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1. Dimensions MOUNTING HOLES AA 4X M5X0 8 ma m d fT g i N ids 142 39 p Y ET E H 0 q c das Le d 38 8 Envelope 39 agg 1 315 ery 90 6 m r 105 4 Gocator 2300 amp 2880 Series Specifications e Gocator 2300 Series 326 Gocator 2340 Field of View Measurement Range Dimensions MOUNTING HOLES _ 75 4X M5X0 8 V 10 49 L Y iS i Gocator 2300 amp 2880 Series Specifications e Gocator 2300 Series 327 Envelope 30 i 210 i 190 S Y E 145 6 pa 160 4 Gocator 2350 Field of View Measurement Range Om Obl 79 200 200 182 5 182 5 Gocator 2300 amp 2880 Series Specifications e Gocator 2300 Series 328 Dimensions MOUNTING HOLES T 4X M5X0 8 Y 10 i i 263 272 Td TY 40 615 Envelope Gocator 2300 amp
2. Master BEER 800 nm a O Ea MASTER 800 FRONT LO sa ta e MASTER 400 800 REAR Oo o POWER AND SAFETY ENCODER INPUT Item Description Sensor Ports Master connection for Gocator sensors no specific order required Ground Connection Earth ground connection point Laser Safety Laser safety connection Encoder Accepts encoder signal Input Accepts digital input See Master 400 800 page 351 for pinout details Master 1200 2400 The Master 1200 and the Master 2400 allow you to connect more than two sensors The Master 1200 accepts twelve sensors and the Master 2400 accepts twenty four sensors Gocator 2300 amp 2880 Series Getting Started e Hardware Overview 22 SENSOR PORTS 1 12 LED INDICATORS MASTER 1200 FRONT e SENSOR PORTS 13 24 2400 ONLY SENSOR PORTS 1 12 LED INDICATORS Ol S aea Master E ET TEE al 20 IE RL Ab Al Ab b EL AE db dh dhd MARNE FOR SMOC FOWER CA MASTER 2400 FRONT MASTER 1200 2400 REAR e GROUND CONNECTIO POWER AND SAFETY ENCODER INPUT Item Description Sensor Ports Master connection for Gocator sensors no specific order required Ground Connection Earth ground connection point Laser Safety Laser safety connection Encoder Acc
3. 208 ProfileGroove eeueeeee 210 Profilelntersect Luuuuuuu 211 aeri 1 Ha RES 212 ProfilePanel LLuuuuuuuuuu 213 ProfilePosition lsuuuuuuu 215 Profile tiroteos 216 SEP errata 218 SurfaceBoundingBox 218 SurfaceEllipse 22 eee 219 SurfaceHole 2s ele nift mIO 220 SurfaceCsHole eeeeee 222 SurfaceOpening Luuuu 224 SurfacePlane leeeeeeeeeeeA 226 SurfacePosition 2 2 2 2 227 SlitfaceStutl accendi cersccce e etis E 227 SurfaceVolume suuuuue 229 SurfaceCsHole eeeeeeee 230 OUR DUE sans esos dto rosa 232 A A rur rores la Eu Ue 232 ASCII S nee th etu dele dee tees bade 234 d A EE EE E 234 A ies dE ME 235 DigitalO and Digitall 235 Analog 2 2 22 2 222 e eee eee ee eee 235 SCENE 236 Selcom dicas cs 237 ASCII o epe eflI E ae 237 Transformation File 2 2 2 2 222 238 5 RANSON 2ooiseleccerictivcr eres e ipo v0 PDT 239 DEVICE oon tee thee Godot ce sede xl esas 239 Protocols 2 22 cece cee ee eee ee eee 240 Gocator PIOtOCOl soc ci ec e Shae 240 AA ted a 240 Modes 0 c cece cece cece cece rre 240 Buddy Communication Channels 240 States 2ct22c2cchbasn oe deed nel eA ELE 241 Data Types l i li lle od 241 Status Codes Luuuee
4. 2 2 75 SOURCE icon disdenedalanteces bedestewsed 114 Dynamic Exposure ueeeese 76 REBIONS O tls ieg 114 Multiple Exposure uuuuu 77 DECISIONS auceo ci occiso sie 115 A A NT 79 ENS a a ao E e 117 Sub Sampling 2 2 22 79 Measurement Anchoring 118 Spacing Interval susuus 80 Profile Measurement 119 Maternal lt 2 224 me Ee ECL d putes 81 Feature Points 2 0 022222222 22202 120 Alignmert 5o sssicre reve ia 83 FIEL eS Luce Sood o tee E 121 Alignment States LLuuu uuu 83 Measurement Tools _ 122 Alignment Types Lsess 84 TOR si esc 122 Alignment With and Without Encoder A A AN 124 Calibration cias oc TREATS 84 Dimension nn nn nn nono 125 Aligning Sensors 0 ee cence eee eeee 84 Groove _ eee 127 Clearing Alignment 87 TN 130 Filters 2 eee ccc cece ccc cece cece ce eeeenes 88 UT htt iste a ete 131 Gap Filling ge 88 Position oo cece ccccccccccccccccccccccccees 133 Median cies censa ORE RUE IAD RM EDUC 89 Panel 134 Smoothing 2 22 2 2 2222 2 eee 90 A N EE 134 DECIMO estaria rca 91 Flush ad 135 Surface Generation 22 91 E o E RC RERO 137 Part Detection 2111232000 raii 092906 nina 93 Tilt ooo 141 Edge Filtering 2008 96 SE RE 141
5. Element Type Description Name String Setting for measurement name Source 32s Setting for profile source AnchonX String CSV The X measurements IDs used for anchoring AnchonWX options String CSV The X measurements IDs available for anchoring Anchor Z String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring Region ProfileRegion2d Measurement region Measurements WStdDev ResultMeasurement StdDev measurement Measurements MaxError ResultMeasurement MaxError measurement Measurements MinError ResultMeasurement MinError measurement Measurements Percentile PercentileMeasureme Percentile measurement nt Gocator 2300 amp 2880 Series Gocator Device Files Job Files 212 PercentileMeasurement Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Percent 64f Error percentile ProfilePanel AProfilePanel element defines settings for a profile panel tool and one or more of its
6. Measurement Region Measurement Region A A Center Opening O Opening Plane The Plane tool provides measurements that report angle X angle Y and offset Z of the surface with respect to the alignment target The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 110 for instructions on howto add measurement tools The Z offset reported is the Z position at zero position on the X axis and the Y axis The results of the Plane Angle X and Plane Angle Y measurements can be used to customize the tilt angle in the Hole Opening and Stud tools Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 164 10 000 3D View 2D View Paramete Anchorin da Source Top a Wi Regions X Angle 37 416 Id O tput Filters ES Decision Min o 38 mm Max 0 mm Measurement Panel Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 165 Measurements Measurement Angle X Determines the X angle of the surface with respect to the alignment target Angle Y Determines the Y angle of the surface with respect to the alignment target Offset Z Determines the z offset of the surface with respect to the alignment target Parameters Parameter Decision Region Output Position Illustration X Y or Z Z Angle Z Angle X X Angle Y Y Description See Decisio
7. 257 PINE iui ec Mil eerte e 258 A 258 Backup sidra oie obesa 259 A A see 259 Restore Factory L socescivepsvet ee e eR DVDs 260 Set Recording Enabled 260 Get Recording Enabled 261 Clear Replay Data u 261 Set Playback Source LLuuuus 261 Get Playback Source L 262 Simulate caros ta ien bee ial 262 Seek Playback 2 22 263 Step Playback 0 cece cece cece ee 263 Playback Position _ 2 2 264 Clear Measurement Stats 264 Simulate Unaligned 264 ACQUING s lli leieimcedeccmie mtr ede 265 Acquire Unaligned 265 Read File Progressive 265 Export CSV Progressive 266 Export Bitmap Progressive 266 Upgrade Commands 267 Get Protocol Version 267 Start Upgrade LLuuuuuuuuuu 268 Get Upgrade Status 268 Get Upgrade Log 268 Data Results esgaret ee PARA IARE 269 a ede cur 269 A ci E E EAA 270 Profile ooo rain 271 Resampled Profile 200005 272 Profile Intensity 2 2 2 2 2222 222 272 SUITAGE csl ieiekiiunemmiciccsorizuiesede 273 Surface Intensity Liuuuuuuuu 273 Measurement 22 0020 ceecnceece da a 274 Ali
8. A Te 63 EN Specifications Gocator 2300 Series 333 Envelope Gocator 2300 amp 2880 Series 39 N 1350 N 650 N N a 11 41 277 NON 1 219 94 237 43 Specifications e Gocator 2300 Series 334 Gocator 2380 Field of View Measurement Range E 32 400 750 0 400 Specifications Gocator 2300 Series 335 Gocator 2300 amp 2880 Series Dimensions MOUNTING HOLES 4X M5X0 8 y 10 i 4 i 263 272 Gocator 2300 amp 2880 Series 61 5 p Specifications e Gocator 2300 Series 336 Envelope Gocator 2300 amp 2880 Series ma 238 3 39 4 i 800 Y i 350 17 7 i me 2179 11 8 Specifications Gocator 2300 Series 337 Gocator 2880 Sensor The Gocator 2880 is defined below MODEL Data Points Profile Linearity Z 96 of MR Resolution Z mm Resolution X mm Clearance Distance CD mm Measurement Range MR mm Field of View FOV mm Recommended Laser Class Dimensions mm Weight kg Optical models laser classes and packages can
9. JO D O a o O O a O O Gocator Web Interface e Measurement 147 Parameter ffi curve Surface Reference Reglon Tiit Correction Advanced Auto Set Auto Set Anchoring ELA EG Filters Decision oo000000 Min Max Measurements Measurement X Determines the X position of the center of the countersunk hole Y Determines the Y position of the center of the countersunk hole Z Determines the Z position of the center of the countersunk hole Gocator 2300 amp 2880 Series Illustration Gocator Web Interface Measurement 148 Measurement Outer Radius Determines the outer radius of the countersunk hole To convert the radius to a diameter set the Scale setting in the Output panel displayed after expanding the Filters section to 2 Depth Determines the depth of the countersunk hole relative to the surface that the countersunk hole is on Bevel Radius Determines the radius at a user defined offset Offset setting relative to the surface that the countersunk hole is on To convert the radius to a diameter set the Scale setting in the Output panel displayed after expanding the Filters section to 2 Bevel Angle Determines the angle of the hole s bevel Gocator 2300 amp 2880 Series Illustration S Outer Radius 4 Bevel Radius Gocator Web Interface Measurement 149 Measurement X Angle Determines th
10. 7 Clickthe Align button The sensors will start and then wait for the calibration target to pass through the laser plane Alignment is performed simultaneously for all sensors If the sensors do not align check and adjust the exposure settings page 74 D Alignment uses the exposure defined for single exposure mode regardless of the current exposure mode 8 Engage the transport system When the calibration target has passed completely through the laser plane the calibration process will complete automatically To properly calibrate the travel speed the transport system must be running atthe production operating speed before the target passes through the laser plane 9 Use Profile mode to inspect alignment results Laser profiles from all sensors should now be aligned to the alignment target surface The base of the alignment target or target surface provides the origin for the system Z axis D When using an alignment bar there can be at most one hole in each sensor s field of view Alignment can be cleared to revert the sensor to sensor coordinates Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 87 Alignment Cno Type Stationary Target Flat Surface T Align Clear Alignment To clear alignment 1 Goto the Scan page 2 Choose Profile or Surface mode in the Scan Mode panel If one of these modes is not selected the Alignment panel will not be displayed 3 Ex
11. LoadJob test job OK test job loaded successfully LoadJob OK test job LoadJob wrongname job ERROR failed to load wrongname job OK The Stamp command retrieves the current time encoder and or the last frame count Gocator 2300 amp 2880 Series Protocols ASCII Protocol 296 Formats Message Format Command Stamp time encoder frame If no parameters are given time encoder and frame will be returned There could be more than one selection Reply If no arguments are specified OK time lt time value gt encoder lt encoder position gt frame lt frame count gt ERROR lt Error Message gt If arguments are specified only the selected stamps will be returned Examples Stamp OK Time 9226989840 Encoder 0 Frame 6 Stamp frame OK 6 OK test job LoadConfig wrongname job Stationary Alignment The Stationary Alignment command performs an alignment based on the settings in the sensor s live job file A reply to the command is sent when the alignment has completed or failed The command is timed out if there has been no progress after one minute Formats Message Format Command StationaryAlignment Reply If no arguments are specified OK or ERROR Error Message Examples StationaryAlignment OK StationaryAlignment ERROR ALIGNMENT FAILED Moving Alignment The Moving Alignment command performs an alignment based on the settings in the sensor s live job file
