a local scope i e they are only known to the script and only live as long as the script is executed The variable Velocity will not appear in DMM Modular since it is created locally top of file MMM function result BAR local Parameter BAR calculates the acceleration of your input parameter velocity velocity local Parameter KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL MIE TRO ES SS page 74 98 result velocity velocity Important notes 27 Do NOT leave blanks between the function name and the first bracket this will cause an error aes Mak
52. a file 9 amp 10 createframe Calculates 6D frames from led data 11 1 2 transform Transforms an element into another reference 11 1 3 Advanced calculation Compensates measurements for time lags due mn phasefilter to an external analog filter e g anti alias filter file calculatestd distance FFT filter Calculates standard deviation for each column 11 2 5 4 in a file Calculates 3D distance between 2 elements 11 2 2 Performs a Fourier analysis on a data element 11 2 11 Applies a low or high pass digital filter 11 2 10 Returns the maxima s of a data element 11 2 5 1 findmaximum findminimum offset Orientationchange overshoot pointinframe Calculates 3D motions of other points of a 11 2 8 dynamic frame Fits a polynome on a correlation of elements 11 2 9 joinmeasurement Joins 2 measurement files into one 11 2 12 velocity Derives an element once versus time 11 2 3 polyfit O0 CO O0 OO 00 OG OO 00 N N AJN O1 O1 GO PO PO CO CO File manipulations Function Pa addfromtfile copy Copies an element to another element 1 delete Deletes an element from the workspace export filecopy Copies a file from one location to another globaladd globalemptylist rename saveall Forces all elements to be saved on disk increasetestname Creates a new test with incremented index settestname Sets the testname to be used fro
53. acquisition frequency Comment optional comment field Save settings allows to store the settings on the hard disk Settings will be stored ina settings file Save settings allows to retrieve previously stored settings from a settings file Important notes When working without an ADC600 selecting the stop trigger External TTL will not work The start trigger External TTL is available See the manual Rodym6D system guide to learn more about the external synchronisation When working with an ADC600 the stop trigger External TTL will only work if the start trigger is External TTL too When using an external clock signal with an ADC600 the clock signal should be applied on the ADC600 ext CLK in input see the ADC600 documentation to learn more about external synchronisation Samples are taken on a false true edge this is a rising falling edge depending on wether your ADC600 is configured with active high active low clock input When using external synchronisation without an ADC600 the clock signal should be applied directly on the camera control unit see the camera manual to learn more about external synchronisation Samples are taken on a false true edge this is a rising falling edge depending on your camera type When using an external clock signal make sure the applied signal does not differ more than 2 from the frequency as configured
54. ation factor Amplification will not take place unless activated by the Animation controls on page 12 4 1 2 3D settings CE FS SE EE Sch bj ka Figure 39 3D view settings window general settings Default 3D models this option allows the user to specify the default OBJ or DXF file to be used for camera 3D object or 6D object DXF files will be shown in white 3D connect lines this menu controls wether or not lines are drawn between objects connect lines sequentially this option will draw a line between each object in the view disregarding leds or 6D frames The line starts at the first object and ends at the last E g if 3 leds and a 6D frame are in view the line will start at led 1 run through leds 2 and 3 and end in the 6D frame use the following connections this allows the user to specify manually the lines to draw Series are separated by commas a discrete line between 2 points is indicated by a dash a discrete line through consecutive points is indicated by a semicolon E g 1 4 5 7 draws 2 lines 1 line through led 1 2 3 4 1 through led 5 and led 7 CU x Connect lines sequentially f Use the nest specified connections Line couples I 158 Amplified motion Figure 40 3D view settings window 3D connect lines settings KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 59 98 13 Exporting to Matlab This chapter describes the interactio
55. b or click the Matlab icon again this will copy all data files once again to Matlab including the latest created files At the time of writing the option to send modified matrices back to DMM Modular is not yet possible Do NOT close Matlab yourself if you do so DMM will not know that Matlab is no longer available If you start Matlab manually the communication link between those two no longer exists and no transmitted data will arrive in Matlab The only solution is to close DMM Modular and Matlab start DMM Modular and repeat the procedure above KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 60 98 14 14 1 Options in the main menu Untill now we ve seen all possibilities to measure elements interactively However all these possibilities are explained on a only once basis The main menu holds a number of features that allow us to organize and configure settings that are not likely to change often DMM Modular has the ability to detect new calculation modules Every time such a module is found it will be added to the menu This manual will only describe the standard menu options The standard menu options are Project this menu allows to organize measurement sessions into projects It also gives the user acces to the deleted items bin and the ability to return geometric elements to another Krypton software product View this menu allows the user to customize the us
56. be re used without changing element names and without overwriting previously measured files Example s settestname mylest here the first test level is specified ERR settestname o 16 22 joinmeasurement Result joinmeasurement Element1 FirstLed1 nofLeds1 Element Fret ed nofLeds2 Element STRING Required FirstLed1 INTEGER Required nofLeds1 INTEGER Required Element2 STRING Required FirstLed2 INTEGER Required NofLeds2 INTEGER Required Output Result STRING Description This function joins 2 measurement files into one This allows a user to merge two measurement files measured on the same object but with two cameras with complementary field of views The function will create the measurement file Result by taking nofLeds1 from element Element1 starting at led FirstLed7 next nofLeds2 from element Element starting from led FirstLed2 are pasted as new columns to the right The function assumes that Elementt and Element2 are both expressed in a common reference frame Before joining a check FME BE is performed on the name of the reference of each measurement file if the names differ a warning is issued but still the join will be performed because it is possible that the user has given different names to the reference but that the reference is physically equal Example s acq Pos3D object joinmeasurement acq Pos3D object_left 1 3 acaolPos3Dlobject right 1 3 16 23 messa
57. calculated with respect to the same reference frame in which the dynamic frame is expressed KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 42 98 11 2 9 The function fit polynome Ped This function fits a polynomial function through two sets of data points Once this is established mathematical analysis becomes much easier This function is available in the Standard and Advanced version Let s take for example a car door that closes Once the door hits the rubber seals a small vibration occurs It would be convenient if the lateral position Y motion were a polynomial because the speed and decceleration would be very easy to calculate 1 and 2 derivation vs time Therefore we ll fit a polynomial function through the raw measured data This is the result the green graph is the raw data the red graph is the polynomial fit of Y vs time between T 1 682 seconds and T 1 75 seconds The two sets of data in this case are the lateral motion and time We express them in general as Y an X where X is the independent variable and Y is the dependant variable in this case X is Time and Y is the Y motion of the door The function permits to select only a fraction of the data set so the polynomial fit will not be disturbed by transient or DC effects outside the zone of interest Ranges can be set for both for X and Y where the fit should be limited to The result of
58. curate calculation or errors e g an error occurred in the module BASELOC The messages will appear in different tab sheets depending on the context DMM Modular itself will activate the proper tab for you when a new message arrives Configuring DMM Modular DMM Modular expects you to make a few configuration settings before measuring These settings should be checked 1 the very first time DMM Modular is started 2 If configuration changes are required It is a good practice to check these settings before measuring anyway For a detailed explanation of the settings go to chapter Options on page 62 Go to the menu Tools Options Open the tab General and check if the default orientation convention is correct 2 if you want to use Matlab in DMM Modular scripts G if the Geoloc application path is filled in Open the tab ASCII export and check 2 if the data export ASCII file extension is correct G if the row delimiter is correct if the decimal separator character is correct Open the tab Acquisition and check o if the CamCheck path text box is filled in 2 if the maximum allowed deformation is set to the requested value if the ADC600 checkbox is checked or unchecked depending on the presence and usage of the ADC600 KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 25 98 8 Identifying objects If you are mea
59. d 2 A myDynamicFrame 2 3 Ly myDynamicFrame 3 4 5 G Check rsettings Configuration Figure 8 measurement configuration tab camera Calculate residual deviations if checked for each frame the residual deviation will be calculated This is a good quality check if the residual deviation gets too big there was an error calculating the frame position from the LED s and the frame s 6D position is therefore not reliable If you chose to calculate the residual errors a time history of the residual errors is calculated and is accessible like any other data file Check settings will start CamCheck or an equivalent application See your camera system guide Configuration configures the camera See chapter Actions before conducting measurements on page 21 Before configuring your LED s please review the recommendations specified in chapter Measurement setup considerations on page 20 KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 29 98 9 2 1 9 2 1 Configuring LED s for single point measurements 9 2 2 To configure LED s for 3D Set number of leds per port Ei measurements click on the button labeled Set number of LED s Part 1 Port 2 Part 3 Port 4 p S ja z fo S fo S In the pop up form configure for S z S each strober the number of LED s DK Cancel attached to that port including Deeg LED s on daisy chained strobers Click OK each LED
60. d use the identification found in PROJECT MIKEVdentification Should identification exist in the PROJECT MIKE myNewTesta ldentification folder with the same name this identification would be discarded because it was not added to the global search path If you want to empty a global search path use the script function globalemptylist this will erase all entries from the global search path Notes The functions globaladd and globalemptylist are script functions they can not be used from the main menu The scope of the global search path is limited to the current project We suggest to create one script per project that defines all global elements and one script to erase them from the project This script could have a fixed name in each project e g defineGlobals script and eraseGlobals script and should be saved in the lt project gt Scripts sub directory on the hard disk It should be ran manually every time a project is opened This is however merely a proposed convention it is up to the user to set up a procedure that suits him best The global search path ceases to exist when the software is closed When you are starting the software a second time you must re run a script that adds all required elements to the global search path KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 93 98 18 Maintenance This chapter describes the software maintenance for Rodym DMM Mo
61. display the string ErrMessage in the DMM message window Be carefull Any action associated with error conditions will be executed as well e g setting bits of the synchro module high Example s error This is an error message error 5 023 5 error 5 error myVariable message warning a KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 81 98 16 12 export FileName export Element Type Kach Element STRING Type STRING CONSTANT ASCII MATLAB Required Output FileName STRING p Description This function exports the element Element from the workspace into the physical file FileName Dependant on the value of Type FileName is either an ASCIIfile Type ASCII or a binary Matlab compatible file Type MATLAB For an ASCII export the user can specify the file extension field separator and decimal symbol in Tools Options ASCII Export For a Matlab export a info file will be generated too for Element describing the contents of each column this makes a later import with addfromfile easier Special run time variables allow to modify the result file name during script execution 2 project will be replaced by the current project name at run time 27 test will be replaced by the current test name at run time if the test name is not empty 27 unique index number with the same number of d