12. The Control and Upgrade channels can be connected simultaneously but the sensor will accept only a single connection on each port If an additional connection is attempted on a port that is already connected the previous connection will be closed and the new connection will be accepted After connecting to a Gocator device you can use the Get Protocol Version command to retrieve the protocol version Protocol version refers to the version of the Gocator Protocol supported by the connected sensor the sensor to which a command connection is established and consists of major and minor parts The minor part is updated when backward compatible additions are made to the Gocator Protocol The major part will be updated in the event that breaking changes are made to the Gocator Protocol The Get Protocol Version command reports the Upgrade protocol version of the connected sensor Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x0100 Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status majorVersion 64s Major version minorVersion 64s Minor version Gocator 2300 amp 2880 Series Protocols Gocator Protocol 267 Start Upgrade The Start Upgrade command begins a firmware upgrade for the Main sensor and any Buddy sensors All sensors will automatically reset 3 seconds after the upgrade process is complete
13. X X offset Px X resolution Y Y offset Py Y resolution Z 16 bit intensity value The intensity value is 0 if the intensity image is not available Gocator outputs 8 bit intensity values The values stored in the 16 bit RGB image is multiplied by 256 To obtain the original values divide the intensity values by 256 Refer to the blue channel on how to retrieve the offset and resolution values Blue Stamp information Stamps are 64 bit auxiliary information related to the height map and intensity content The next table explains how the stamps are packed into the blue pixel channel See Data Results page 269 for an explanation of the stamp information The following table shows how the stamp information is packed into the blue channel Astamp is a 64 bit value packed into four consecutive 16 bit blue pixels with the first byte position storing the most significant byte Gocator 2300 amp 2880 Series Tools and Native Drivers GenTL Driver 314 Stamp Information from GenTL driver Stamp Index Blue Pixel Position Details 0 0 3 Version 1 4 7 Frame Count 2 8 11 Timestamp us 3 12 15 Encoder value ticks 4 16 19 Encoder index ticks This is the encoder value when the last index is triggered 5 20 23 Digital input states 6 24 27 X offset nm 7 28 31 X resolution nm 8 32 35 Y offset nm 9 36 39 Y resolution nm 10 40 43 Z offset nm 11 44 47 Z resolution nm 12 48 51 Height map Width in pixels
14. 022 ssscebishescdessehweccesedes 9 Safety and Maintenance 10 Laser Safety 0 20 eee eee eee 10 Laser Classes jos pts don esis Ses aude dete 11 Precautions and Responsibilities 11 Class 3B Responsibilities 12 Nominal Ocular Hazard Distance NOHD 13 Systems Sold or Used in the USA 14 Electrical Safety lt 2c 1 cce ble putt 14 Environment and Lighting 15 Sensor Maintenance 2 16 Getting Started LLLuiuuLuiuuuu 17 System OVervIBW cel ccu a 17 Standalone System 2 2 2 17 Dual Sensor System 2 2 2 2 17 Multi Sensor System 18 Hardware Overview eeeeeeeeee 20 Gocator 2300 amp 2880 Sensor 20 Gocator 2300 2880 Cordsets 20 Master 100 ntens ic adden de 21 Master 400 800 02 22 2 2 2 2005 22 Master 1200 2400 2 2 2 2222 2 22 Calibration Targets 2 2 2 2 2 2 23 Installati n eese eher vue eru terree gre 25 Grounding Gocator L uuuuuuu 25 Recommended Grounding Practices Cordsets 25 Grounding Master 400 800 1200 2400 26 MOUNTING uo oft oe Lope eec re 26 Orientations e oe o EEUU ee EET 27 Network Setup eeeeeeeee esee 30 Client Setup
15. 9 QC yr hitio 192 168 1 10 gt 3 Loginas Administrator with no password PES The interface display language can be changed using lt A the language option After selecting the language the browser will refresh and the web interface will display in the selected language Gocator 2340 15776 Language 4 Goto the Manage page CI me amp e Manage Scan Measure Output Dashboard 5 Ensure that Replay mode is off the slider is set to the Replay left off Snapshot HA me Start 6 Ensure that the Laser Safety Switch is enabled or the EE Laser Safety input is high Master fal 7 Goto the Scan page aman otis te Ae a 8 Press the Start button or the Snapshot on the Toolbar to start the sensor Master 200 The Start button is used to run sensors continuously Gocator 2300 amp 2880 Series Getting Started e Network Setup 32 10 whereas the Snapshot button is used to trigger a single capture Safety_in L 5V 48VDC SA Safety in Standalone Omm E Yi Move a target into the laser plane Profile If a target object is within the sensor s measurement wi Fe ma range the data viewer will display the shape of the target and the sensor s range indicator will illuminate If you cannot see the laser or if a profile is not displ
16. Commands are sent from the client to the Gocator Command strings are not case sensitive The command format is lt COMMAND gt lt DELIMITER gt lt PARAMETER gt lt TERMINATION gt If acommand has more than one parameter each parameter is separated by the delimiter Similarly the reply has the following format lt STATUS gt lt DELIMITER gt lt OPTIONAL RESULTS gt lt DELIMITER gt Gocator 2300 amp 2880 Series Protocols ASCII Protocol 292 The status can either be OK or ERROR The optional results can be relevant data for the command if successful or a text based error message if the operation failed If there is more than one data item each item is separated by the delimiter The delimiter and termination characters are configured in the Special Character settings Special Characters The ASCII Protocol has three special characters Special Characters Special Character Explanation Delimiter Separates input arguments in commands and replies or data items in results Default value is Terminator Terminates both commands and result output Default value is r n Invalid Represents invalid measurement results Default value is INVALID The values of the special characters are defined in the Special Character settings In addition to normal ASCII characters the special characters can also contain the following format values Format values for Special Characters Format Value Explanation 9ot Tab n New
17. Output Filters Decision Min 14 mm Max 15 mm Value 14 786 within decision thresholds Min 14 Max 15 Decision Pass Irce T 43 105 A Region 9 T 16 243 19381 22 519 O lt a 1604 250 Ex O Id 4 Filters Decision Min 1500 mme Max 1600 mme Value 1604 250 outside decision thresholds Min 1500 Max 1600 Decision Fail Along with measurement values decisions can be sent to external programs and devices In particular decisions are often used with digital outputs to trigger an external event in response to a measurement See Output page 179 for more information on transmitting values and decisions To configure decisions 1 Goto the Scan page by clicking on the Scan icon 2 Choose Profile or Surface mode in the Scan Mode panel If one of these modes is not selected tools will not be available in the Measure panel 3 Goto the Measure page by clicking on the Measure icon 4 Inthe Tools panel click on a tool in the tool list 5 Inthe measurement list select a measurement Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 116 To select a measurement it must be enabled See Enabling and Disabling Measurements page 111 for instructions on how to enable a measurement 6 Click onthe Output tab For some measurements only the Output tab is displayed 7 Enter values in the Min and Max fields Filters Filters can be applied to measurement values before they a
18. String CSV String CSV String CSV String CSV SurfaceFeature PositionMeasurement PositionMeasurement PositionMeasurement Type 32s String Boolean Boolean Boolean 32s 64f 64f 64f 64f The X measurements IDs available for anchoring The Y measurements IDs used for anchoring The Y measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Measurement feature X measurement Y measurement Z measurement Description Measurement ID Optional measurement disabled if not Set Measurement name Measurement enable state 0 Disable 1 Enable Output hold enable state 0 Disable 1 Enable Smoothing enable state 0 Disable 1 Enable Smoothing window Output scaling factor Output offset factor Minimum decision threshold Maximum decision threshold A SurfaceStud element defines settings for a surface stud tool and one or more of its measurements Gocator 2300 amp 2880 Series Gocator Device Files Job Files 227 SurfaceStud Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for source Anchor X String CSV The X measurements IDs used for anchoring AnchorW options Anchor Anchor W options Anchor Z Anchor Z options String CSV String CSV String CSV String CSV String CSV The X measurements IDs available for
19. Target objects are typically moved under the sensor on a transportation mechanism such as a conveyor belt The sensor captures a series of 3D slices building up the full scan of the object Sensor speed and required exposure time to measure the target are typically critical factors in applications with line profiler sensors Laser line from i emitter Reflected laser 3 light detected N by camera NS i x Resulting laser profile Gocator 2300 amp 2880 Series 37 Resolution and Accuracy Delete this text and replace it with your own content Resolution X resolution is the horizontal distance between Imaging Unit each measurement point along the laser line This specification is essentially based on the number of camera columns used to cover the field of view FOV at a particular measurement range Since the FOV is trapezoidal the distance between points is closer at the near range than at the far range This is reflected in the Gocator data sheet as the two numbers quoted for X resolution X resolution is important for how accuratel the width of a target can be measured NOTE When the Gocator runs in Profile mode and Uniform Spacing is enabled the 3D data is resampled to an X interval that is different from the raw camera resolution Range reported from the same column X Resolution at mid MR gt X Resolution at FE Z Resolution Z resolution is the variability of the
20. Z Encoder_Z Z Encoder Z A Encoder_A A Encoder_A Gocator 2300 amp 2880 Series Specifications e Gocator 2300 amp 2880 I O Connector 346 Common Mode Voltage Differential Threshold Voltage Function Pins Min Max Min Typ Max Encoder_A 7 8 7V 12V 200 mV 125 mV 50 mV Encoder_B 9 10 7V 12V 200 mV 125 mV 50 mV Ecnoder_Z 11 12 7V 12V 200 mV 125 mV 50 mV D Gocator only supports differential RS485 signalling Both and signals must be connected Serial Output Serial RS 485 output is connected to Serial_out as shown below Function Pins Serial_out 13 14 Max Data Rate 1 MHz 1 MHz 1 MHz SERIAL_OUTPUT Serial_out Serial_out SERIAL SERIAL Analog Output The Sensor I O Connector defines one analog output interface Analog_out Function Pins Current Range Analog out 17 18 4 20 mA ANALOG OUTPUT ANALOG OUTPUT Analog out ANALOG Analog out Analog out1 Analog out1 ANALOG ae Current Mode Voltage Mo Gocator 2300 amp 2880 Series Specifications Gocator 2300 amp 2880 I O Connector 347 de ANALOG ANALOG To configure for voltage output connect a 500 Ohm Watt resistor between Analog _out and Analog_ out and measure the voltage across the resistor To reduce the noise in the output we recommend using an RC filter as shown below ANALOG OUTPUT 10K Analog o