62. dular The guidelines described in this chapter are recommendations they are not stringent but not applying them might in the long run inhibit the easy and comfortable use of your system a Make regular system backups especially if you are re using the same identifications over and over again b empty your Deleted items bin regularly The Deleted items are project dependant emptying it will not erase the Deleted items of another project C Once a project is closed copy it onto a network drive Should the system be down for a while and you urgently need data from the system you can check the network drive for the data d When measuring with a script let the script make a backup copy of your raw data should you change the data by accident e g in the spreadsheet view you can retrieve the correct data from the safety copy KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 94 98 19 19 1 19 2 19 3 19 4 19 5 Troubleshooting This chapter describes the problems that are most likely to arise and the way to solve them Should any problem not occur in the list please notify your nearest Krypton representative General 7 If I start the software I get a crash immediately after I log in Probably your hardware key is not connected or not connected properly If this is not the problem contact Krypton at support krypton be When re install my software s
63. e El Menu Bris Acquisition aoe Le acquisition ElementlnNewReference transform Element NewReference createframe Explanation Mk H Base ee standard Transforms 30 or ED data Element to new reference New Reference The result of this transformation ts stored in ElementinNewReference H message H Ename terminate ea Figure 47 script editor the function browser If you select a function from the tree on the right will appear the function name syntax and an explanation on the function By clicking on Insert the function will be inserted in the current script wherever the text cursor was positioned at the time of insertion The inserted line will contain dummy parameters which the user can replace with actual parameters Note that it is also possible to include previously defined scripts When a function is inserted it is inserted with dummy parameters These parameters must be replaced by the user with their real life counterparts Undo neutralize last edit action 14 6 Acquisition menu EE Measure this function has been described in chapters Configuring a measurement on page 26 and chapter Measuring single LED s or objects on page 32 SH Create 6D data this function is described in chapter The function Create 6D data ET on page 34 4 Transform this function is described in chapter The function Transform on page 35
64. e sure the script file name and the function name differ somewhere otherwise the script parser will detect recursive functions Right top of file BAR SCRIPT function result BAR local Parameter output velocity input Wrong top of file BAR SCRIPT function result BAR local Parameter output velocity input top of file BAR SCRIPT function result BAR local Parameter output velocity input In case you would run a function script as top level script or running it without parameters DMM Modular will show you a pop up box asking for the required in and output parameters The function BAR would evoke this pop up box Input parameters BAH F local Parameter hi Cancel Figure 50 script parameter pop up form These parameters can be selected from combo boxes in the pop up or can be drag and dropped from the data window KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 75 98 16 Script function reference The script syntax for each function is explained in this chapter All the functions are listed alphabetically but the following summary groups them by functionality There is also a reference to the chapter of their interactive counterpart if applicable which were described in the previous chapters Acquisition amp basic calculation Acquisition Measures using settings from
65. e the second element 11 2 3 The function Calculate velocity iz This function differentiates a position file by the time first column thus calculating the velocity of the point frame in three six dimensions KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 38 98 11 2 4 This function is available in the Standard and Advanced version Dest F esulmyFramevelocity E fana Position vmpFramePosiion CS g Calculate absolute values for 30 and 6D data Figure 17 Velocity pop up form Result enter a name for the velocity file The velocity is calculated for each axis independently no 3D velocity For a frame the angular speeds are calculated Original Browse to the position file that you want to be derived vs time Calculate absolute values if checked the function will calculate the scalar velocity that is to calculate the norm of the velocity vector so all directional data is lost if unchecked the velocity per degree of freedom is calculated The function overshoot aga This function calculates the overshoot of a motion the maximal amplitude excursion of a point with respect to its final position This function is especially usefull for the automotive to analyse the results of doorslam testing This function is available in the Standard and Advanced version This function will find for the maximum overshoot of a point This overshoot wi
66. easurements pop up Tomm 46 Figure 27 cursor tab in output WINJOW rrrnnnrrnnrrrrrrrrnnnnnnnrrrrnnrrnnnnnnnnrrennnnnnnnnnn 47 Figure 28 cursor value selector forms xrrrvrrvvrrrnnnnnnnnnnnnnnnrnrrrnnnnnnnrnrrnnnnnnnnnnnnn 48 Figure 29 cursor column beadimge 48 Figure 30 difference cureorg 49 Figure 31 opening a spreadsheet view 50 Figure 32 the spreadsheet VIEW ccccccccccccccsssessseeseeeeeeeeeeeeeeeeeeeeeeeaaaaaaenseeeeeess 50 Figure 33 cursor ANNOTATIONS EEN 50 Figure 34 opening a ZL OFADIN iwesceishciscestcvecssaacenteesiaudateiadeiseatiovesaaatenesandaceiens 52 Figure 35 2D graph variables selection pop up Tom 53 Figure 36 2D graph legend window 54 Figure 37 opening a spreadsheet view 55 Figure 38 3D view settings window general settings ccccceceeeeeeeeeeeeees 57 Figure 39 3D view settings window general settings rrrrvvvvvrrrrrrrnnnnnnnnnnnn 58 Figure 40 3D view settings window 3D connect lines settings 58 Figure 41 NEW project wWiNdOW EE 61 Figure 42 General settings tab eheet 63 Figure 43 ASCII export settings tab sbeet 63 Figure 44 Acquisition settings tab eheet 64 Figure 45 Customize tab Sheet toolbars 0000000nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnne 65 Figure 46 Customize tab Sheet kevboard 66 Figure 47 script editor the function browser 69 Figure 48 Scripting recording a script rnnrrnnrnnnnrrnnnnnnnnrrrvnnnrnnnnnnnn
67. eatures please refer to the manual GeoLoc user guide If you are interested in the features of DMM Modular start with chapter Introduction on page 12 If you want to know more about the measurement principles of DMM Modular start with chapter Principles of DMM Modular on page 17 If you want to install the software from scratch start with chapter Installing the DMM Modular software on page 14 If you want to review the general considerations for dynamic measurements start with chapter Measurement setup considerations on page 20 If you want to make sure that everything is set before the first measurement takes place start with chapter Actions before conducting measurements on page 21 If you are sure that all preliminary actions are taken or were not required start with chapter Using DMM Modular on page 22 If you want to look up certain terms or words that are not clear to you refer to the Glossary on page 96 or use the Index on page 97 KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 12 98 2 Introduction Krypton develops and commercialises camera based solutions for measuring and evaluating the 6D movements of objects in space Our systems are based on non contact measurements using solid state camera systems Several software packages are developed by Krypton to support industrial and laboratory position problems both static and dynamic but alway
68. ee E 85 orientationchange J xrnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnennnnnnnennnnnnnennnnnnnenn 85 NNN NS 86 leit din e Ta o EE EE EE 86 oe Uu Or EEE EEE 87 LT OE EN 87 NET rn 87 SCUTISSINAING m asenssensseneoen nonsens 88 EMNE arr 88 TRANSITIONING es eee 88 KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 7 98 16 34 velocity Keposegesegtesesegegeereeeeeee EE 89 16 35 WAC WEE 89 16 36 waitmessage v re 89 16356 VATN DE 89 17 DATA ORGANIZATION ccccscsscccccsssceccessesccccessscecccasesceeseneecceeesseeceeseseeeess 90 Weide The lesi lene BEE 90 17 2 Global variables axrarnavnnvannavnnnnnnnvnnnnnnnvnnnnnnnnnnvnnnnnnnvnnnnnnnvnnvnnnnvnnvnnen 91 18 MAINTENANCE NENNEN 93 19 TROUBLESHOOTING ccccscssscsscsssssccsecssessecseesceseeseesaceseesaescesnesaneasesees 94 Wel Gen 94 19 2 Identifying Ke e E CC 94 19 3 Measuring single LED s or objectS rruunrrrvnnnnnnnnnnnnnnvennnnnnnnnnnueneennr 94 19 4 Adding Calculation modules rrrrsnannnnnnnnvvnnnnnnnnnnnnnnvevnnnnnnnnnnnnnneennnn 94 19 5 Creating spreadsheets amp graph S nnnnnnnnnvvvnnnnnnnnnnnnnnennnnnnnnnnnnnnnvennnn 94 19 6 Exporting to MAL 95 20 GLOSSARY cccsccsscsscssscscssecsccsscssceseesaceceseesacsseesaesaceseesaesanesaesaesanesaesaneseess 96 A EN 97 KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 8 98 TABLE OF FIGURES Figure 1 release
69. eed at least n 1 data points to make a fit 2 points for a linear fit 3 points for a quadratic fit 4 points for a cubic fit Polynomial fit Output Name polynomes palyPath Ge Input 2 Data ftestt Acquisition posittonsD vdoorslam Si Channel Time 7 f From jee f To 1 780 Data ftestt Arcquisitonyposition3D vdoorslam it Channel ES d g T Erem E To D Fit parameters Degree of of fit z Figure 22 the polynomial fit pop up form The polynomial coefficients can be obtained from the file properties see chapter The workspace window on page 23 Properties of test Le Base properties Polynomial properties Element Channel Fo sitio nbo D Wal mic 3 mr Position Dynamic 3 5 Polynomial degree 1 S Polynomial coefficients 0 266627 al 116 132891 a2 719 54266 ad 2560 090125 ad 5905 149715 aR 2979 RANGA Figure 23 polynomial fit the polynomial coefficients KRYPTON Help Pages on DMM Modular IND USTR 11 2 10 I AL METROLOGY The function Filter This function applies a chosen digital filter to measured or calculated data This Eri function can be used to filter noise from a signal low pass filter or to remove DC components from a signal high pass filter This function is only available in the Advanced version This function applies an algorithm to a data file that corresponds to a classic Butterworth
70. efore DMM Modular DMM Modular q sl i The use of OMM MODULAR requires AN GEOLOC Not selecting GEQLOC assumes that it ig already available on the PC Click res to proceed or No to abort In the welcome screen read the instructions as shown on the screen keep on clicking the Next button untill you reach the following screen RODYMED or K400 K600 systemi For which type of measurement syster do you wan to contigure this GeoLoc installation 7 C RODYMED Select the camera type you currently use Kx00 or Rodym6D and click OK This takes you to the next screen With or without ADC600 Do you want to use this DMM Modular Installation with or without GIL RU without ADCBOO en Choose wether you have a system with the optional ADC600 If the ADC600 is supplied and connected you must choose with ADC600 After selecting click the OK button Before continuing you get a reminder to install a driver from a separate CD x T Do not forget to install the DAQBOARD2ZO00 driver from the tech CO Click the OK button follow the instructions on the screen and keep on clicking Next untill you reach the following screen KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 16 98 2 Installation Complete EK sl te Fe E Ger e er er IEA S ORRIN VM Aa INE ROBOTICS SOLUTIONS GeoLoc V1 2 has been successfully installed on yo
71. elp pages on Kx00 utilities Avoid using daisy chained strober cables where possible especially with high measurement frequencies Avoid to identify object frames with an orientation of 90 or close to this value with respect to the reference frame see chapter Orientation conventions on page 19 When using a 6D external reference always try to put the external LED s on an equal side triangle outside the 6D frame maximizing distance between LED s KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 21 98 6 1 6 2 6 3 6 4 Actions before conducting measurements Before measuring a few steps must be taken Although they are completely independent from the DMM Modular software DMM Modular assumes that these steps were carried out before the measurements start Therefore please make sure to perform these actions before continuing In sequence these steps are 1 configuring the camera s 2 checking LED visibility and the quality of the measurement environment 3 calibrating and checking the Space Probe The following steps must be repeated for each camera PC on the test bench Configuring the camera s If you purchased a Kx00 camera this step is no longer required If you purchased a Rodym 6D camera refer to Rodym6D system guide chapter configuring amp operating the Rodym 6D hardware Checking LED visibility amp environment If you purchased a Kx0
72. er interface hide show toolbars adding removing icons status bars Tools this menu allows the user to configure acquisition file exports Identify this menu starts GeoLoc for object identifications and to measure frames that can be used as reference frames Script this menu holds all tools to record play or edit scripts macro s that can automate repetitive tasks Window this menu allows the user to create new views and to organize the different graph s tiling cascading Acquisition this menu holds all the tools to perform an acquisition create frame data and express this data in any other defined reference frame Help holds the About box and the on line help function Project menu The project menu deals with three features organizing projects managing deleted elements and exporting elements to other Krypton products In general DMM Modular sorts all measurements in projects These are separate directories on the hard naive s disk By storing geometric elements the element Set test name window will not be flooded with elements that are ER E outlived or have got nothing to do with the current measurement context afi Copy to matlab s sf Deleted elements The user must not be aware where the project files are stored DMM Modular stores this information for him All the user has to do is open the appropriate project file DMM Modular wi
73. erested in 3 translations of a point The three remaining degrees of freedom 3 rotations remain undetermined F In this case a single LED is attached to Mer ge se gd an object The camera will measure the X nes Y and Zcoordinate of the LED her The advantage of measuring single points is the ease of use you can start directly Figure 2 LED amp camera measuring Interpreting the results is mostly rather straight forward The camera measures the optical center of the LED so you can not pin point the position of the point of interest within 5 mm of accuracy Measuring Frames 6D If the point of interest must be pin pointed within 0 1 mm or if you are also interested in the rotational degrees of freedom you must measure at least three LED s on an object to eliminate the three undetermined degrees of freedom The LED s can have arbitrary positions in the object frame The 3 translations and 3 rotations describe the position and orientation of the frame located in the origin of the object frame The following figure illustrates the principle of measuring LED s and calculating frame positions if we know the position of each LED s in the object s frame in rest and we can KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 18 98 4 4 measure the individual LED s in a motion we can calculate the new position of the object s frame based on the nominal LED positions Such a frame with LED s i
74. ete as previously described in the beginning of this chapter Add cursor adds a cursor to the graphs a cross that can navigate over the plots Don t forget to synchronize your cursors see subchapter Error Reference source not found 12 4 The 3D view The 3D view visualizes in slow motion or step by step in a 3D perspective the motion of a set of selected objects The user can change the viewpoint determine the start and stop of the animation and configure some of the look and feel settings To open a 3D view do the following a choose from the menu the option Window Open 3 D graph Project wiew Tools Identify Script window Help b or open the tab Views of the workspace A e Ge Sein window and double click on 3D graph Edk Eee Ak 3D Graph 2 Cascade Tile horizontally j Tile vertically c or click on the spreadsheet icon on the icon bar b next open the tab Data of the workspace window Su Ke 2D Graph AAA BER v 1 cibles volet vs voiture 04 Figure 37 opening a spreadsheet view You ll see a tri coloured frame on a checkered field appear in the result window This frame will be the reference frame As soon as you drop a data file on the view the reference frame in which the data file is expressed will coincide with this frame The colour convention equals RGB The X axis is RED the Y axis is GREEN and the Zaxis is BLUE Next
75. ge Message Message mn input Message STAING FLOAT or INTEGER o STRING FLOAT or INTEGER Output ono Tne function displays the string Message in the DMM message Tronen delay ean Message BRAT message window Example s message This is an informational message message 5 023 5 message 5 message my Variable waitmessage error warning KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 85 98 16 24 offset Result offset Element Type Element STRING Required Type STRING CONSTANT START END MEAN Required or STRING Output Peak STRING Required Description This function creates Result which is equal to Element but with an offset for each channel The type of offset is dictated by the parameter Type If Type equals the constant string START from each column the average of the 30 first positions will be subtracted so in Result each column starts at 0 If Type equals the constant string END from each column the average of the 30 last positions is subtracted so in Result each column ends at 0 If Type equals the constant string MEAN from each column the mean of the entire column is subtracted so in Result the average of each column is If Type equals the name of an existent element for each value in Result the following applies Result i j Element i j Typel i j Example s offset motion
76. gles if applicable in a data file Parameters Result name of the data file to which the mean values will be added as a new line KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 40 98 Original name of the data file from which to calculate the mean values Comment optional comment field 11 2 5 4 The function Calculate std 11 2 6 11 2 7 CS This function calculates the standard deviation for X Y and Z and the angles if applicable in a data file Parameters Result name of the data file to which the standard deviations will be added as a new line Original name of the data file from which to calculate the standard deviations Comment optional comment field The function export bal This function exports a data file into a CSV comma separated value ASCII file RPC3 format or a Matlab compatible binary file MAT This function is available in the Standard and Advanced version Export File Lu ws SE rcquisitioncameraideform l le Type of export DCH l l JASCII comma seperated values This function exports an element to file Matlab Peep export gt to cfaa Cancel Figure 19 file export pop up form Parameters Type of export RPC3 or ASCII for text files or MATLAB for binary MATLAB compatible files Changing the file type will automatically change the default extension of the dump file File name of t
77. grid entire spreadsheet or select the selected regions The selected regions are those samples that fitted a previous search The latter option allows you to combine search criteria Select what specify whether you want to look for the first single sample that fits the criterion the first range that fits the criterion or all the ranges that fit the criterion 12 2 3 2 Reset search Reset search neutralizes the currently selected ranges and allows a fresh new value 12 3 The 2D graph The 2D view plots a Y vs Xgraph of two variables You can zoom pan or scale the graphs You can express values with respect to time or to each other You can add a cursor that runs over the graph indicating the exact numeric value of a variable at a certain point on the graph To open a 2D graph do the following choose from the menu the option Window Eroject view Tools Identify Script Window Help Open S 2D graph dr BF Spreadsheet or open the tab Views of the workspace ldrk 2D Graph Close l window and double click on 2D graph he 3D Graph ET Cascade ei Tile horizontally E Tile vertically g 3D Graph E 1 cibles volet vs voiture 04 meee Ci views Figure 34 opening a 2D graph KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 53 98 or click on the spreadsheet iconon p the icon bar ki next open the tab Data of the workspace
78. hapter Project menu on page 60 or by the script function addfromfile It is the responsability of the user that the two data files are expressed in a common reference frame If the names of these reference frames are different a warning will be generated but the function will be executed anyway Since the join operation happens on measured data level most often it will also be necessary to import the corresponding identifications from the second PC When choosing this function the join measurements pop up form appears KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 46 98 Join measurements Output 11 3 Dest Acquisition Fos3D vonedtleasuredD ata Input First 3D measurement Second 30 measurement Acquisiion posaD vmeasuredD ata Lei op Acquisition pos D measuredD ata_ Right ms First LED Number of LE D s First LED Number of LED s 2 Se D H ES 2 Figure 26 the join measurements pop up form Parameters Result name of the data file that was joined from the two input data files First 3D measurement name of the data file who will be put first in the joined data file First LED you can extract a limited set of led s from a measurement file Enter here the index starting from 1 of the first led to be part of the joined file Number of LED s and enter here the number of leds including lt First LED gt to be copied into the result file Sec
79. he DMM lt root gt bin directory Open a command window go to the bin directory of your current Matlab version and execute Matlab regserver KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 96 98 20 Glossary Alignment an alignment is a procedure in that establishes a relation between an object frame and the coordinate system of the measurement machine The primary purpose of an alignment is to express measured coordinates into the coordinate system of the object However the math s behind it make it identical to measuring a static frame Dynamic frame a dynamic frame is a static frame with LED s attached to it It is the result of an identification If Modular knows the position of the LED s in that static frame and it sees the LED s floating somewhere in space it can calculate the position and orientation of that frame with respect to the camera Identification an identification is a procedure that establishes a unique link between an object and LED s that are attached to this object It is a three step procedure 1 establish the transformation between the object frame and camera frame 2 measure the LED s on the object in camera frame 3 calculate the LED s from camera frame into the object frame with the transformation Frame Frame can have two meanings 1 when referring to a frame we usually refer to a coordinate system a set of three orthogonal axes
80. he file in which to dump a measurement file For ASCII files the value separator and the default file extension are configured in the settings see chapter Options on page 62 Element the data file to export The function Change orientation convention Fa This function changes the orientation convention see chapter Orientation conventions on page 19 The default orientation convention can be configured in the menu Tools Options see chapter Tools menu on page 62 This function is only available in the Advanced version KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 41 98 11 2 8 Change orientation convention Result Position6D VmpOther ngularConvention pr Original PasitionbD ryPositionF ile New orientation convention Pall Pitch yaw This function changes the onentation convention of lt Original gt and stores the result in Result The new orientation convention can be ROLL PITCH VAM 27 rotation around fig axis STEER CAMBER SPIN ZY euler angles or SKREW vector equivalent rotation Cancel Figure 20 change orientation convention pop up form Result enter the name for the resulting data file Original enter a name for the data file whose orientation convention must be changed New orientation convention choose the new orientation convention in which the data file will be expressed The function
81. ify small movements or rotations with a certain amplification factor see Cet moment A 200 View controls on page 57 If you open this menu item you ll Gene see the sub menu on the left Click on Set moment to take the current cursor position as reference point Every displacement and rotation with respect to the reference point will be amplified and not the position of the object with respect to the reference frame Suppose my object frame is at 1000 mm from the origin of my reference frame with an amplification factor of 20 my frame would be depicted at 20 meters from the reference frame Let s say I take the previous sample as reference point and let s assume the object moved over 0 7 mm since that previous sample Due to the amplification the object will show a motion of 14 mm The reference acts as temporary reference frame To activate the amplification click switch on If you now right click and choose Amplified motion again you ll see that this option changed to Switch off Choosing this option stops the amplification The motion of the frame will be expressed again with respect to the reference frame Animation this option replays a specified sequence of the motion If you open this menu item you ll get the following possibilities Set start point to take the current timestamp of the cursor as start Set startpoint point Set endpoint to take the current timestamp of the cursor as endpoint of the
82. igits as there are asterisks 27 first extracts the first number in the variable name 2 last extracts the last number in the variable name Example s C Docs test csv export Position6D ObjectA ASCII C Docs test mat export Position6D ObjectA MATLAB Suppose the project name is ABC and the test name is XYZ C project test test csv export ObjectA ASCII will yield C ABC XYAtest csv Suppose this is the 105 execution of this script line C test csv export ObjectA ASCII will yield C test0105 csv C test first mat export ObjA_mes2_run3 MATLAB will yield C test2 mat C test last mat export ObjA_mes2_run3 MATLAB will yield C test3 mat addfromfile Ee 16 13 FFT Result FFT Element Input Element STRING Output Result STRING Description This function performs a Fourier analysis on each data column of element Element The function will yield the amplitude for each frequency in the range 0 F 2 F being the sample frequency scaled to 1 the sum of all amplitudes is 1 The amplitude for each frequency will be stored in Result Frequency Result FFT Position6D ObjectA See also KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 82 98 16 14 filecopy Syntax filecopy Source Destination oo Source
83. in the tab sheet General Tab camera The tab camera configures the acquisition of LED positions First we ll explain the general features Next we ll discuss how to configure single LED s or dynamic frames to measure The general options are Enable if checked the camera will measure LED s The only case where you shouldn t check this box is when you want to measure only with the ADC600 World the reference frame all LED s and dynamic frames will be expressed relative to the frame entered in this field The reference frame can be either a static or a dynamic frame If the field remains empty or the frame does not exist the reference frame will be the camera frame The measurements will be expressed in this frame automatically after the acquisition Back up 3D camera data if checked the software will make a backup of all the individual LED s in camera frame should one of the calculated data files get corrupt the data can be recalculated based on this raw data The backup s are stored in the workspace window under Acquisition camera KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 28 98 Acquisition settings General Camera Analog Digital Counters M Enable M Backup 30 camera data T Calculate residual deviations World fldentificationymyStaticA eference E myDynamickrame Led 1 2 2 3 3 0 4 D z 1 s Port 1 led 1 ds myDynamicFrame 2 Port 1 le