21. until the alignment process is complete Gocator 2300 amp 2880 Series Protocols e Modbus TCP Protocol 282 Value Name 3 Align moving target 4 Clear Alignment 5 Load Job Description Start alignment process and also calibrate encoder resolution State register 301 will be set to 1 busy until the motion calibration process is complete Clear the alignment Activate a job file Registers 1 21 specify the filename Output registers are used to output states stamps and measurement results Each register address holds a 16 bit data value State State registers report the current sensor state State Register Map Register NO Name Type Description Address 300 Stopped Running Sensor State 0 Stopped 1 Running 301 Busy Busy State 0 Not busy 1 Busy Registers 302 to 363 below are only valid when the Busy State is not Busy 302 Alignment State Current Alignment State 0 Not aligned 1 Aligned 303 306 Encoder Value 64s Current Encoder value ticks 307 310 Time 64s Current time us 311 Job File Length 16u Number of characters in the current job file name 312 371 Live Job Name Current Job Name Name of currently loaded job file Does not include the extension Each 16 bit register contains a single character Stamp Stamps contain trigger timing information used for synchronizing a PLC s actions A PLC can also use this information to match up data from multiple Gocator sensors In
22. 13 52 55 Height map length in pixels 14 56 59 Specify if the intensity is enabled 16 bit Grey Scale Image When the 16 bit grey scale format is used the height map intensity and stamps are stored sequentially in the grey scale image The last row of the image contains the stamp information Rows O max part height 1 max part height 2 max part height If intensity is enabled Gocator 2300 amp 2880 Series Details Height map information The width and height of the image represent the dimensions in the X and Y axis Together with the pixel value each pixel presents a 3D point in the real world coordinates The following formula can be used to calculate the real world coordinates X Y Z from pixel coordinates Px Py Pz X X offset Px X resolution Y Y offset Py Y resolution Z Z offset Pz Z resolution Refer to the blue channel on how to retrieve the offset and resolution values If Pz is O if the data is invalid The Z offset is fixed to 32768 Z Resolution Z is zero if Pz is 32768 Intensity information The width and height of the image represent the dimension in the X and the Y axis Together with the pixel value each blue pixel represents an intensity value in the real world coordinates The following formula can be used to calculate the real world coordinates X Y Z from pixel coordinates Px Py Pz The following formula assumes Py is relative to the first
23. 74 Exposure Mode Description Single Uses a single exposure for all objects Used when the surface is uniform and is the same for all targets Dynamic Automatically adjusts the exposure after each frame Used when the target surface varies between scans Multiple Uses multiple exposures to create a single profile Used when the target surface has a varying reflectance within a single profile e g white and black Video mode lets you see how the laser line appears on the camera and identify any stray light or ambient light problems When exposure is tuned correctly the laser should be clearly visible along the entire length of the viewer If it is too dim increase the exposure value if it is too bright decrease exposure value Under exposure Over exposure Laser line is not detected Laser line is too bright Increase the exposure value Increase the exposure value When the Gocator is in Multiple exposure mode select which exposure to view using the drop down box next to View in the data viewer This drop down is only visible in Video scan mode when the Multiple option is selected in the Exposure section in the Sensor panel Video r Vinan m mm E a View Video y Top E Exposure 1 Y F po Y d Fa Single Exposure The sensor uses a fixed exposure in every scan Single exposure is used when the target surface is uniform and is the same for all parts Gocator 2300 amp 2880 Series Gocator W
24. 75 _ 49 40 38 8 fiil l 16 3 L L 6p Gocator 2300 amp 2880 Series Specifications e Gocator 2880 Sensor 340 Envelope 249 rs Ps 51 7 Me 66 2 T8 rm 446 3 tn Gocator 2300 amp 2880 Series Specifications e Gocator 2880 Sensor 341 Gocator Power LAN Connector The Gocator Power LAN connector is a 14 pin M16 style connector that provides power input laser safety input and Ethernet D This connector is rated IP67 only when a cable is connected or when a protective cap is used This section defines the electrical specifications for Gocator Power LAN Connector pins organized by function Gocator Power LAN Connector Pins Lead Color on Function Pin Cordset GND 24 48V 1 White Orange amp Black GND 24 48V 1 Orange Black DC 24 48V 2 White Green amp Black DC 24 48V 2 Green Black Safety 3 White Blue amp Black Safety 4 Blue View Looking into the connector on the sensor Black Sync 5 White Brown amp Black Sync 6 Brown Black Ethernet MX1 7 White Orange Ethernet MX1 8 Orange Ethernet MX2 9 White Green Ethernet MX2 10 Green Ethernet MX3 11 White Blue Ethernet MX3 12 Blue Ethernet MX4 13 White Brown Ethernet MX4 14 Brown Two wires are connected to the ground and power pins Grounding Shield The grounding shield should be mounted to the earth ground
25. Command Field Type Offset Description length 64s 0 Command size in bytes id 64s 4 Command identifier 0x0000 skipValidation byte 6 Whether or not to skip validation 0 do not skip 1 skip length 32u 7 Length of the upgrade package bytes data length byte 11 Upgrade package data Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x0000 status 32s 6 Reply status Get Upgrade Status The Get Upgrade Status command determines the progress of a firmware upgrade Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x1 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1 status 32s 6 Reply status state 32s 10 Upgrade state 1 Failed 0 Completed 1 Running 2 Completed but should run again progress 32u 14 Upgrade progress valid when in the Running state Get Upgrade Log The Get Upgrade Log command can retrieve an upgrade log in the event of upgrade problems Gocator 2300 amp 2880 Series Protocols Gocator Protocol 268 Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x2 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifi
26. Gocator 2300 amp 2880 Series USER MANUAL Document revision D Copyright Copyright 2015 by LMI Technologies Inc All rights reserved Proprietary This document submitted in confidence contains proprietary information which shall not be reproduced or transferred to other documents or disclosed to others or used for manufacturing or any other purpose without prior written permission of LMI Technologies Inc No part of this publication may be copied photocopied reproduced transmitted transcribed or reduced to any electronic medium or machine readable form without prior written consent of LMI Technologies Inc Trademarks and Restrictions Gocator is a registered trademark of LMI Technologies Inc Any other company or product names mentioned herein may be trademarks of their respective owners Information contained within this manual is subject to change This product is designated for use solely as acomponent and as such it does not comply with the standards relating to laser products specified in U S FDA CFR Title 21 Part 1040 Contact Information For more information please contact LMI Technologies LMI Technologies Inc 1673 Cliveden Ave Delta BC V3M 6V5 Canada Telephone 1 604 636 1011 Facsimile 1 604 516 8368 www Imi3D com Gocator 2300 8 2880 Series Table of Contents Copyright 2 2 2 202222222 2 2 Table of Contents _ 2 2 02 22222 3 Introduction
27. Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 127 Measurements Measurement Illustration Width Measures the width of a groove Width Ll Width Depth Measures the depth of a groove as the maximum perpendicular distance from a line connecting the Depth edge points of the groove Depth X Z X Measures the X position of the bottom of a groove Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 128 Measurement Illustration Z Measures the Z position of the bottom of a groove X 2 Parameters Parameter Description Shape Shape of the groove U Shape V Shape Open Shape Location Specifies the location type to return Groove X and Bottom Groove bottom For a U shape and open shape groove the X position is at the Groove Z centroid of the groove For a V shape groove the X position is at the intersection of lines measurements fitted to the left and right sides of the groove See algorithm section below for more details only Left Groove s left corner Right Groove s right corner Select Type Specifies how a groove is selected when there are multiple grooves within the measurement area Maximum Depth Groove with maximum depth Index from The Left O based groove index counting from left to right
28. Gocator 2300 amp 2880 Series Specifications Gocator Power LAN Connector 342 Positive voltage is applied to DC_24 48V See Gocator 2300 Series page 323 for the sensor s power requirement Ground is applied to GND_24 48VDC Power requirements Function Pins Min Max DC 24 48V 2 24V 48 V GND_24 48VDC 1 OV OV Laser Safety Input The Safety_in signal should be connected to a voltage source in the range listed below The Safety_in signal should be connected to the ground common of the source supplying the Safety_in Laser safety requirements Function Pins Min Max Safety in 4 24V 48V Safety in 3 OV 0v A Confirm the wiring of Safety_in before starting the sensor Wiring DC_24 48V into Safety_in may damage the sensor Gocator 2300 amp 2880 Series Specifications e Gocator Power LAN Connector 343 Gocator 2300 amp 2880 I O Connector The Gocator 2300 2880 I O connector is a 19 pin M16 style connector that provides encoder digital input digital outputs serial output and analog output signals D This connector is rated IP67 only when a cable is connected or when a protective cap is used This section defines the electrical specifications for Gocator 2300 I O Connector pins organized by function Gocator I O Connector Pins Lead Color on Function Pin Cordset Trigger_in 1 Grey Trigger_in 2 Pink Out_1 Digital 3 Red Output 0 Out_1 Digital 4 Blue Output 0 Out_2 Digital 5 T
29. Index from the Right 0 based groove index counting from right to left Index 0 based groove index Minimum Depth Minimum Width Maximum Width Gocator 2300 amp 2880 Series Minimum depth for a groove to be considered valid Minimum width for a groove to be considered valid The width is the distance between the groove corners Maximum width of a groove to be considered valid If set to 0 the maximum is set to the width of the measurement area Gocator Web Interface Measurement 129 Parameter Decision Region Output Intersect Description See Decisions page 115 The measurement region defines the region in which to search for the groove For a stable measurement the measurement region should be made large enough to cover some laser data on the left and right sides of the groove See Regions page 114 Sides of the Groove See Filters page 117 The Intersect tool determines intersect points and angles The measurement value can be compared with minimum and maximum constraints to yield a decision The Intersect tool s measurements require two fit lines one of which is a reference line set to the X axis z 0 the Z axis x 0 or a user defined line See Adding and Removing Tools page 110 for instructions on how to add measurement tools Gocator 2300 amp 2880 Series Reference Type Line Ref Line RL 2 Regions 9 Line L 2 Regions gt S Id
30. Layout Layout Child Elements Element Type Description DataSource 32s Data source of the layout output read only 0 Top 1 Bottom 2 Top left 3 Top right TransformedDataRegion Region3D Transformed data region of the layout output Orientation 32s Sensor orientation 0 Wide 1 Opposite 2 Reverse Orientation options 32s CSV List of available orientation options Orientation value 32s Actual value used if not configurable MultiplexBuddyEnabled Bool Enables multiplexing for buddies MultiplexSingleEnabled Bool Enables multiplexing for a single sensor configuration MultiplexSingleExposureDur 64f ation MultiplexSingleDelay 32u MultiplexSinglePeriod 32u XSpacingCount 32u YSpacingCount 32u MultiplexSinglePeriod min 64f Gocator 2300 amp 2880 Series Exposure duration in us currently rounded to integer when read by the sensor Delay in us Currently gets rounded up when read by the sensor Period in us Currently gets rounded up when read by the sensor Number of points along X when data is resampled Number of points along Y when data is resampled Minimum period in ps Gocator Device Files Job Files 196 Alignment The Alignment element contains settings related to alignment and encoercalibration Alignment Child Elements Element Type Description InputTriggerEnabled Bool Enables digital input triggered alignment operation Type 32s Type of alignment operation 0 Stationary 1 Mo
31. 0 mm Left em Max Void Width 0mm Min Depth 0 mm Surface Width 5 mm Surface Offset 2 mm Nominal Radius 2 mm Tangen Region 5 Right Flush 0331 Id 2 Parameters Output Filters S Decision Min 0 mm Max 1 mm The Flush tool uses a complex feature locating algorithm to find the flushness of the object it is being used on and then return measurements The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel See Gap and Flush Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm Measurements Measurement Illustration Flush Measures the flushness between two surfaces The surface edges can be curved or sharp Flush Flush Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 136 Direction Surface Region Edge Region Surface Point The Data Viewer displays the flush measurement in real time It also displays the results from the intermediate steps in the algorithm Strip The Strip tool measures the width of a strip The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 110 for instructions on how to add measurement tools irce Tor Base Type Flat Left Edge Right Edge Tilt Enabled YA Support Width 1 mm Transition Width 0 mm Min Width 0 mm Min
32. 2880 Series 400 300 217 9 E 2383 Ho 39 acest 10 8 O O 3 Specifications e Gocator 2300 Series 329 Gocator 2370 Field of View Measurement Range 343 5 Gocator 2300 amp 2880 Series Specifications e Gocator 2300 Series 330 Dimensions MOUNTING HOLES 4X M5X0 8 y 10 i 263 Qj Gocator 2300 amp 2880 Series 272 61 5 Specifications Gocator 2300 Series 331 Envelope 11 8 217 9 r4 2383 Gocator 2300 amp 2880 Series Specifications e Gocator 2300 Series 332 Gocator 2375 Field of View Measurement Range Dimensions 675 MOUNTING HOLES 4X M5X0 8 V 10 E ed 39 172 5 172 5 1325 675 514 i 263 Gocator 2300 amp 2880 Series 514 ja 75 d gh a te 3 gt SZ wW 272 lo 39 ax 10 8 b 4 L1 Y uy TT US 3x E LE
33. Data Viewer eeeeene ne 97 Surface Measurement 142 Data Viewer Controls 98 Measurement Tools 22 143 Video Mode Less 98 Bounding Box 22 143 Exposure View sese 98 Countersunk Hole 146 Spots and Dropouts 100 Ellipse ta 151 Profile Mode snper dps Emend 101 AN 153 Surface Mode ooocococononcccnencnnanonono 103 Measurement Region 157 Height Map Color Scale 105 Opening esee 158 Region Definition 12 einer hen ici 106 Measurement Region 164 Intensity OUTPUT 12 22 cle treated 107 Plane ooo ccc cece ccc c cc ccc cece 164 Measurement cucave cccceacene criada 109 Position 166 Gocator 2300 amp 2880 Series 4 A A weve eines 168 Measurement Region 171 Volume eeecece e eer 171 A e ee a Ea 173 Script Measurement 174 Built in Functions L uuuu 174 OUTPUT seur discordia 179 Output Page Overview 179 Ethermet Output 2 celeb vec 180 Digital Output Luuuuuuliluuuuu 183 Analog Output 2 2 eee eee eee eee 186 Seral O tpUl eese r sew shed oes eresE 188 Dashboard ctas d de mU EBENE 190 Dashboard Page Overview 190 System Panel ninia rro 190 Measurements fmc car
34. Filters Decision Min 3 mm Max 2 mm Gocator Web Interface Measurement 130 Measurements Measurement Illustration X Finds the intersection between two fitted lines and measures the X axis position of the intersection point Intersect X Z Intersect Z Finds the intersection between two fitted lines and measures the Z axis position of the intersection point Angle Finds the angle subtended by two fitted lines e Angle Parameters Parameter Description Reference Type Ref Line Line Absolute Angle measurement only Decision Region Output Line Determines the type of the reference line X Axis The reference line is setto the X axis Z Axis The reference line is setto the Z axis Line The reference line is defined manually using the Ref Line parameter One or two regions can be used to define the line Used to define the reference line when Line is selected in the Reference Type parameter One or two fit areas can be used for each fit line See Fit Lines page 121 for more information Determines if the result will be expressed as an absolute or a signed value See Decisions page 115 See Regions page 114 See Filters page 117 The Line tool fits a line to the live profile and measures the deviations from the best fitted line The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 110 for
35. Leeueeeeeeeeeere 30 Gocator Setup z ociclocie cci tica 32 Running a Standalone Sensor System 32 Running a Dual Sensor System 33 Next Steps L L2hlj0beencestxs ebbe EO Ede 36 Theory of Operation LL uu u 37 ID ACQUISI O ques cigalas rl 37 Principle of 3D Acquisition 37 Gocator 2300 amp 2880 Series Resolution and Accuracy Lusuus 38 X Resolution 2e e eerie koors 38 Z Resolution 22 eee eee ee eee eee ee 38 ZINC ANIL casos Sone cS UD NONNUUIS een 39 Profile Output ecu dies 40 Coordinate Systems 2 2 2 40 Sensor Coordinates uuuu 40 System Coordinates u uuu 40 Resampled and Uniform Spacing Profile FORME dao coronado do ete non lE 41 Gocator Web Interface _ 42 User Interface Overview oocccccccccnccnccccooo 42 Common Elements avs22eu evecdseegeeencies 43 ui or e 43 Saving and Loading Settings 43 Managing Multiple Settings 44 Recording Playback and Measurement Sitmi lation doc catre 45 Downloading Exporting and Uploading Recorded Data scel crac seca 46 LOS REM 48 Metrics rea sucios iaa iaa 48 Dita VIEWS cias 49 System Management and Maintenance 50 Manage Page Overview 2 50 Sensor System 2c eee e eee ee eee no 51 Sensor Autostart inicios 51 Dual Sensor Syste
36. Switching active jobs can also be done programmatically using the supported industrial protocols Modbus EtherNet IP and ASCII the Gocator s native Ethernet protocol and through the SDK Recording Playback and Measurement Simulation Gocator sensors can record and replay data and can also simulate measurement tools on recorded data This feature is most often used for troubleshooting and fine tuning measurements but can also be helpful during setup Recording and playback are controlled by using the toolbar controls Replay off Snapshot I ae Replay yE fo 2 Record Start Recording and playback controls when replay is off To record live data 1 Toggle Replay mode off by setting the slider to the left in the Toolbar 2 Press the Record button to enable recording When replay is off and recording is enabled the sensor will store the most recent data as it runs Remember to disable recording if you no longer wish to record live data press the Record button again to disable recording 3 Press the Snapshot button or Start button The Snapshot records a single frame The Start button will run the sensor continuously and all frames will be recorded up to available memory When the memory limit is reached the oldest data will be discarded Newly recorded data is appended to existing replay data unless the sensor job has been modified D om Replay Mode Enabled Y Data displayed ts simulated f
37. WAVELENGTH 600 780nm CLASS Illb LASER PRODUCT FDA warning sign example IEC warning sign example Nominal Ocular Hazard Distance NOHD This is the distance from the source at which the intensity or the energy per surface unit becomes lower than the Maximum Permissible Exposure MPE on the cornea and on the skin The laser beam is considered dangerous if the operator is closer from the source than the NOHD The following table shows the estimated NOHD for each Gocator model and laser class assuming continuous operation of the laser As a configurable device the Gocator allows the user to set the laser exposure laser on time independently of the frame period total cycle time for data acquisition Continuous operation of the laser means that the laser exposure is configured to be identical to the frame period which is also referred to as 100 duty cycle However in many applications the laser exposure can be smaller than the frame period less than 100 duty cycle thereby reducing the NOHD The table therefore shows the worst case NOHD Model Laser Class Line Fan Angle NOHD mm 2x20 2M 28 259 2x30 2M 28 259 3R 28 900 3B 28 5759 Gocator 2300 amp 2880 Series Safety and Maintenance Laser Safety 13 Model Laser Class Line Fan Angle NOHD mm 2x40 2M 28 259 3R 28 900 3B 28 5759 2x50 2M 28 259 3R 28 900 3B 28 5759 2x70 2M 43 251 3R 43 875 3B 43 3645 2x80 2M 57 245 3R 57 859 3B 57 2645 Systems Sold or Use
38. e g 9 for Filename myjob job The length includes the job extension Valid Length when byte 1 7 0 20 43 Current Job Name of currently loaded job file Includes the job Filename extension Each byte contains a single character Valid when byte 1 0 44 99 Reserved Reserved bytes The sample state object contains measurements and their associated stamp information Sample State Assembly Information Value Class 0x04 Instance 0x321 Gocator 2300 amp 2880 Series Protocols EtherNet IP Protocol 289 Information Number of Attributes Length Supported Service Value 3 380 bytes OxOE Get Single Attribute Attribute 3 Attribute Name Type Value Description Access 3 Command Byte Sample state information See below for more Get Array details Sample State Information Byte Name Type Description 0 1 Inputs Digital input state 2 9 Z Index Position 64s Encoder position at time of last index pulse 64 bit signed integer 10 13 Exposure 32u Laser exposure in us 14 17 Temperature 32u Sensor temperature in degrees Celsius 1000 centidegrees 18 25 Position 64s Encoder position 64 bit signed integer 26 33 Time 64u Time 64 bit unsigned integer 34 41 Frame Counter 64u Frame counter 64 bit unsigned integer 42 Buffer Counter 8u Number of buffered messages currently in the queue 43 Buffer Overflow Buffer Overflow Indicator 0 No overflow 1 Overflow 4A 79 Reserved Reserved bytes 80 83 Measurement 0 32s Measu
39. eee eee eee eee 345 Encoder lp occ 346 serial OUtpUt obesidad ca aAA 347 Analog Output 2 2 2 222 2 2 347 M ster 100 c2cttccchibt ib ies oia 349 Master 100 Dimensions 350 Master 400 800 2 2 22 ee eee eee eee eee cence 351 Master 400 800 Electrical Specifications 352 Master 400 800 Dimensions 353 Master 1200 2400 354 Master 1200 2400 Electrical Specifications 355 Master 1200 2400 Dimensions 356 Parts and Accessories 357 Return Policy LLuLuLuuLu uuu 359 Software Licenses Lsuueuse 360 S pport sooo dol lean ethic 366 Cont ct i llliIll labii liege SEESE RESER 367 Gocator 2300 amp 2880 Series Introduction The Gocator 2300 series of laser profiling sensors is designed for 3D measurement and control applications Gocator sensors are configured using a web browser and can be connected to a variety of input and output devices This documentation describes how to connect configure and use a Gocator It also contains reference information on the device s protocols and job files Notational Conventions This guide uses the following notational conventions A Follow these safety guidelines to avoid potential injury or property damage D Consider this information in order to make best use of the product Gocator 2300 amp 2880 Series 9 Safety and Maintenance T
40. for more information on fit lines When this parameter is set to X Axis the baseline is set toz 0 When Baseline is set to Line you must set this parameter See Fit Lines page 121 for more information on fit lines See Decisions page 115 See Regions page 114 See Filters page 117 The Circle tool provides measurements that find the best fitted circle to the live profile and measure various characteristics of the circle The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 110 for instructions on how to add measurement tools Gocator 2300 amp 2880 Series Source op Region O m Radius 44 628 Id 2 Output Filters Decision Min 44 mm Max 46 mm Gocator Web Interface Measurement 124 Measurements Measurement Radius Measures the radius of the circle x Finds the circle center position in the X axis Z Finds the circle center position in the Z axis Parameters Parameter Decision Region Output Dimension Illustration Radius Center X Z Description See Decisions page 115 See Regions page 114 See Filters page 117 The Dimension tool provides Width Height Distance Center X and Center Z measurements See Adding and Removing Tools page 110 for instructions on howto add measurement tools O O O O Id 4 Filters Decisi