84. isplay is not updated in real time the ADC600 readings are sampled at certain intervals Digital during the measurement this field will show for each configured digital input its momentary state The display is not updated in real time the ADC600 readings are sampled at certain intervals KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 33 98 Counters during the measurement this field will show for each configured counter channel the momentary value The display is not updated in real time the ADC600 readings are sampled at certain intervals If you selected external clocking make sure the clock signal is connected to the ADC600 ext CLK in input or to the dedicated device If you selected User as start trigger click with the mouse on Start the measurement will start If you selected User as stop trigger click with the mouse on Stop to halt the acquisition If you selected a world frame see subchapter Tab camera on page 27 the software will start calculating each configured dynamic frame with respect to the chosen static world frame The frame positions will be stored in files in a sub folder Position6D Individual LED s will be calculated in this frame too and will be stored in a sub folder Position3D If you selected Backup 3D camera data a backup will be made of the individual LED positions in camera frame The backup data will be
85. ject window Should the user change the project name after the data directory was set the data directory will be reset to the default directory extended with the project name Within this project directory a separate GeoLoc directory will be created Open select the project file project name with extension PRJ DMM Modular DE will fill the workspace window with all data files described in this project m Save stores the current project file Save As will store the current elements in a new project The pop up window is the same as for New but it will not be an empty project Set test name creates or opens a test folder in the current project See chapter The test level on page 90 Add from file allows to add manually data files from other projects All elements are stored on disk under Matlab format Such file is of form elementName MAT Select the Matlab file that corresponds to your element with the pop up form KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 62 98 14 2 14 3 14 3 1 i Copy to Matlab if clicked this will open a Matlab session and copy all data files in the current project to Matlab matrices When clicking this icon after Matlab was already started it copies all the data files to Matlab again This function is only available in the DMM Modular Advanced version G Deleted items choosing Deleted items lists the elements
86. key combination you d like to use to activate the command this text box will show the key combination you just pressed If this key combination was not yet assigned a message will appear below the text box Click on the assign button to confirm the assignment The shortcut will be added to the Current keys listbox If a key combination was already assigned a message will appear indicating which command is already linked to that shortcut It will be impossible to re assign this shortcut If you wish to remove a shortcut select it in the Current keys listbox and click on Remove KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 66 98 14 3 3 Command Toolbars Keyboard Menu Mouse Options Category Set Accelerator for Project sl Default sl e Commands Current Keps Add from file Ms Deleted elements New ET anm Reset Al eset All Fress New Shortcut Key Description te Guit the application prompts to save document Figure 46 Customize tab sheet keyboard It is suggested not to change the default settings for the following 3 menu s Menu this menu allows to configure some menu animations or context menu s Mouse allows to configure the double click command of the mouse Options allows to configure the Windows Screen Tips and the Windows 2000 look Users at Users this menu brings up a form that allows you to limit the number
87. l Name keep the default name or specify your own channel name by double clicking and overtyping the name Unit specify the unit you want the result to be expressed in Gain select the amplification factor of the channel Use only one of the factors you can select from the combo box Bipolar uncheck to only allow unipolar signals but with a doubled resolution Remember that unipolar signals need a gain of at least x2 Differential not implemented yet You can have the result immediately as a linear function of the voltage Y M X Q Factor Factor is the M the linear scale factor This scale factor should NOT be altered when changing the gain The gain is applied only to the analog signal Once the analog value is digitized the numerical value is divided again by the same gain factor Therefore the scale factor is always applied to a value as if the gain was X1 Offset Offset is the Q in the linear scaling KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 31 98 9 4 9 5 Tab digital This tab is only relevant if you have an ADC600 for measuring digital inputs If you have no ADC600 proceed with chapter Measuring single LED s or objects on page 32 If the Enable checkbox on top is unchecked all 32 channels will be disabled If the checkbox is checked individual channels must be checked for acquisition Configure for each channel the following
88. l to Xchannel th channel of element Xinput and calculated Y values will be saved in Result lf Residu is specified Residu will contain the errors between the original data and the polynome fit Example s linearRegression polyfit Pos3D LedDisplacement 3 AnalogitwoForces 2 1 cubicRegression Err polyfit Pos3D A 1 Pos3D B 1 3 See also 16 29 rename Syntax rename OldName NewName M OldName STRING NewName STRING Required Output o o Description This function renames an existing element OldName to an element called NewName Example s rename Position6D ObjectlmReff Position6D ObjectInRef See alen 16 30 saveall saveall Input Description This function saves all elements to disk the moment this function is called This prevents elements that are still kept in memory to be lost should an unexpected power failure or system crash occur Example s saveall KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 88 98 16 31 settestname settestname newTestName NewTestName STRING MN used from now on to NewTestName If an empty string is Input Output This function sets the test name see chapter 17 1 that is to be specified the root level becomes the active level again mn Example s Settestname testBeforeModifications aa Settestname Ss a a
89. le Element These values are appended as one line with multiple columns to the element Output if Output doesn t exist it is created If ExtraComment is specified an extra column is added holding this comment string serving as markers for 2D graphs If ExtraComment is not specified the name of Element is used Example s Result maxi findmaximum acquisition camera test0 1 Result maxi findmaximum acquisition camera test01 this was my test findminimum KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 83 98 16 17 findminimum Output findminimum Element ExtraComment Le Element STRING Required ExtraComment STRING Output Output STRING Required Description This function finds the minimum for each column in the data file Element These values are appended as one line with multiple columns to the element Output if Output doesn t exist it is created If ExtraComment is specified an extra column is added holding this comment string serving as markers for 2D graphs If ExtraComment is not specified the name of Element is used Example s Result maxi findminimum acquisition camera test0 1 Result maxi findminimum acquisition camera test01 this was my test findmaximum a 16 18 globaladd globaladd Element Me Input Element STRING eee oo Description This function adds one or more elements to
90. left mouse key as long as the left button is down the graph will follow the movements of the mouse Rotating the mouse wheel will Zoom in and out on a view If you hold down the keys Ctrl Shift left mouse button and you move the mouse up and down you can zoom in on the entire graph Some options for the visual representation are set with the Settings option after right clicking in the 3D view General Display axes if unchecked the axes of the reference frame will disappear Draw floor if checked the checkered floor is drawn if not the floor is omitted Perspective if unchecked all drawings are drawn isometrically Draw mode Wire frame just draws the outer edges so that objects appear transparent Filled renders the objects but no light effects Smooth applies light effects Up equals allows the user to select which axis of the reference frame should be drawn bottom up older versions always held Z as up 30 settings Iw Display ares General M Draw floor mr K kg Perspective Amplified mation Draw mode Smooth sl Up equals at Default 3D models 3D Connect lines Cancel Help Figure 38 3D view settings window general settings KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 58 98 Amplified motion entering values will amplify the translation or rotationalong the specified axis by the specified amplific
91. lete range When lt Another element 12 selected then lt Result 1 lt Original gt minus lt nother element Cancel Figure 15 Offset pop up form Input browse to an object s data file as is This can be a 3D file a 6D file or a file with analog values With the radio buttons you can select what values you want to use as offset a the start value lt result gt equals lt original gt minus the average of the 30 first positions Ideally this means that the very first position in the output file will have coordinates 0 0 0 0 0 0 0 0 0 for a 6D file b the end value lt result gt equals lt original gt minus the average of the 30 last positions Ideally this means that the very last position in the output file will have coordinates 0 0 0 0 0 0 0 0 0 for a 6D file CG the mean value this means that the average of all the positions will be 0 d Another element choose a static element The yielded coordinates will always be the distance between the object and this other element KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 37 98 11 2 2 The function Distance KA This function calculates the 3D distance between two elements This function is available in the Standard and Advanced version This function calculates the distance D X2 Y Z2 between two dement time series An element can both be a 6D measurement file and a LED p
92. ll be added to the result file so subsequent tests can be joined into 1 data file and examinded together At the same time the function will create a copy of the original data but offsetted to the final position of the point this focusses later graphs optimally on the area of interest When choosing this function the overshoot pop up form appears Overshoot Dvershoo vershootl Ss Overshoot Time scaledD oorSlarn a Original AcquisiionpositionaD vdoorslamb li a E f Y LS F Absolute Comment optional KE Cancel Figure 18 the overshoot pop up form KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 39 98 Parameters Result name of the data file to which the overshoot will be added as a new line Time series data file in which the original data is copied but with an offset that places the final position of the motion in 0 0 0 This parameter is optional leaving the text box blank will not calculate a time serie Original the 3D or 6D data file for which the excursion has to be calculated For 6D data files the overshoot in X Y and or Z of the frame origin is calculated For 3D data files the X Y and or Z of each led is calculated X Y Z and absolute checkboxes if checked the overshoot will be calculated for motions along this axis of the reference frame If absolute is checked the overshoot of the path in space is calculated
93. ll fill the workspace window with the corresponding elements From then on it s just as if the user never stopped measuring 1 BAD prj 2 frig pry lRodymDMM Exit When identifying objects DMM Modular will set the appropriate project for GeoLoc KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 61 98 The current project is denoted in DMM Modular s status bar e g the project myFirst E myFirst A Should it be necessary to exchange elements between projects DMM Modular can import element files from other projects Whenever an element gets deleted its file is not yet physically removed but the element s icon disappears from the workspace window The project menu allows to restore elements or to purge the Deleted items bin Finally The menu allows to export data files to Matlab as matrices We ll now discuss each option in detail Ea New creates a new project When a new project is created a new data direc tory is created for storing the data files and a project file extension PRJ The user is prompted to enter a project name While the user types the project name the data directory will automatically grow It is possible to change the data directory afterthe project name was entered Hew project Project name myFirs Data directory C sradymdmme VmpFirs Comments This Geoloc project was created for Hodym OMM project C Rodyr cos Figure 41 New pro
94. m now on KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 76 98 Script control functions Yields an err message in the message window 1 80 Yields an info message in the message window 84 clearmemory Clears the memory from unused files terminate closes DMM e wait Stalls execution untill time expiry or key press waitmessage LD warning OO OOOO Miscellaneous page identify Starts the GeoLoc application 8 amp 8 8 KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 77 98 16 1 acquisition Result acquisition ConfigFile Freq ae ConfigFile STRING Optional Output Result STRING Optional Description This function executes a measurement of led s and or analog channels digital inputs and counter encoders ConfigFile is the full path and file name of the acquisition settings file all acquisition settings timing frames or leds strober ports channel labels are read from ConfigFile If a measurement frequency Freq is specified this will override the frequency specified in ConfigFile lt the output file name Result is specified this will override the file name specified in ConfigFile If ConfigFile is not specified the parameters from the previous measurement are used Example s acquisition C settings acq01 settings acquisition C settings acq02 settings 100 00000 data acq
95. m the menu Settestname lt new Test Name gt will create a new test without the pop up form Increasetestname will increment the last opened test name in the example above a new test called myNewTest1 will be created and set this test to be the active one The fourth line will add a frame in the myNewTest1 Identification folder Settestname empty string will make the project level the active one all files created will be added in the hierarchical tree of the project and not in one of the tests within that project If the original name ends with a character e g myNewTest the incremented test names will start with 1 myNewTest1 myNewTest2 If the original name ends with a digit e g myNewTest1 the incremented test names will start with the next digit myNewTest2 myNewTest3 One exception if the digit has a leading zero e g ABC01 this is not considered to be a digit and omitted the incremented test name will start from 1 thus ABC1 ABC2 17 2 Global variables In order to make tests entirely independent from each other each test has its own hierarchical folder structure and are therefore shielded from one another But sometimes KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 92 98 you want some global files e g identifications of static and dynamic frames to be used in all tests therefo
96. minima maxima The 2D graph allows zooming numeric zooming panning The 3D view gives a clear insight in the motion of the different objects The measured data can be exported to Matlab with one click allowing the user to freely experiment with measured data DMM Modular allows additional calculation modules to be inserted quite easy If a customer has a Matlab calculation routine Krypton can convert this into a compiled module The software will recognise this module and shortcuts to these modules will be inserted in the menu and icon bar of the application Scripting allows the user to teach DMM Modular a measurement sequence once and replaying it many times This prevents the user from repeated annoying keyboard manipulations Load a script run it and DMM Modular will handle all needed acquisitions and calculations DMM Modular can be extended with an additional acquisition box the ADC600 this box will measure analog digital and encoder counter signals perfectly synchronous with the camera allowing a perfect match of position information with force measurements shaft positions The software runs under Windows 98 or higher versions In order to reduce the calculation time a Pentium Ill 500 MHz processor or better is advised Free hard disk space requires a minimum of 160 Mbyte and a minimum of 128 Mbyte RAM memory The system comes with a CD ROM containing the installation version of DMM Modular
97. n and you move the mouse from left to right you can zoom the X base of the graph in and out If you hold down the keys Ctrl Shift and then click the left mouse button and you move the mouse up and down you can zoom the Y base of the graph in and out Right click on the graph to reach the other options of a 2D graph a menu with the following options will appear KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 54 98 Zoom to draw a rectangle over the graph the area inside the Add rectangle will be zoomed over the full extent of the 2D graph Show legend Zoom user to bring up a pop up that allows you to enter the extent Zoom of the zoom window numerically Zoom user Ea WW oor all Zoom all to reset the graph in its original state E rien Save as metafile to export the graph as a Windows meta file Save as metafile EMF This allows you to import graphs as vector files in Print CorelDraw Sethings Print sends the graph to the default printer Settings to allow you to show hide the grid lines and to change the font for the X and Y labels There is also a checkbox Show markers to display comment labels on screen as entered in the spreadsheet view Show legend shows a legend form for this graph The legend tells for each line plot what the line colour is which variable is plotted in X and which variable in Y Legend View D Close Delete Change color K v Time Fort 2 led 1 z
98. n between DMM Modular and Matlab Should you encounter a problem please refer to the troubleshooting chapter Exporting to MATLAB on page 59 DMM Modular has the option to export data to Matlab through an internal direct link This allows you to export measured data immediately and manipulate them interactively This option is only available in the DMM Modular Advanced version The advantage over using modules here is the increased flexibility the user can improvise and execute calculations that were not foreseen It is more intended for the laboratory stadium of problem solving Make sure Matlab is NOT started Choose Project copy to Matlab from the main menu or click on the A Matlab icon on the icon bar Matlab will be started in the background Every data file identification will be teleported to Matlab In Matlab each file is converted into a matrix The order of columns is equal to the layout as seen in a spreadsheet view Use the Window task bar to bring Matlab to the foreground and type Whos you ll get a list of all the matrices Warning if you are using long filenames Matlab might shorten these names so it might be difficult to find what matrix corresponds to what file A quick comparison between a matrix plot and a 2D graph in DMM Modular mostly solve the ambiguities If you are creating files AFTER Matlab was started choose again Project Copy to Matla
99. n volet Ac gt Identification L RodymbkM2 Bin volet o cibles volet vs voiture cibles volet vs voiture 03 cibles volet vs voiture UA E Acquistion haut z midi midi y has x bas y bas ze variable f Cancel Figure 28 cursor value selector forms Every selected variable is assigned to a column of the cursor The upper column heading states the foldere name from which the variable is read The lower heading states the name and unit of the variable Acquisitianipositian Acquisitian pasition Acquisitionip Acquisition p haut x mm haut z mm midi x mn midi v mm b3 392 3142 523 117 502 151 695 i Fh Messages A Cursors Figure 29 cursor column headings To remove a variable right click in the white area of the output window and choose the option Variable Remove A list box will appear with all the existing variables select the variable s you want to remove and click OK To navigate a cursor through the samples use the Arrow left or Arrow right key on the keyboard the cursor will move sample by sample through the data file Holding down the Ctrl key during this navigation will make the cursor traversing the data file in coarse mode skipping samples to increase the speed If you add additional cursors they will use automatically all the already existing variables When working with multiple cursors only one cursor moves at the same time this is the
100. namic 4 myFrame in world transtormi myFrame in camera world Static moditied in world offset myFrame in world START message measurement terminated Figure 49 Scripting editing a script This script can be saved and can now be run The functionality the DMM Modular script editor is explained in chapter Script menu on page 67 If the script encounters a function that it does not recognize it will try to execute it ina Matlab environment this means that you can program Matlab functions or Matlab m file names in a script 15 1 2 The script syntax The DMM Modular scripting syntax is very similar to the Matlab syntax Both variables and function calls are case sensitive Most functions are of the form element function parameter Return parameters are put between square brackets parameters are put between normal brackets 27 It is possible to use multiple parameters parameters are separated by commas HK It is possible to return multiple return values return values are separated by commas Elements can be put between double quotes or not E g myPoint or myPoint although it is suggested to place them always between double quotes Variables have to be put between double quotes if their name contains spaces or if they are constants e g my Point or 0 5 2 Instead of writing variables variables can be dragged from the data window and
101. nder law Figure 1 release CD pop up form If you didn t get this screen automatically within 30 seconds use your Windows Explorer to locate the file SETUP EXE on the CD start this by double clicking on the file Click on the button Next A list of software products will appear sorted per product group 2 Select Components l 3 JE In the options list below select the checkboxes for the options that you would like to have installed f E400 R600 System Software T E100 System Software T RODYMED System Software ROBOSCOPE ISO T TOOLCHECK T WHEELTRACKER lt Back Cancel Check the following software packages if they were not already installed on your system however we advise you to install these software packages in advance Please refer to the user manuals of the software packages involved 2 K400 K600 system software if you have a Kx00 camera system or Rodym6D System Software if you have a Rodym6D camera system 2 K CMM KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 15 98 2 GeoLoc Check DMM Modular and click Next If you did not select GeoLoc the installation program application will warn you of the requirement to have GeoLoc installed previously Clicking Yes will continue the installation of DMM No will abort the installation process in the latter case restart and install the required programs b
102. new reference We know the transformation between this frame and the camera frame green arrow Next we use this transformation to transform the single points or frames expressed in camera frame blue arrow into the user chosen reference frame red The frame chosen to act as reference frame can be either static or dynamic Figure 4 frame transformation KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 19 98 4 5 Orientation conventions When executing translations the order of translation is of no importance This is NOT the case with rotations e g when we rotate object A 10 around X 20 around Y and 30 around Z and we rotate object B 30 around Z 20 around Y and 10 around X then the orientations of the two objects will differ This has a reverse effect if an object holds a certain orientation it is possible to achieve that orientation with more than 1 sequence of rotations around the axes and consequently the angles will be different In some cases a mathematical solution even corresponds to a physical condition that is not possible e g the steering of a wheel exceeding 100 There is also the question on absolute rotations or relative rotations Suppose an object which is aligned with a reference frame If the object is rotated around its X axis the objects Y and Z axis rotated over the same angle But if want to rotate around Y will rotate ar
103. nnnnnnunnnrr 21 6 3 Checking the Probe ssan xxnnevnnnnnnnnnnnnnnvevnnnnnnnnnnnnnnvennnnnnnnnnnnnnvevnnnnnnnnn 21 6 4 Calibrating the Probe rrerennnnnnnnnnnnnnnnnnnnnannnnnnnnenennnnnnnnnnnnnnnnnnnnnannnnnnr 21 7 USING DMM MODULAR EEN 22 7 1 The DMM Modular user interface rrnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnennnn 22 7 1 1 ETNE 23 7 1 2 The workspace WINKOW E 23 7 1 3 HEJ INNS 24 7 2 Configuring DMM Modular rrevvvsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennr 24 8 IDENTIFYING OBJECTS sees 25 9 CONFIGURING A MEASUREMENT rersvrsersvnnennennennennnnnnnnnnennennensennennennennen 26 KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 4 98 9 1 Tab General ene 26 9 2 Tab camera snrannnnnnnnnnnnnnnnnnnnnnvnnvannnvnnnnnnnvnnvnnnnnnnvnnnnnnnvnnvnnnnvnnvnnvnnnnvnnnnn 27 9 2 1 9 2 1 Configuring LED s for single point measurements a eeanesan 29 9 2 2 Configuring LED s for a dynamic Trame 29 5 TD PANO WEE 30 924 WAD NONA snertne 31 9 5 TID Counters 2 31 10 MEASURING SINGLE LED S OR OBJECTS resrravnnvnvnnnnvnnvnnnnnnvnnennnnnnennenn 32 11 CALCULATING RESULT FILES cccccccccscsscccssscssssscccssessssscceessesssscceeeseess 34 11 1 Calculation module ACQUISITION ccccccseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeens 34 11 1 1 The function measure ccc cece cccc ccc cceceeececuaceeeeeesuaueeeeesuuuueeteenuunnens 3
104. nt1 Triggering Start trigger Keyboard stop trigger Measurement lime Settings Frequency Clock Internal Y Frequency Hz 205 Comment Load settings Save settings Figure 7 the measurement configuration pop up form Output to name of the measurement file It will be filed in the sub folder Position3D of the folder Acquisition in the workspace window Start trigger configures the start of the measurement 2 user measurement will start by hitting the keyboard or clicking with the mouse external acquisition will trigger on a true TLL signal either on the ADC600 or directly on the camera control unit immediate the acquisition will start immediate without a user acknowledgement KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 27 98 9 2 Stop trigger configures how to halt a measurement user measurement will halt by hitting the keyboard or clicking with the mouse 2 external acquisition will stop on a false TLL signal on the ADC600 Measurement time acquisition will stop after a specified amount of time Click the settings button to specify the measurement time interval Clock configures where to get the acquisition clock from 2 Internal the system will use its own internally generated clock 2 external the system will use an external TTL clock Frequency the
105. ny action associated with warning conditions will be executed as well e g setting bits of the synchro module high SS Example s warning This is an error message warning 5 023 warning 5 warning ate message error waitmessage KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL MIE TRO SS page 90 98 17 Data organization Just like its precessor DMM Modular allows the user to store his data in a more hierarchic organisation and in an even better way DMM Modular still orders data in projects to separate identifications measurement files and calculations between independent measurements For elaborate testing schemes sometimes the overview of the data was lost Since DMM Modular 2 1 the software introduces one more level the test level 17 1 The test level On a test level the user can group all files that belong together on a very local scope on a project level the user can group measurements that have got little to do with each other Possible project organisation schemes are Object based for each new object to measure a new project is created For this object some standard test can be defined Person based every operator can have a project in which he can create new tests as he wishes EJ root EH root El PROJECT MYCAR GC PROJECT MIKE H _ test doorslam driver B GL test engineStart 7 GL test mybummy EJ PROJECT YOURCAR C H PROJEC