41. part s shape in the XY plane and also for the ratio of the major and minor axis lengths and for the orientation angle of the ellipse The measurement value can be compared with minimum and maximum constraints to yield a decision Gocator 2300 amp 2880 Series Gocator Web Interface e Measurement 151 See Adding and Removing Tools page 110 for instructions on how to add measurement tools 3D View 2D View EEES Anchoring Source T ff Region 9 Major 68 722 Q O O ld 2 Output m Filters Decision Min 58 mm Max 69 mm Measurement Panel Measurements Measurement Illustration Major Determines the major axis length of an ellipse fitted to the part s area in the XY plane ELLIPSE MAJOR Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 152 Measurement Illustration ELLIPSE MINOR Minor Determines the minor axis length of an ellipse fitted to the part s area in the XY plane Kano NEM RATIO 1 Determines the minor major axis ratio of an ellipse fitted to the part s area in the XY plane C RATIO 0 5 RATIO 0 1 Z Angle Determines the orientation angle of an ellipse fitted to the part s area in the XY plane WEE Parameters Parameter Description Decision See Decisions page 115 Region See Regions page 114 Output See Filters page 117 Hole The Hole tool locates a circular opening within a Sensor region of interest o
42. status return When the program finishes call GoDestroy api to destroy the API object Gocator 2300 amp 2880 Series Software Development Kit 307 Discover Sensors Sensors are discovered when GoSystem is created using GoSystem_Construct You can use GoSystem_ SensorCount and GoSystem_SensorAt to iterate all the sensors that are on the network GoSystem_SensorCount returns the number of sensors physically in the network Alternatively use GoSystem FindSensorByld or GoSystem FindSensorBylpAddress to get the sensor by ID or by IP address Refer to the Discover example for details on iterating through all sensors Refer to other examples for details on how to get a sensor handle directly from IP address onnect Sensors Sensors are connected by calling GoSensor Connect You must first get the sensor object by using GoSystem SensorAt GoSystem FindSensorByld or GoSystem_FindSensorBylpAddress onfigure Sensors Some configuration is performed using the GoSensor object such as managing jobs uploading and downloading files scheduling outputs setting alignment reference etc Most configuration is however performed through the GoSetup object for example setting scan mode exposure exposure mode active area speed alignment filtering subsampling etc Surface generation is configured through the GoSurfaceGeneration object and part detection settings are configured through the GoPartDetection object See Class Hierarc
43. www opensource org licenses bsd license php Copyright c 2009 2011 Zik Saleeba All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution Neither the name of the Zik Saleeba nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWAR
44. 1 or Out 2 to the supply voltage Take the output at Out 1 or Out 2 The resistor selection is the same as what is shown above Out 1 Out1 R d USER GND USER GND Digital Inputs Every Gocator sensor has a single optically isolated input To use this input without an external resistor supply 3 3 24 V to Pin 1 and GND to Pin 2 Gocator 2300 amp 2880 Series Specifications e Gocator 2300 amp 2880 I O Connector 345 f 16 Trigger_in _ 3 3V to 24V Digital Input Vdata USER_GND Active High Ifthe supplied voltage is greater than 24 V connect an external resistor in series to Pin 1 The resistor value should be R Vin 1 2V 10mA 680 3 3V to 24V VIN Digital Input Vdata Trigger_in 2 Active Low To assert the signal the digital input voltage should be set to draw a current of 3 mAto 40 mA from Trigger_In The current that passes through Trigger_In is Vin 1 2 Vdata 680 To reduce noise sensitivity we recommend leaving a 20 margin for current variation i e uses a digital input voltage that draws 4mA to 25mA Function Pins MinVoltage Max Voltage Min Current Max Current Min Pulse Width Trigger_in 12 33V 24V 3mA 40 mA 20 us Encoder Input Encoder input is provided by an external encoder and consists of three RS 485 signals These signals are connected to Encoder_A Encoder_B and Encoder_Z B Encoder_B B Encoder_B
45. 25 80 210 400 500 1350 800 Range MR mm Field of View FOV 18 26 47 85 96 194 158 365 308 687 345 1028 390 1260 mm Recommended Laser 2M 2M 3R 3R 3B 3B N 3B Class Other Laser Classes 3R 3R 3B 3B 3B Dimensions mm 35x120x149 5 49x75x142 49x75x197 49x75x272 49x75x272 49x75x272 49x75x272 Weight kg 0 8 0 74 0 94 1 3 1 3 1 3 1 3 Optical models laser classes and packages can be customized Contact LMI for more details Specifications stated are based on standard laser classes Linearity Z Resolution Z and Repeatability Z may vary for other laser classes All specification measurements are performed on LMI s standard calibration target a diffuse painted white surface Linearity Z is the worst case difference in average height measured compared to the actual position over the measurement range Resolution Z is the maximum variability of height measurements across multiple frames with 9596 confidence Resolution X is the distance between data points along the laser line Repeatability Z is measured with a flat target at the middle of the measurement range It is the 9596 confidence variation of the average height over 4096 frames Height values are averaged over the full FOV See Resolution and Accuracy page 38 for more information Gocator 2300 amp 2880 Series Specifications e Gocator 2300 Series 323 ALL 2300 SERIES MODELS Scan Rate Interface Inputs Outputs Input Voltage Power Housin
46. 4 Command identifier 0x1014 length 32u 10 Data length data length byte 14 Data content Gocator 2300 2880 Series Protocols Gocator Protocol 259 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1014 status 32s 6 Reply status Restore Factory The Restore Factory command restores the connected sensor to factory default settings This command has no effect on connected Buddy sensors Note that the sensor must be reset or power cycled before the factory restore operation can be completed Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4301 resetAddress 8u 6 Specifies whether IP address should be restored to default 0 Do not reset IP 1 Reset IP Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4301 status 32s 6 Reply status Set Recording Enabled The Set Recording Enabled command enables recording for replay later Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4516 enable 8u 6 0 disabled 1 enabled Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4516 status 32s 6 Reply status
47. Areply to the command is sent when the alignment has completed or failed The command is timed out if there has been no progress after one minute Gocator 2300 amp 2880 Series Protocols ASCII Protocol 297 Formats Message Format Command MovingAlignment Reply If no arguments are specified OK or ERROR lt Error Message gt Examples MovingAlignment OK MovingAlignment ERROR ALIGNMENT FAILED Clear Alignment The Clear Alignment command clears the alignment record generated by the alignment process Formats Message Format Command ClearAlignment Reply OK or ERROR lt Error Message gt Examples ClearAlignment Data Commands Optional parameters are shown in italic The placeholder for data is surrounded by brackets lt gt In the examples the delimiter is set to O The Get Result command retrieves measurement values and decisions Formats Message Format Command Result measurement ID measurement ID Reply If no arguments are specified the custom format data string is used OK lt custom data string gt ERROR lt Error Message gt If arguments are specified OK lt data string in standard format gt ERROR lt Error Message gt Examples Gocator 2300 amp 2880 Series Protocols ASCII Protocol 298 Standard data string for measurements ID 0 and 1 Result 0 1 OK M00 00 V151290 D0 M01 01 V18520 D0 Standard formatted measurement data with a non existent me
48. C 32u 6 Count of stamps in this message size 16u 10 Stamp size in bytes min 56 current 56 source 8u 12 Source 0 Main 1 Buddy reserved 8u 13 Reserved stamps C Stamp 14 Array of stamps see below Stamp Field Type Offset Description framelndex 64u 0 Frame index counts up from zero timestamp 64u 8 Timestamp us encoder 64s 16 Current encoder value ticks encoderAtZ 64s 24 Encoder value latched at z index mark ticks status 64u 32 Bit field containing various frame information Bit 0 sensor digital input state Bit 4 master digital input state Bit 8 9 inter frame digital pulse trigger Master digital input if master is connected otherwise sensor digital input Value is cleared after each frame and clamped at 3 if more than 3 pulses are received serialNumber 32u 40 Sensor serial number main if buddied reserved 2 32u 44 Reserved Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier attributesSize 16u 6 Size of attributes in bytes min 20 current 20 height H 32u 8 Image height in pixels width W 32u 12 Image width in pixels pixelSize 8u 16 Pixel size in bytes pixelFormat 8u 17 Pixel format 1 8 bit greyscale 2 8 bit color filter 3 8 bits per channel color B G R X colorFilter 8u 18 Color filter array alignment Gocator 2300 amp 2880 Series 0 None 1 Bayer BG GR
49. Depth Measurements BevelRadius Measurements BevelAngle MeasurementsWAngle Measurements WAngle Measurements Radius Gocator 2300 amp 2880 Series CsHoleMeasurement CsHoleMeasurement CsHoleMeasurement CsHoleMeasurement CsHoleMeasurement CsHoleMeasurement CsHoleMeasurement CsHoleMeasurement CsHoleMeasurement CsHoleMeasurement X measurement Y measurement Z measurement Outer Radius measurement Depth measurement Bevel Radius measurement Bevel Angle measurement X Angle measurement Y Angle measurement Radius measurement Gocator Device Files Job Files 231 CsHoleMeasurement Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold The Output element contains the following sub elements Ethernet Serial Analog DigitalO and Digital Each of these sub elements defines the output settings for a different type of Gocator output For all sub elements the source identifiers used for measurement outputs correspond to the measurement identifiers
50. Get Playback Source command gets the data source for data acquisition Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4524 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4524 status 32s 6 Reply status source 32s 10 Source 0 Live 1 Replay buffer The Simulate command simulates the last frame if playback source is live or the current frame if playback source is the replay buffer Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4522 source 32s 6 Source 0 Live 1 Replay buffer Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4522 status 32s 6 Reply status bufferValid 8u 10 Whether or not the buffer is valid Gocator 2300 amp 2880 Series Protocols Gocator Protocol 262 A reply status of 996 means that the current configSuration mode sensor type etc does not support simulation A reply status of 992 means that the simulation buffer is empty Note that the buffer can be valid even if the simulation buffer is actually empty due to optimization choices This scenario means that the simulation buffer would be valid if data were recorded Seek Playback The Seek Playback command seeks to