106. odular KRY PION INDUSTRIAL METROLOGY page 30 98 9 3 Click OK each LED is listed as a blue frame in the overview Each LED has a default name being its frame name extended with the LED sequence number in the frame definition You can change this default name by double clicking on the LED name and overtyping it with a new name All chosen dynamic frames are listed in the big text field in the middle of the screen To remove a frame select the frame until it is high lighted and click Remove 6D frame The frame will be removed from the text field Its LED s remain configured albeit as single LED s If frames are configured the software will automatically calculate the frame motion from the motions of the frame s single LED s Tab Analog This tab is only relevant if you have an ADC600 for measuring analog inputs If you have no ADC600 proceed with chapter Measuring single LED s or objects on page 32 To enable or disable all 16 channels at once check uncheck the Enable check box on top Configure for each channel the following General Camera Analog Digital Counters Enable Enable Name aj Unit sain Bipolair s Factor Offset 1 xi Channel 1 Vi A 1 XX 1 00 000 2 MX Channel V si S 1 00 0 00 3 x Channel 3 V Al ale 1 00 0 00 A i ve el d ha wa x Ka IT 1 MM MM mim Figure 9 measurement configuration tab analog Enable enable disable the individual channe
107. of manipulations a user can execute The main idea behind DMM Modular s user management is NOT to prevent a user from abusing the system but to limit the overhead of buttons and features a mean and lean tool for measuring The default user is Supervisor this user has all rights How to create a new user and assign his rights Add a new user see below and copy the settings from the supervisor e g newUser Next log out and log in as newUser Modify the user interface add remove icons remove items from the main menu and only leave those items that newUser should have acces to see chapter Customize on page 65 Don t forget to remove the Tools Customize and Tools Users options If you log out again newUser will only have acces to the last menu items and icons that were present at log out time When clicking Users the following form appears Users Bert Add Remove Edit Cancel Ep KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 67 98 14 4 14 5 Add adds a new user If you click this a small pop up appears asking you to enter a user login and password for the new user If you like you can also copy the settings from a previously defined user User properties User name hen zer User password pP s wOrd Copy settings from Supervisor Cancel Remove erases the definition of a
108. offset Pos6D motion START mn offset objA_B offset Pos6D objectA Pos6D objectB See also 16 25 orientationchange Result orientationchange Element NewConvention NM Element STRING Required NewConvention STRING CONSTANT rpy scs skrew Required Output Result STRING Description For 6D frames the calculated angles are expressed using a default angular convention see chapter 14 3 1 This function will express a 6D frame Element using a chosen angular convention The new angular convention depends on the value of NewConvention if NewConvention equals rpy the new convention will be Roll Pitch Yaw if NewConvention equals scs the new convention will be Steer Camber Spin if NewConvention a Kass equals skrew the new convention will be the screw vector independent RX RY RZ rotations See chapter Orientation conventions on page 19 for definitions and usage of the different angular conventions Example s pos6D objRPY orientationchange Pos6D objSCS rpy Seealso KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 86 98 16 26 overshoot Output TimeSeries overshoot Element Axis Comment NN Description Example s See also Element STRING Required Axis STRING CONSTANT XYZA Required Comment STRING Optional Output STRING Required TimeSeries STRING
109. ome menu items are missing Open the menu Tools Customize Go to the tab menu and click Reset 2 After a system crash my latest files are missing from the workspace window The data file administration is corrupted Open your project directory and use Add from file to manually import the data files again After each measurement or calculation or script run save the workspace Identifying objects 7 When choose Identify Start nothing happens Check in the Tools Option menu if your Geloc application is pointing to the correct application Check that the IP port number is not assigned to a different task Measuring single LED s or objects 2 Acquisition will not start or application crashes when I confirm the acquisition settings Make sure the camera is enabled checkbox upper left on the camera tab of the acquisition settings form Check the camera settings with CamCheck In Rodym CMM make sure the Space Probe is stopped The acquisition frequency might be too high Multiply the total number of LED s with the acquisition frequency add 10 The frequency you ve just calculated should be equal or less than the frame frequency in CamCheck If not reduce the acquisition frequency untill it does or increase the LED frequency max 3500 Hz It is advised to activate the Set automatic option in CamCheck Adding calculation modules G
110. ond 3D measurement name of the data file who will be put last in the joined data file First LED you can extract a limited set of led s from a measurement file Enter here the index starting from 1 of the first led to be part of the joined file Number of LED s and enter here the number of leds including lt First LED gt to be copied into the result file For example the screenshot above will produce the following joined measurement file Led1 led 2 from Acquisition Pos3D measuredData_Left first led Led2 led 3 from Acquisition Pos3D measuredData_Left Led3 led 4 from Acquisition Pos3D measuredData_Left Led 4 led 4 from Acquisition Pos3D measuredData_Right first led Led 5 led 5 from Acquisition Pos3D measuredData_Right Adding Calculation modules It is possible to let us convert your own written Matlab routines into a module in which case you ll have a better integration with DMM Modular This binary module will be sent to you all you have to do is to copy the module in the lt root gt bin directory of Rodymdmm2 by default this is c rodymdmmaAbin and restart DMM Modular If you do have code that you want to integrate or you have additional features you want to calculate send an E mail with your request to support krypton intl com To get more details or information on the formal specifications send an Email to the same address In case you can t wait for the compiled module or you want to im
111. osition file When choosing this function the distance pop up form appears Distance Dutot Dest Distarics distE etweenFramednd_edl es Input First element Second element Acquistion pos3D measuredD ata_Left me Pos6D dynamicFrame SC LED selector LED selector Figure 16 the distance pop up form Parameters Result name of the data file in which the distance data will be stored First element name of the data file of the first of two elements between which to calculate the distance LED selector if lt First element gt is a 3D file you LED s must enter the LED number of the LED for which to l SE loadcell 1 calculate the distance to lt Second element gt Clicking Vert the Browse button button with 3 dots calls the loadcell 3 following pop up screen from which you can select the LED name E g selecting the led Wheel_ 1 and clicking OK will yield LED number 4 Cancel Second element name of the data file of the second of two elements between which to calculate the distance LED selector if lt Second element gt is a 3D file you must enter the LED number of the LED for which to calculate the distance to lt First element gt Clicking the Browse button button with 3 dots calls the pop up screen from which you can select the LED name Since a distance is an absolute value it has no importance which of the two elements is chosen to be the first element and which is chosen to b
112. ound the Y axis that followed the rotation relative rotation or will rotate around an axis parallel to the Y axis of the reference frame absolute rotation Therefore an orientation convention must be chosen such a convention enforces a certain sequence of rotation around the axes of the reference frame and imposes whether the rotation will be absolute or relative It is up to you to determine which convention suits your needs best Once an orientation convention is chosen and the software returns three rotation angles the following rule must be observed The object s orientation in space is the same as when executing the rotation angles by the sequence and constraints of the orientation convention DMM Modular supports three types of orientation conventions Roll Pitch Yaw rotation order is XY Z The rotations are absolute Preferred convention for naval applications for a ship the following conventions apply longitudinal axis X lateral axis Y vertical axis Z The three coordinates are the roll angle the pitch angle and the yaw angle Steer Camber Spin rotation order is Z X Y The rotations are relative Preferred convention for automotive applications for a car the following conventions apply longitudinal axis X lateral axis Y vertical axis Z The three coordinates are the steer angle the camber angle and the spin angle Screw vector a convention in which we construct a vector in a 3D space
113. p up appears Configure the two 7 I cursors you want to subtract Select the S ancel cursor numbers xand y To remove a difference cursor follow the same procedure as removing a single cursor see chapter Working with single cursors on page 47 Remaining cursor options lf you right click in the white area of the cursor tab there are two options left Synchronize and Settings Synchronize if you click synchronize all Cursors both in the cursors tab and in the graph s and spreadsheets are synchronised i e each cursor C1 Cx is set at the same time sample for the different variables Settings you can configure the number of samples to skip in coarse mode and the cursor column width in pixels The spreadsheet view The spreadsheet view displays the data in a two dimensional view The data can be searched for on a specific criterion or the data can be exported as a comma separated value so it can easily be imported in Microsoft Excel To open a spreadsheet view do the following KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 50 98 choose from the menu the option Window Open spreadsheet or open the tab Views of the workspace Project van Tools identify Script wridow Help window and double click on Spreadsheet 4 BE Open a L 20 Graph Close All JE air de 30 Graph rad cascade 12 2 1 Tile horizon
114. pears to confirm or cancel the operation Attention The operation is permanent and removed data can not be restored If you have selected a cell instead of a row the row of that cell will be the target to be deleted The Search menu To search the spreadsheet for certain t Search criteria specify a search criterion which E E looks for 1 sample or for a set of samples Criterium Reset search In case of a set of samples all the samples 1 that fit the criterion are selected in a range A J range is displayed with an ocean green 3 background 4 Specifying that the query should only run in a z ODE peciryng query y is 0033 previously selected range enables you to combine multiple search criteria 12 2 3 1 Criterium Criterium sets the search criterion for the next search KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 52 98 Find Find in column Time values that are g then 0 015 Find where fe Scan the complete grid C Scan in the selected regions Select what Select the first occurence fe Select the first valid range Select all valid ranges Cancel Parameters Find in column select the column to which the search criterion will be applied Values that are select the logical operator lt gt lt gt lt gt max min to be applied Then enter the numerical threshold value Find where select either the entire
115. pect to camera select a position6D data file in the Position6D folder Transform Result opt bject In NewHef fs Original Pos6D Object in OldRef Pe EE dentiication NewFet r LED selector T his function expresses the 6D element lt Original gt relative to another abe BD element called lt New reference new ED element will be created E the name specified m the Result held Figure 14 Transform pop up form Result Enter a name for the result file This file will hold for each moment in time the position and orientation of the point or frame with respect to the frame lt newRef gt Original Browse to the data file with the position of the object lt Object gt expressed in the old reference frame lt oldRef gt New reference Browse to the new static or dynamic frame lt newRef gt LED selector applies only if a measurement file holding 3D data is selected as new reference If in this case a LED is selected the object lt Object gt will be expressed in a reference frame that has axes parallel to the axes of the frame lt OldRef gt but whos origin lies at the position of the selected LED throughout the measurement Calculation module Base This module provides the user with some standard post calculation tools Note DMM Modular comes in two versions Standard and Advanced The Advanced version has more functions The following sub chapters will describe all of the functions
116. pended as the new last row of the element Result If a comment string CommentLine is specified this will be inserted in the last column of the appended row last column means the column behind the last numerical value Example s mean test01 calculatemean Position6D static Test mean test01 calculatemean Position6D staticTest this is the second row with mean values Calculatestd E 16 4 calculatestd Result calculatestd Data Std scaling Commentline SS Data STRING Required Std scaling INTEGER Required Commentline STRING Optional Output Result STRING Required Description This function calculates the standard deviation of each column of element Data except for the first column since this is a time or index column This row with mean column values is appended as the new last row of the dement Result If the parameter Std scaling is 0 is calculated with n 1 if Std_scaling is non zero is calculated with n If a comment string CommentLine is specified this will be inserted in the last column of the appended row last column means the column behind the last numerical value Example s std test01 calculatemean Position6D static Test std test01 calculatemean Position6D staticTest this is the second row with mean values Calculatemean a 16 5 clearmemory clearmemory Time Eo Input Time INTEGER Optional