51. Gocator I O cordset are not used Gocator 2300 amp 2880 Series Specifications e Master 100 349 Encoder Output Port Pins Function Pin Output 1 Digital Output 0 Output_1 Digital Output 0 Encoder_Z Encoder Z Encoder A Encoder A Encoder B Encoder B Oo ON O Ho KF WN Encoder_GND i o Encoder_5V Master 100 Dimensions 84 8 Gocator 2300 amp 2880 Series Specifications e Master 100 350 Master 400 800 The Master 400 800 provides sensor power and safety interlock and broadcasts system wide synchronization information i e time encoder count encoder index and digital 1 O states to all devices on a sensor network SENSOR PORTS 1 4 LED INDICATORS 7 Master 3 Z MASTER 400 FRONT E 5 SENSOR PORTS 5 8 SENSOR PORTS 1 4 LED INDICATORS MASTER 800 FRONT h MASTER 400 800 REAR POWER AND SAFETY ENCODER INPUT Power and Safety 6 pin connector Function Pin 48VDC 1 48VDC 2 GND 48VDC 3 GND 48VDC 4 Safety Control 5 Safety Control 6 D The 48VDC power supply must be isolated from AC
52. Gocator Protocol 277 Indicator Processing Drops Last IO Latency Max IO Latency Ethernet Output Ethernet Rate Ethernet Drops Digital Output Pass Digital Output Fail Trigger Drops Output Drops Host Server Drops ASCII Server Drops Range Valid Count Range Invalid Count Anchor Invalid Count Z Index Drop Count Value Pass Fail Max Min Average Std Dev Invalid Count Overflow Gocator 2300 amp 2880 Series 21000 21001 21002 21003 21004 21005 21006 21007 21010 21011 21012 21013 21100 21101 21200 22000 30000 30001 30002 30003 30004 30005 30006 30007 30008 Instance Output Index Output Index Measurement ID Measurement ID Measurement ID Measurement ID Measurement ID Measurement ID Measurement ID Measurement ID Measurement ID Value Number of dropped frames The sum of various processing drop related indicators Last delay from camera exposure to when rich IO scheduling occurs Valid only if rich IO is enabled Maximum delay from camera exposure to when rich IO scheduling occurs Valid only if rich IO is enabled Reset on start Number of bytes transmitted The average number of bytes per second being transmitted Number of dropped Ethernet packets Number of pass digital output pulse Number of fail digital output pulse Number of dropped triggers The sum of various triggering related drop indicators Number of dropped
53. Gocator SDK D mode Power loss during flash memory write operation will also cause Gocators to enter rescue D This topic applies to all Gocator sensors Gocator SDK Write Operation Functions Name Description GoSensor_Restore GoSensor_RestoreDefaults GoSensor_CopyFile GoSensor_DeleteFile GoSensor_SetDefaultjob GoSensor_UploadFile GoSensor_Upgrade GoSystem_StartAlignment GoSensor_SetAddress GoSensor_ChangePassword Restores a backup of sensor files Restores factory default settings Copies a file within the connected sensor The flash write operation does not occur if GoSensor_CopyFile function is used to load an existing job file This is accomplished by specifying live as the destination file name Deletes a file in the connected sensor Sets a default job file to be loaded on boot Uploads a file to the connected sensor Upgrades sensor firmware When alignment is performed with alignment reference set to fixed flash memory is written immediately after alignment GoSensor SetAlignmentReference is used to configure alignment reference Configures a sensor s network address settings Changes the password associated with the specified user account System created using the SDK should be designed in a way that parameters are set up to be appropriate for various application scenarios Parameter changes not listed above will not invoke flash memory write operations when the changes are not saved
54. Gocator Web Interface Measurement 162 Parameter Tilt Correction Decision Region Output Gocator 2300 amp 2880 Series Description Same Z level Reference Region Detected Opening Same Z level When the Reference Regions setting is disabled the tool measures the hole s Z position using the all data in the measurement region except for a bounding rectangular region around the opening Data used to calculate Z position orange y Data NOT used for Z calculation blue or black regions With one or more reference region the algorithm calculates the Z positions as the average values of the data within the regions When the user places the reference region manually all of the data is used whether the data is inside or outside the opening The user should place the reference region carefully Tilt of the target with respect to the alignment plane Set to Auto Set to have the tool automatically detect the target s tilt or enter the angles manually Auto Set requires the measurement region to cover more areas on the surface plane than other planes The results from the Plane X and Y tool can be used for angles X and Y parameters See Decisions page 115 See Regions page 114 See Filters page 117 Gocator Web Interface e Measurement 163 Measurement Region The center and the two sides and ends of the opening must be within the measurement region even if Partial Detection is enabled
55. Management and Maintenance page 50 Contains settings for sensor system layout network motion and alignment handling jobs and sensor maintenance Scan Setup and Alignment page 64 Contains settings for scan mode trigger source detailed sensor configuration and performing alignment Measurement page 109 Contains built in measurement tools and their settings Output page 179 Contains settings for configuring output protocols used to communicate measurements to external devices Dashboard page 190 Provides monitoring of measurement statistics and sensor health Toolbar page 43 Controls sensor operation manages jobs and replays recorded measurement data Gocator 2300 amp 2880 Series Getting Started Next Steps 36 Theory of Operation The following sections describe the theory of operation of Gocator sensors 3D Acquisition Principle of 3D Acquisition The Gocator 2300 series sensors are line profiler sensors meaning that they capture a single 3D profile for each camera exposure The sensor projects a laser line onto the target The sensor s camera views the laser from an angle and captures the reflection of the light off the target Because of this triangulation angle the laser line appears in different positions on the camera depending on the 3D shape of the target Gocator sensors are always pre calibrated to deliver 3D data in engineering units throughout the specified measurement range
56. PaddingLength 64f Padding length mm PaddingLength min 64f Minimum padding length mm PaddingLength max 64f Maximum padding length mm Gocator 2300 8 2880 Series Gocator Device Files Job Files e 202 Element Type Description MaxLength 64f Max length mm MaxLength min 64f Minimum value of max length mm MaxLength max 64f Maximum value of max length mm FrameOfReference 32s Part frame of reference 0 Sensor 1 Scan 2 Part EdgeFiltering Section See EdgeFiltering below MinArea 64f Minimum area mm2 MinArea min 64f Minimum value of minimum area MinArea max 64f Maximum value of minimum area EdgeFiltering EdgeFiltering Child Elements Element Enabled PreservelnteriorEnabled ElementWidth ElementWidth min ElementWidth max ElementLength ElementLength min ElementLength max Triggers Type Bool Bool 64f 64f 64f 64f 64f 64f Description Enables edge filtering Enables preservation of interior Element width mm Minimum element width mm Maximum element width mm Element length mm Minimum element length mm Maximum element length mm The Triggers element contains settings related trigger source speed and encoder resolution Triggers Child Elements Element Type Description Source 32s Trigger source 0 Time 1 Encoder 2 Digital Input 3 Software Source options 32s CSV List of available source options Units 32s Sensor triggering units when source i
57. Protocols Gocator Protocol 270 Field Type Offset Description 2 Bayer GB RG 3 Bayer RG GB 4 Bayer GR BG source 8u 19 Source 0 Top 1 Bottom 2 Top Left 3 Top Right cameralndex 8u 20 Camera index exposurelndex 8u 21 Exposure index exposure 32u 22 Exposure ns reserved 2 8u 26 Reserved pixels H W Variable 28 Image pixels Depends on pixelSize above Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier attributeSize 16u 6 Size of attributes in bytes min 32 current 32 count C 32u 8 Number of profile arrays width W 32u 12 Number of points per profile array xScale 32u 16 X scale nm zScale 32u 20 Z scale nm xOffset 32s 24 X offset um zOffset 32s 28 Z offset um source 8u 32 Source 0 Top 1 Bottom 2 Top Left 3 Top Right exposure 32u 33 Exposure ns reserved 3 8u 37 Reserved ranges C W Pointl6s 40 Profile ranges Gocator 2300 amp 2880 Series Protocols Gocator Protocol 271 Resampled Profile Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier attributeSize 16u 6 Size of attributes in bytes min 32 current 32 count C 32u 8 Number of profile arrays width W 32u 12 Number of points per profile array xScale 32u 16 X s
58. SDK refer to the class reference and sample programs included in the Gocator SDK Setup and Locations Class Reference The full SDK class reference is found by accessing 14400 4 x x xx SOFTWARE GO SDK GO SDK doc GoSdk Gocator_2x00 GoSdk html Examples showing how to perform various operations are provided each one targeting a specific area All of the examples can be found in GoSdkSamples sin To run the SDK samples make sure GoSdk dll and kApi dil or GoSdkd dll and kApid dll in debug configuration are copied to the executable directory All sample code including C examples is now located in the Tools package which can be downloaded by going to http Imi3d com support downloads Gocator 2300 amp 2880 Series 302 Sample Project Environment Variable All sample projects use the environment variable GO SDK 4 The environment variable should point to the GO SDK directory for example C 114400 4 0 9 156 SOFTWARE GO SDKAGO SDK Header Files Header files are referenced with GoSdk as the source directory for example include lt GoSdk GoSdk h gt The SDK header files also reference files from the kApi directory The include path must be set up for both the GoSdk and the kApi directories For example the sample projects set the include path to GO_SDK_4 Gocator GoSdk and GO_SDK_4 Platform kApi Class Hierarchy This section describes the class hierarchy of the Gocator 4 0 SDK GoSystem Enumerate enable data chan
59. See 5 4 3 2 1 of CIP Specification Volume 2 Get Bit 0 Link Status 0 Inactive 1 Active Bit 1 Duplex 0 Half Duplex 1 Full Duplex 3 Physical Array of MAC Address for example 00 16 20 00 2E 42 Get Address 6 USINTs Assembly Object Class 0x04 The Gocator Ethernet IP object model includes the following assembly objects Command Sensor State and Sample State Gocator 2300 amp 2880 Series Protocols EtherNet IP Protocol 287 All assembly object instances are static Data in a data byte array in an assembly object are stored in the big endian format Command Assembly The command assembly object is used to start stop and align the sensor and also to switch jobs on the sensor Command Assembly Information Value Class 0x4 Instance 0x310 Number of Attributes 3 Length 32 bytes Supported Service 0x10 Write Single Attribute Attributes 1 and 2 are not implemented as they are not required for the static assembly object Attribute 3 Attribute Name Type Value Description Access 3 Command Byte See Below Command parameters Get Set Array Byte 0 Command See table below for specification of the values Command Definitions Value Name Description 0 Stop running Stop the sensor No action if the sensor is already stopped 1 Start Running Start the sensor No action if the sensor is already started 2 Stationary Alignment Start the stationary alignment process Byte 1 of the sensor state assembly will
60. To configure material 1 Goto the Scan page 2 Expand the Sensor panel by clicking on the panel header or the button 3 Click the button corresponding to the sensor you want to configure The button is labeled Top Bottom Top Left or Top Right depending on the system Materials can be configured separately for each sensor 4 Click onthe Materials tab 5 Choose a material in the Materials drop down or choose Custom to manually configure settings See the table above for the customizable settings 6 Save the job in the Toolbar by clicking the Save button m 7 Check that laser profiling is satisfactory After adjusting the setting confirm that laser profiling is satisfactory Various settings can affect how the Material settings behave You can use Video mode to examine how the settings interact See Spots and Dropouts page 100 for more information Alignment E Gocator sensors are pre calibrated and ready to deliver profiles in engineering units mm out of the box However alignment procedures are required to compensate for sensor mounting inaccuracies to align multiple sensors into a common coordinate system and to determine the resolution with encoder and speed of the transport system Alignment is performed using the Alignment panel on the Scan page Once alignment has been completed the derived transformation values will be displayed under Transformations in the Sensor panel see Transformations page 74 for