117. printer H H mj Save Chi Close closes the current script Save as dn Print Ctrl F F Run run a previously recorded macro When clicking the function it will ask for a Close macro to run Macro s have the file extension SCRIPT F Run MN iatera Clear output Cut Chr Copy ChrltcC Paste Ctrl Find Replace Show Functions Undo Ctrl z Clicking Run will play a script from line 1 if you want to runa Run script from a specific line open the script position the text cursor on the first line to execute and right click with the mouse from the context menu select Run from current line Run From current line L BZ Ce ee UG py Edit this script opens the macro editor see chapter Scripting writing and using macro s on page 71 pa Interrupt when a script is running this will interrupt the active script and return program control to the DMM Modular user interface Clear output clears the output window Cut move a portion of text to Windows clipboard Copy copy a portion of text to Windows clipboard Paste insert the clipboard contents Find find the occurrence of a string Replace replace the occurrence of a string with another string Show functions this shows a structured overview of all the available functions for scripts KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 69 98 Functions El Functions Function distanc
118. provise when manipulating data please refer to the chapter Exporting to Matlab on page 59 In case you encounter problems with installing new modules please refer to the troubleshooting chapter Adding calculation modules on page 46 KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 47 98 12 Creating spreadsheets amp graph s After all the calculations have been performed you can visualize your results Should you encounter a problem please refer to the troubleshooting chapter Creating spreadsheets amp graph s on page 47 DMM Modular offers three data representations 1 Spreadsheet displays the data in a two dimensional matrix Use this form when you are interested in the numerical values 2 2D graphs plots two variables against each other Use this mode to see trends in certain directions It s fairly easy to see values too 3 3D view shows a 3D view of the objects in camera frame Use this mode to see what really happened in slow motion It also allows a replay function to see the movement of the objects in a fluent motion It is possible to see the same data in multiple views at the same time The data in the different views is synchronized with cursors when you add a cursor every view positions itself to that moment in time Since cursor operations are common to all three we ll start with the cursors 12 1 Working with cursors A cursor indicates 1 sample at a
119. pt This chapter will clarify how we teach a script Go to the main menu and choose Script Record DMM Modular will ask for a script file name in the current project directory Enter a suitable file name Make sure the extension is script Start measuring calculating data files with the probe as if no script was recorded In the background every action is recorded You ll see that the record icon looks pushed into the user interface KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL MIE TRO ES SS page 72 98 When you are done go again to the main menu and choose Script Record The icon will click out of the menu Now choose Script Open Enter the filename under which you recorded your previous program The DMM Modular editor will open the script myS cript script myMess01 scequisition staAtonfig config myrFrame in camera createframe myMeasOl framebynamic 4 myFrrame in world transform myFrame in camera world static Figure 48 Scripting recording a script As you can see in the example above no messages are programmed to be sent Therefore we can manually edit the script to add some messages and some more calculations The result is the following ee mySeript script FS message About to start the measurement myMess01 scequisition staAtonfig config myFrame in camera createframe myMeasUl frameby
120. r describes the actual measurement of LED s Should you encounter a problem please refer to the troubleshooting chapter Measuring single LED s or objects on page 32 If you finished the configuration is click on OK The measurement form will pop up Acquisition General Name Measurement Start time 14 39 27 Frequency 200 Measurement time Status ERROR Frame count T Wait for trigger Frame count Position A Fi Analog Port 1 led 1 0 000 0 000 0 000 O Channel I w Port 1 led 2 0 000 0 000 0 000 Port 1 led 3 0 000 0 000 0 000 Led visibility Digital inputs 1 Bute 1 Byte 2 S SG e e GG G oe e 8 SG SG GG 5 CSS Byte 3 Byte 4 Figure 12 acquisition status window This form is divided into 6 information fields General shows the name of the measurement frequency status of the measurement and measurement timing Camera during the measurement this field will show for each LED the coordinates in camera frame The display is not updated in real time the camera readings are sampled at certain intervals It also displays the number of frames Snapshots acquired by the camera Led visibility during the measurement this field will show whether each LED is visible or not The display is not updated in real time the camera readings are sampled at certain intervals Analog during the measurement this field will show for each configured analog input channel its momentary value The d
121. re we need a mechanism to make some data files global that is visible to all tests Assume the following situation we make a single PROJECT MIKE identification of the dynamic frame dynamicObject and a EH Identification static frame staticRefFrame and we want to re use these 4 dynamicObject in two tests myNewTest1 and myNewTest2 In each of Mg staticRefFrame these tests we need the identification frames to calculate EL 13 myNewT est the object with respect to the static frame GC 9 Acquisition pi E 3 Paositionsb The script function globaladd lt element gt adds ep Eke D Measurement lt element gt to a invisible search path 1 Positions60 Gu oe a dynamicObject1 T alper E ta Acquisition EE PositionaD SCH Measurement 3 Positions6D dn TN dynamicObject settestname Globaladd Identifications dynamicObject Glohaladd Identification statickefFrame Settestname makes sure our current level is the project level The two next lines add the elements dynamicObject and staticRefFrame to the search path If we would now open test myNewTest1 acquire the measurement file Measurement1 and execute a 6D frame calculation based on the identification file dynamicObject DMM Modular will first check if there is Such an identification in the PROJECT _MIKE myNewTest1 Identification folder if not he will search the global search path an
122. repos chapter Identifying objects on page 25 G Acquisition Acquisition contains all raw acquisition files O positionaD Camera raw individual LED 3D data 4 pendule HF Position3D individual LED 3D data in world reference 4 pendule0 frame B E Identification Analog ADC600 analog input measurements 4 pendule static Digital ADC600 digital input measurements Counters ADC600 encoder counter input measurements Position6D contains calculated object 6D motion files Later these files can be dragged to the result window and can be dropped on either a spreadsheet a 2D graph or a 3D view If you select a file and right click on it a small menu pops up If you select Properties a two tab properties sheet appears Base properties administrative data on the file 3D properties this option allows you to link a 3D object file to the frame in the data file This object file contains a CAD description of the object who s motion is described in the KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 24 98 1 2 frame data file If you open a 3D view later the object will be drawn around the frame and you ll see the object move as it did during the measurement The output window The feedback window will hold all messages from DMM Modular for the user These messages can be an informational message e g reporting the residual error after a best fit a warning message e g inac
123. rrrnnnnnnnnnnn 72 Figure 49 Scripting editing a script 72 Figure 50 script parameter POP UP Tomm 74 Figure 51 data organisation object based left or person based right 90 Figure 52 data organisation set test name mrrnvnnnnnnnnnnnnvvvvnnvrnnnnnnrrrrvvnnrrnnnnn 91 KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 9 98 Figure 53 data organisation incrementing test names from a script 91 KRYPTON Help Pages on DMM Modular INDUSTRIAL METROLOGY KRYPTON menig Product protection No copies of this manual or of parts of it may be made in any form or by any means without the written permission of KRYPTON N V Copyright 2002 KRYPTON N V The software and hardware described in these KRYPTON Help Pages are furnished under a license agreement and may be used only in accordance with the terms of this agreement The contents of the KRYPTON Help Pages is strictly confidential and the material described is strict intellectual and industrial property of KRYPTON N V Divulgation of any kind of information described in this manual is strictly forbidden No warranty is given on damages including but not limited to loss of profit and special incidental consequential or other similar claims ROCAL Rodym GeoLoc and SPACE PROBE are registered trademarks of KRYPTON N V Microsoft and Windows are registered trademarks of Microsoft Corporation KRYPTON Help Pages on DMM
124. s sun Avoid air turbulences Place the camera horizontal to reduce the influence Close all doors in the room Switch off heating devices and fans where possible Avoid to place LED s in such places where reflective surfaces can reflect the infrared light to the camera If EMC problems arise use an insulative medium between the LED s and the object s Use a shielding around the strober cable in case problems persist NEVER mix equipment from two camera families Always use the Space Probe LED s and strobers supplied with a camera Do not use a Space Probe from another camera Do not use LED s or strobers from a different camera family Rodym Kx00 5 2 Camera position amp setting considerations 77 G 2 2 2 as Put the camera as close as possible to the LED s Place the LED s as close as possible to the central axis of the camera Orient the LED s perpendicular to the camera There is little accuracy degradation for angles of 30 Try to measure the primary motion in the camera XY plane X and Y are the most accurate axes of the camera In general use a high LED frequency For accurate measurements at larger distances use lower LED frequencies 2 If you are using a Rodym camera use CamCheck to specify a LED frequency of 3250 Hz See the manual Rodym6D system guide If you are using a Kx00 camera use K Check to specify a marker frequency of 3250 Hz See the manual Krypton h
125. s called a dynamic frame l H z a dei f ar E Sg DP Se siv Sr Sv at SE Sr bi sv FA bi Pr i Di Si ee C g Sr S g Figure 3 dynamic frame with 3 LED s How to calculate the LED positions in object frame 1 Identify the position and orientation of the object frame with respect to the camera This is a static measurement in which we determine the relation between camera frame and object frame 2 Attach the LED s to the object and measure the position of these LED s in camera frame 3 You can now transform the LED positions expressed in camera frame into object frame This transformation was established in step 1 The advantage of measuring frames is the ability to pin point the point of interest namely the origin of a dynamic frame and the ability to view the rotations for complex motions A third advantage is the possibility to create multiple dynamic frames with 1 set of LED s this way we can calculate multiple points of interest with only one set of LED s Using frames requires the additional step of identifying a dynamic frame and a slightly longer calculation time Transform to a user chosen reference frame Wether we measured both single points or frames both of them are initially expressed in the camera reference frame In many cases the user wants to express the measurements in another frame Therefore we choose to use a M measured frame as a
126. s or objects on page 32 A new function has been added to allow a polynomial fit on raw data See chapter The function fit polynome on page 42 The spreadsheet underwent minor changes The Customize menu was changed see chapter Options on page 62 When recording a script it is now possible to append to an existing script The organisation of data in projects has been extended and is fully explained in a separate chapter see Data organisation on page 90 KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 14 98 3 Installing the DMM Modular software Power up your PC and close all unnecessary applications Insert the Krypton installation CD in your CD ROM drive The following screen release date may be more recent will appear automatically JS Welcome Xx Welcome to Krypton Software Products Setup program This program will install Krypton Software Products on your computer ltiz strongly recommended that you exit all Windows programs before running this Setup Program Click Cancel to quit Setup and close any programs you have running Click Hest to continue with the Setup program WARNING This program is protected by copyright law and international treaties Unauthorized reproduction or distribution of this program or any portion of it may result in severe civil and criminal penalties and will be prosecuted to the maximum extent possible u