61. Top Right ActiveArea Region3D Active area Contains min and max attributes for each element TransformedDataRegion Region3D Active area after transformation read only FrontCamera Window Front camera window read only BackCamera Window Back camera window read only ExposureMode 32s Exposure mode 0 Single exposure 1 Multiple exposures 2 Dynamic exposure ExposureMode options 32s CSV List of available exposure modes Exposure 64f Single exposure Us Exposure min 64f Minimum exposure ps Exposure max 64f Maximum exposure us DynamicExposureMin 64f Dynamic exposure range minimum ps DynamicExposureMax 64f Dynamic exposure range maximum ps ExposureSteps 64f CSV Mutiple exposure list us Gocator 2300 amp 2880 Series Gocator Device Files Job Files 198 Element Type Description ExposureSteps countMin 32u Minimum number of exposure steps ExposureSteps countMax 32u Maximum number of exposure steps IntensityStepIndex 32u Index of exposure step to use for intensity when using multiple exposures XSubsampling 32u Subsampling factor in X XSubsampling options 32u CSV List of available subsampling factors in X ZSubsampling 32u Subsampling factor in Z ZSubsampling options 32u CSV List of available subsampling factors in Z Spacinglnterval 64f Uniform spacing interval mm Spacinglnterval min 64f Minimum spacing interval mm Spacinglnterval max 64f Maximum spacing interval mm Spacinglnterval use
62. When the Gocator is in Profile scan mode the data viewer displays profile plots Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 101 Profile View Profile Top mo FR Top 250 uS In a dual sensor system profiles from individual sensors or from a combined view When inthe Scan page selecting a panel e g Sensor or Alignment panel automatically sets the display to the most appropriate display view Top Profile Left Right View Profile Left amp Right Ta Left 400 uS Right 400 uS To manually select the display view in the Scan page 1 Goto the Scan page 2 Choose Profile mode in the Scan Mode panel 3 Select the view The view from an individual sensor or the combined view of two sensors can be selected from the drop down list at the top of the data viewer Top View from a single sensor from the top sensor in an opposite layout dual sensor system or the Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 102 combined view of sensors that have been aligned to use a common coordinate system Bottom View from the bottom sensor in an opposite layout dual sensor system Left View from the left sensor in a dual sensor system Right View from the right sensor in a dual sensor system Left amp Right Views from both sensors displayed at the same time in the data viewer using the coordinate systems of each se
63. amp 2880 Series Gocator Web Interface Output 182 Output Ethernet Protocol ASCII Protocol and measurement selectio Digital 1 Configuration Data ln Trigger condition and pulse width Send Name ld Rr Operation Asynchronous l Digital 2 Measurements Trigger condition and pulse width Data Format Standard Profile Dimension Distance 2 y Analog time value id decisions id m Profile Groove X 1 Trigger condition and current scaling Serial Protocol and measurement selection Macas Ports Command Delimeter Delimeter Termination r n Invalid Value INVALID To receive commands and send results using ASCII messages 1 Goto the Output page 2 Click on Ethernet in the Output panel 3 Select ASCII as the protocol in the Protocol drop down 4 Setthe operation mode in the Operation drop down In asynchronous mode the data results are transmitted when they are available In polling mode users send commands on the data channel to request the latest result See Asynchronous and Polling Operation page 292 for an explanation of the operation modes 5 Selectthe data format from the Data Format drop down Select Standard to use the default result format of the ASCII protocol Select the measurement to send by placing a check in the corresponding checkbox See Standard Result Format page 293 for an explanation of the standard result mode Select Custom to enable the custom format editor a
64. and a Replay Mode Enabled message will be displayed 2 Click the Upload button 3 Selectthe directory and the file name to upload from the client computer and click on OK Recorded data can be exported using the CSV format If Acquire Intensity has been enabled in the Scan Mode panel on the Scan page intensity data will be included in the exported CSV file Job1 default T m y elm z Bil Range data as CSV 4l To export recorded data to CSV 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background will turn blue and a Replay Mode Enabled message will be displayed 2 Click the Export button 7 and select Export Range Data as CSV In Profile mode all data in the record buffer is exported In Surface mode only data at the current replay location is exported Use the playback control buttons to move to a different replay location see To replay recorded data in Recording Playback and Measurement Simulation on page 45 for more information on playback 3 Optionally convert exported data to another format using the CSV Converter Tool on page 318 Recorded intensity data can be exported to a bitmap BMP format Acquire Intensity must be checked in the Scan Mode panel while data was being recorded in order to export intensity data Job1 default y m y tim Bil Range data as CSV Ea intensity data as BMP Gocator 2300 amp 2880 Series Gocator We
65. and output activates depends on the processing latency The latency is reported in the dashboard and in the health messages 8 Specify a delay The delay specifies the time or spatial location between the start of Gocator exposure and the output becomes active The delay should be larger than the time needed to process the data inside the Gocator It should be set to a value that is larger than the processing latency reported in the dashboard and in the health messages The unit of the delay is configured in the trigger panel See Triggers page 66 for details The analog output takes about 75 us to reach 9096 of the target value for a maximum change D then another 40 us to settle completely To respond to software scheduled commands 1 Goto the Output page 2 Click on Analog in the Output panel 3 Set Trigger Event to Software Gocator 2300 amp 2880 Series Gocator Web Interface Output 187 4 Specify if the output is immediate or scheduled An analog output value becomes active immediately or scheduled Immediate output becomes active as soon as a Scheduled Analog Output command see page 257 is received Software scheduled command can schedule an analog value to output at a specified future time or encoder value or changes its state immediately The Delay setting in the panel is ignored Commands that schedule event in the past will be ignored An encoder value is in future if the value will be reached by moving in the
66. as Default Sets the selected job as the default to be loaded at boot time When the default job is selected this button button is used to clear the default Download Downloads the selected jobs to the client computer button Upload button Uploads a job from the client computer Jobs can be loaded and set as default independently For example Job1 could be loaded while Job2 is set as the default Default jobs load automatically when a sensor is power cycled or reset Jobs List Job loaded Job2 default Unsaved jobs are indicated by unsaved Jobs List Job1 Job2 loaded default unsaved Gocator 2300 amp 2880 Series Gocator Web Interface System Management and Maintenance 58 To download load or delete a job or to set one as a default or clear a default 1 Goto the Manage page and click on the Jobs category 2 Selecta job in the Jobs list 3 Click on the appropriate button for the operation To save a job 1 Goto the Manage page and click on the Jobs category 2 Provide a name in the Job Name field To save an existing job under a different name click on itin the Jobs list and then modify itin the Job Name field 3 Click on the Save button or press Enter Saving a job automatically sets it as the default that is the job loaded when then sensor is restarted Gocator sensors can be secured with passwords to prevent unauthorized access Each sensor has two accounts Administrator and Te
67. be set to 1 busy until the alignment process is complete then back to zero 3 Moving Alignment Start the moving alignment process Byte 1 of the sensor state assembly will be set to 1 busy until the alignment process is complete then back to zero 4 Clear Alignment Clear the alignment 5 Load Job Load the job Sensor State Assembly The sensor state assembly object contains the sensor s states such as the current sensor temperature frame count and encoder values Sensor State Assembly Information Value Class 0x4 Gocator 2300 2880 Series Protocols EtherNet IP Protocol 288 Information Value Instance 0x320 Number of Attributes 3 Length 100 bytes Supported Service OxOE Get Single Attribute Attributes 1 and 2 are not implemented as they are not required for the static assembly object Attribute 3 Attribute Name Type Value Description Access 3 Command Byte See below Sensor state information See below for more Get Array details Sensor State Information Byte Name Type Description 0 Sensor s Sensor state state 0 Ready 1 Running 1 Command Command busy status in progress 0 Not busy 1 Busy performing the last command 2 Alignment Alignment status state 0 Not aligned 1 Aligned The value is only valid when byte is set to 0 3 10 Encoder 64s Current encodesr position 11 18 Time 64s Current timestamp 19 Current Job 16u Number of characters in the current job filename
68. cables and apply power POWER 24 48VDC 13W LASER SAFETY 24 48VDC TO ENABLE Sensor cabling is illustrated in WIRE RICH 1 0 GOCATOR System Overview on page 17 AS REQUIRED BY APPLICATION IN ENCODER TRIGGER Ji OUT SERIAL ANALOG DIGITAL Vy LD Do A Y p yp J GOCATOR Mo Y 1 0 CORDSET Y y POWER amp ETHERNET CORDSET y USER PC can be disconnectei i after setup Gocator 2300 amp 2880 Series Getting Started e Network Setup 30 2 Change the client PC s network settings Windows 7 a Open the Control Panel select Network and Sharing Center and then click Change Adapter Settings b Right click the network connection you want to modify and then click Properties c On the Networking tab click Internet Protocol Version 4 TCP IPv4 and then click Properties d Select the Use the following IP address option e Enter IP Address 192 168 1 5 and Subnet Mask 255 255 255 0 then click OK Mac OS Xv10 6 a Open the Network pane in System Preferences and select Ethernet b Set Configure to Manually c Enter IP Address 192 168 1 5 and Subnet Mask 255 255 255 0 then click General You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings 7 Obtain an IP address automatically Use the following IP address IP addr