127. s using the same hardware Each camera system consists of 1 or more digital infrared CCD camera s mounted on a fixed beam Each of the camera s measures an angle of an infrared LED that resides in the camera s field of view By combining the readings from the three camera s a 3D position of the LED can be calculated with respect to the camera s reference frame If we attach 3 such LED s on an object we can calculate the 6D motion of this object by combining the 3D readings of the three LED s DMM Modular is a software package that measures mechanical vibrations and motions Before the measurement DMM Modular determines the relation between an object and LED s that are attached to the object During the measurement the software measures the LED positions in the camera coordinate system After the measurement DMM Modular calculates the actual motion of the object based on the positions of the LED s on the object Finally a transformation can be performed to express the motion of the object no longer in the camera coordinate system but in a reference coordinate system that is chosen by the user This reference frame can be static or dynamic DMM Modular uses GeoLoc to identify objects GeoLoc also identifies the frames that will act as reference frames DMM Modular allows the user to show his measurement in a spreadsheet a 2D graph and even a 3D animation The spreadsheet allows to search for specific data points
128. suring frames or if you want to express objects in a reference frame other than the camera then this is the first step of a measurement session If you are merely measuring single LED s in camera frame proceed with chapter Configuring a measurement on page 26 Should you encounter a problem please refer to the troubleshooting chapter Identifying objects on page 94 If you d like you could create a new project projects will be discussed in chapter Options in the main menu on page 60 Make sure that during the entire identification the object and camera do NOT move with respect to each other during the identification an alignment will be created that becomes invalid once either the object or the camera move Open in the main menu the option Identify Rodym DMM pendule Start l This will start GeoLoc GeoLoc will be opened with Project View Tools Identify Script Ext a project that is imposed by DMM Modular A sik Figure 6 Identifying objects Use GeoLoc to create a dynamic frame for every object of which you want to track the 6D motion mount the object in a fixed position with respect to the camera mount at least three LED s on the object rigidly Connect the LED s to a strober and the strober to a strober port see Rodym 6D system guide measure with GeoLoc the coordinate system of the object as if you are measuring a Static frame see GeoLoc manual
129. tally E Tile vertically Figure 31 opening a spreadsheet view or click on the spreadsheet icon on the icon bar 55 next open the tab Data of the workspace window drag the requested data file from the workspace window onto the spreadsheet and drop it there The data will appear in a spreadsheet window Each column corresponds to a measured value time positions rotations Above each column the name of the variable and its units are listed Every line corresponds to a sample in time On the left the sample numbers are listed Data Edit Search Port 2 led 1 x Port 2 led 1 Port 2 led mm 0 000 239 233 25 084 1625 0 001 239 235 20 063 1625 AAN 739 938 JA 099 TARE Figure 32 the spreadsheet view It is possible to edit the data in the file by double clicking Time on a cell and editing the contents Attention The Sar modified data permanently overwrites the old cell 000 data in the data file co 0 00 If you defined one or more cursors see chapter ant Working with cursors on page 47 the sample number will get a white background and an annotation of the Figure 33 cursor annotations cursor that is currently there The last colum is always empty The user can enter text remarks in this column these texts will appear as markers in 2D graphs The Data menu The data menu allows you to trace dates file creators or to export the entire file in an ASCII text file
130. that were deleted but not physically removed from the hard disk If you select a number of elements and click on recover the elements are restored in the Deleted vargkles element window Clicking Purge will physically remove the selected elements from the hard disk measuredPlane myFittedLine myFoirnt Clicking OK returns you to the main menu Recover DE Exit closes DMM Modular View menu The view menu is a small menu that allows the user to modify the v BEER user interface to his her personal comfort e B Status Bar Unchecking the Toolbar will hide the icon bar below the menu Split Unchecking the Status bar will hide the status bar at the bottom of DMM Modular Project Unchecking the Output will hide the output window Unchecking the Project will hide the workspace window utah Tools menu The tools menu holds three configuration functions I Tools ETE 2 options sets configurations on measurements and calculations 457 Options Customize brings up a form that allows you to customize r Customize every item on the menu and icon bar ai Users Users allows you to define users and assign rights for operations Options dt Options this function brings up a pop up with settings sheets General CSV export and Acquisition General configures for settings that apply to DMM Modular in total CSV
131. the global elements E list Global elements are elements that when used as script input parameter do not need to be prepended with the test name This is very usefull for identifications globaladd Identification StaticFrame nm globaladd Identification StaticFrame Identification ObjectA globalemptylist 16 19 globalemptylist Globalemptylist Input This function makes the global elements list empty Example s globalemptylist globaladd 16 20 identify identify ScriptName Input ScriptName STRING Output Description This function starts the application used to identify frames or reference frames In most cases this application will be GeoLoc The parameter ScriptName is the full path and filename of a GeoLoc script if ScriotName is specified this script will be automatically executed Example s identify identify C GeoLoc scripts measureReferenceFrame script Seealso KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 84 98 16 21 increasetestname Syntax increasetestname Ed Description If atest name was specified before see chapter 17 1 this function will increment the test name with 1 if the specified test level was myTest increasetestname will create a new test level called myTest01 If called once more increasetestname will create a new test level called myTest02 This way the same script can
132. uisition C settings acq03 settings data acquisition C settings acq04 settings 150 00000 16 2 addfromfile Element1 addfromfile File1 ol Input Ee STRING Output Elementi STRING Optional Description This function adds an element Clement or list of elements into DMM based on the full path and file name of the binary file File or list of binary files If Element is not specified an element name will be generated based on the name of the file If multiple files or elements are specified the number of files and elements must correspond If the binary file has his INFO file in the same directory DMM will import this file as well if not all channels in the new imported a element will get default channel names Example s addfromfile Z transfer meas01 mat addfromfile Z trf m01 mat Z trfim02 mat element0O1 addfromfile Z transfer meas01 mat el01 el02 addfromfile Z trf m01 mat Z trf m02 mat KRYPTON Help Pages on DMM Modular KRYPTON INDUSTRIAL METROLOGY page 78 98 16 3 calculatemean Result calculatemean Data Commentline SE Data STRING Required Commentline STRING Output Result STRING Required Description This function calculates the mean value of each column of element Data except for the first column since this is a time or index column This row with mean column values is ap
133. ur system Press the Finish button to exit this installation Lance Click the Finish button to conclude the DMM Modular installation process If the main installation program is still active click the Finish button of that program to conclude the entire installation process KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 17 98 4 4 1 4 2 4 3 Principles of DMM Modular When using DMM Modular it is usefull to consider the main philosophy behind the software The main idea is To measure off line single point motions 3D or frame motions 6D in camera coordinate system and transform these data into a new user chosen reference frame The following sub chapters will clarify some of the key terms Measuring off line When measuring off line all data acquired by the camera is first saved in a temporary buffer No calculation whatsoever is done during the measurement The advantage is that all resources are available to acquire data All calculations are performed when the measurement is terminated Measuring off line results in the highest acquisition frequency Krypton also has a RealTime package in RealTime a single snapshot or frame is measured calculated and outputted in a user chosen form analog or network output The maximal real time acquisition frequency is 300 Hz Measuring single points 3D For some measurement setups you are only int
134. user Edit allows you to change a user name and or password You can t copy the settings from another user any more Identify menu starts GeoLoc Please refer to the Geoloc user Rodym DMM pendule manual Project Yiew Tools Identify Script Ext Papa S l Note if DMM starts to measure and Geoloc is still open Geoloc will be closed to prevent two applications from attempting to acces the camera simultaneously Script menu Although the macro s themselves are fully described in chapter Scripting writing and using macro s on page 71 well list the menu possibilities here already New new script Open open an existing script 3 Record when this option is chosen the macro teach mode is toggled If the teach mode is active the icon will look as if it is pushed in From this moment on every action performed is recorded into a macro and can be replayed later When activating the teach mode DMM Modular asks in which script to dump the actions This file is an ASCII file and can be edited with any editor If the file already exists DMM Modular will ask if you want to overwrite the file or if you want to append to it KRYPTON Help Pages on DMM Modular KRY PION INDUSTRIAL METROLOGY page 68 98 Save save a script under its original name C Mew TER Za Save as save script under a different name l r Open Chr Record Print sends the current script to the default
135. wildcards are not Example s Delete Pos6D object Delete Pos6D object ResidualErnobject 16 10 distance Result distance Element1 Element2 Ledindex1 ledindex2 Element STRING Required Element2 STRING Required LedIndex1 INTEGER Required LedIndex2 INTEGER Required Output Description This function calculates for every timestamp the 3D distance D x2 2y2 2 between Element1 and Element2 lf Element1 is an element that holds point positions leds Ledindex1 specifies which will be used otherwise Ledlndex1 should be 0 If Element2 is an element that holds point positions leds Led ndex2 specifies which will be used otherwise Ledindex2 should be 0 To get the distances in X Y and Z of the reference frame use the function offset To get the distances in X Y and Z of one of the two objects use the function transform Example s Res dist distance Pos6D objectA Pos6D objectB 0 0 Res dist distance Acquisition camera test01 Pos6D objectB 2 0 Res dist distance Pos6D objectB Acquisition camera test01 0 2 Res dist distance Acquisition camera test01 Acquisition camera test02 2 4 Offset Transform SS 16 11 error error ErrMessage a Input ErrMessage STRING FLOAT or INTEGER T S l Description This function generates an error condition that will
136. will be listed as a red star in the overview Each LED has a default name being its port number and LED number You can change this default name by double clicking on the LED name and overtyping it with a new name To remove single LED s use the same form to reduce the number of LED s for a given strober port Configuring LED s for a dynamic frame To configure the LED s of a dynamic frame don t configure the LED s individually just add the dynamic frame as it was defined Click on the button Add 6D frame and the following pop up will appear variable selection voiture dynamic Variable voiture dynamic Select the dynamic frame from the folder Add age Identification and confirm the choice Add the frame using the following Configure on which strober port the LED s connections on the controller of the object are attached and which is the first LED Part E Note You don t have to specify the First LED i number of LED s on the frame the software knows this from the definition of the dynamic frame Cancel The first LED is the sequence number of the first LED on the object If you connect a strober on port 2 LED s 1 and 2 are single LED s and we have a dynamic frame on LED s 3 4 and 5 then first LED must be 3 AlklA Make sure the LED s have same sequence first LED second LED third as during the object identification KRYPTON Help Pages on DMM M
137. window drag the requested data file from the workspace window onto the graph and drop it there As soon as the file is dropped a dual list box pops up In the left list box select the variable that will be plotted on the X axis of the graph You can select only one variable In the right list box select the variable s that will be plotted on the Y axis These can be multiple variables shift click to select a range Ctrl click to select a set of separate variables Click on OK to confirm the choice Select channels cane ze Figure 35 2D graph variables selection pop up form The 2D graph will be opened Initially the graph is stretched to its maximum contents You can pan the graph by moving the mouse over the graph holding down the left mouse key and moving the mouse as long as the left button is down the graph will follow the movements of the mouse Scrolling the mouse wheel will zoom in and out on a graph If you hold down the key Ctrl and then click the left mouse button a rule will be displayed between the cursor position at the time of the left mouse click and the current cursor position The rule will display the difference in X and Y units according to the units specified on the X and Y axis and the 2D distance If you release the Ctrl key the dX dY and 2D value will be shown in the message tab of the output window If you hold down the keys Ctrl Shift and then click the left mouse butto

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