69. calibration par Flat surface or calibration bar Target Sensor Motion Linear motion Stationary Calibrates Tilt Yes Yes Calibrates Z axis Offset Yes Yes Calibrates X axis Offset Yes Yes Calibration bar required Calibrates Encoder Yes No Calibrates Travel Speed Yes No See Coordinate Systems page 40 for definitions of coordinate axes See Calibration Targets page 23 for descriptions of calibration disks and bars See Aligning Sensors below for the procedure to perform alignment After alignment the coordinate system for laser profiles will change from sensor coordinates to system coordinates Aligning Sensors Alignment can be used to compensate for mounting inaccuracies by aligning sensor data to acommon reference surface often a conveyor belt Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 84 Alignment UNALIGNED O Type Stationary 4 4 Target Flat Surface Align To prepare for alignment 1 Choose an alignment reference in the Manage page if you have not already done so See Alignment Reference page 56 for more information 2 Goto the Scan page 3 Choose Profile or Surface mode in the Scan Mode panel If one of these modes is not selected the Alignment panel will not be displayed 4 Expand the Alignment panel by clicking on the panel header or the button 5 Ensure that all sensors have a clear view of the target surface Remove any irreg
70. command the Send Name ld um Trigger condition and pulse width sensor and to transmit data and measurement results to a Profiles client computer The user selects which measurements and To N Analog what type of scan data to send Video 3D Intensity 3D data P Trigger condition and current scaling can be in the form of Ranges Profiles or Surfaces depending Profile Intensities e Serial on Gocator series Top e Protocol and measurement selection eee as All of the tasks that can be accomplished via the Gocator s web interface can be accomplished programmatically by Profile Dimension Distance 2 sending and receiving Gocator Protocol control commands m Profile Groove X 1 To receive commands and send results using Gocator Protocol messages 1 Goto the Output page 2 Click on the Ethernet category in the Output panel 3 Select Gocator as the protocol in the Protocol drop down 4 Check the video profile intensity or measurement items to send D Measurements shown here correspond to measurements that have been added using the Measure page see page 109 All of the tasks that can be accomplished with the Gocator s web interface creating jobs performing alignment sending data and health information and software triggering etc can be accomplished programmatically by sending Gocator protocol control commands Gocator 2300 amp 2880 Series Gocator Web Interface Output 180 Output Ethernet Protocol Mo
71. defined in each tool s Measurements element For example in the following XML in the options attribute of the Measurements element 2 and 3 are the identifiers of measurements that are enabled and available for output The value of the Measurements element that is 2 means that only the measurement with id 2 Dimension Width will be sent to output lt ProfileDimension gt lt Measurements gt lt Width id 2 gt lt Height id 3 gt lt Output gt I Eth The Ethernet element defines settings for Ethernet output Ethernet Measurements options 2 3 gt 2 lt Measurements gt ernet Gocator 2300 amp 2880 Series Gocator Device Files Job Files 232 Inthe Ethernet element the source identifiers used for video range profile and surface output as well as range profile and surface intensity outputs correspond to the sensor that provides the data For example in the XML below the options attribute of the Profiles element shows that only two sources are available see the table below for the meanings of these values The value of the Profiles element 0 indicates that only data from that source will be sent to output lt ProfileDimension gt lt Measurements gt lt Width id 2 gt XHeight id 3 gt lt Output gt lt Ethernet gt lt Profiles options 0 1 gt 0 lt Profiles gt lt ProfileIntensities options 0 gt Measurements options 2 3 gt 2 lt Measurements gt
72. enable state 0 Disable 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold SurfaceCsHole A SurfaceCsHole element defines settings for a surface countersunk hole tool and one or more of its measurements SurfaceCsHole Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for source Anchor WX String CSV The X measurements IDs used for anchoring AnchorW options Anchor Anchor W options Anchor Z Anchor Z options NominalBevelAngle BevelAngleTolerance NominalOuterRadius OuterRadiusTolerance NominallnnerRadius InnerRadiusTolerance BevelRadiusOffset PartialDetectionEnabled RegionEnabled Gocator 2300 amp 2880 Series String CSV String CSV String CSV String CSV String CSV 64f 64f 64f 64f 64f 64f 64f Boolean Boolean The X measurements IDs available for anchoring The Y measurements IDs used for anchoring The Y measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Nominal bevel angle mm Bevel angle tolerance mm Nominal outer radius mm Outer radius tolerance mm Nominal inner radius mm Inner radius tolerance mm Bevel radus offset mm Setting to enable disable partial detection 0
73. height measurement in each individual 3D point with the target at a fixed position This variability is caused by camera imager and sensor Profile Variation in Time electronics Z e e ee e arin Like X resolution the Z resolution is better at om j the close range and worse at the far range This is reflected in the Gocator data sheet as the two Time numbers quoted for Z resolution Z Resolution gives an indication of the smallest detectable height difference Gocator 2300 amp 2880 Series Theory of Operation 3D Acquisition 38 Z Linearity Z Linearity is the difference between the actual distance to the target and the measured distance to the target throughout the measurement range Z Linearity is expressed in the Gocator data sheet as a percentage of the total measurement range Z Linearity gives an indication of the sensor s ability to measure absolute distance Gocator 2300 amp 2880 Series Theory of Operation 3D Acquisition 39 Profile Output Gocator measures the height of the object calculated from laser triangulation The Gocator reports a series of ranges along the laser line with each range representing the distance from the sensor s origin plane Each range contains a height and a position in the sensor s field of view Coordinate Systems Range data is reported in sensor or system coordinates depending on the alignment state The coordinate systems are described below Before ali
74. in the Devices list 2 Pressthe Factory Restore button Confirm when prompted Gocator 2300 amp 2880 Series 311 The Sensor Discovery tool uses UDP broadcast messages to reach sensors on different D subnets This enables the Sensor Discovery tool to locate and re configure sensors even when the sensor IP address or subnet configuration is unknown Gocator 2300 amp 2880 Series Tools and Native Drivers Sensor Recovery Tool 312 GenTL Driver GenTL is an industry standard method of controlling and acquiring data from an imaging device Gocator provides a GenTL driver that allows GenTL compliant third party software e g Halcon and Common Vision Blox to acquire and process 3D point clouds and intensity generated from the Gocator s Profile with Uniform Spacing disabled and Surface modes in real time You can get the tool package containing the driver from the downloads area on the LMI Technologies website at http Imi3d com support downloads After downloading the tool package 14405 x x x x SOFTWARE GO Tools zip unzip the file The driver is found under the GenTL x86 directory To install the driver in Windows 7 1 Openthe Control panel 2 Select System and Security and then click System 3 Click Advanced System Settings The Advanced System Settings link is typically in the left column of the window 4 For 32 bit systems click New to create a system environment variable GENICAM GENTL32 PATH and point it t
75. in the field of view The target should be similar to the objects that will be measured later In Profile mode a Usethe Start or Snapshot button to view live profile data to help position the target Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 118 In Surface mode a Select a Surface Generation type see page 91 and adjust Part Detection settings see page 93 if applicable b Start the sensor scan the target and then stop the sensor 2 Adda suitable tool to act as an anchor A suitable tool is one that returns an X Y or Z position as a measurement value 3 Goto the Scan page and choose Profile or Surface mode in the Scan Mode panel If one of these modes is not selected tools will not be available in the Measure panel 4 Gotothe Measure page and adjust the settings of the tool and measurements you want to use as anchor 5 Adjustthe anchor tool s measurement region and choose a feature type if applicable You can adjust the measurement region graphically in the data viewer or manually by expanding the Regions area The position and size of the anchor tool s measurement regions define the zone within which movement will be tracked See Feature Points next page for more information on feature types 6 Addthe tool that will be anchored Any tool can be anchored 7 Adjustthe tool and measurement settings as well as the measurement regions 8 Click on the tool s Anchoring tab 9 Choose an
76. it in the exposure list and click the button 7 Setthe exposure level for each exposure to make the Gocator s camera less or more sensitive as required If Acquire Intensity is enabled select the exposure step that is used to capture the intensity output 8 If Acquire Intensity is enabled select the exposure step that is used to capture the intensity output Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 78 9 Runthe sensor and check that laser profiling is satisfactory If laser profiling is not satisfactory adjust the exposure values manually Switch to Video mode to use video to help tune the exposure see Exposure page 74 for details The Spacing tab lets you configure settings related to spacing sub sampling and spacing interval Active Area Exposure E Material Sub Sampling 010120 1 z 010 12 Spacing Interval x 1 mm Resolution Balanced Speed gt Active Area Exposure pum Spacing interval X Y 9 Sub Sampling Sub sampling reduces the number of camera columns or rows that are used for laser profiling reducing the resolution Reducing the resolution increases speed or reduces CPU usage while maintaining the sensor s field of view Sub sampling can be set independently for the X axis and Z axis Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 79 The X sub sampling setting is used to decrease t
77. not within range Provides the reason for the failure 2 The tool containing the measurement is anchored and has received invalid measurement data from one of its anchors Provides the reason for the failure Refer to the SetupMeasurement example for details on how to add and configure tools and measurements Refer to the ReceiveMeasurement example for details on how to receive measurement decisions and values D You should check a decision against lt 0 for failure or invalid measurement Operation Workflow Applications created using the SDK typically use the following programming sequence Gocator 2300 amp 2880 Series Software Development Kit 306 D See Setup and Locations page 302 for more information on the code samples referenced below D Sensors must be connected before the system can enable the data channel All data functions are named Go lt Object gt _ lt Function gt for example GoSensor_Connect For property access functions the convention is Go lt Object gt _ lt Property Name gt for reading the property and Go lt Object gt _Set lt Property Name gt for writing it for example GoMeasurement_ DecisionMax and GoMeasurement_SetDecisionMax respectively Initialize GoSdk API Object Before the SDK can be used the GoSdk API object must be initialized by calling GoSdk_Construct api kAssembly api kNULL if status GoSdk Construct amp api KOK printf Error GoSdk_Construct d n
78. or not the currently loaded file has been changed 1 yes 0 no Set Alignment Reference The Set Alignment Reference command is used to set the sensor s alignment reference Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4103 reference 32s 6 Alignment reference 0 Fixed 1 Dynamic Gocator 2300 amp 2880 Series Protocols Gocator Protocol 252 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4103 status 32s 6 Reply status Get Alignment Reference The Get Alignment Reference command is used to get the sensor s alignment reference Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4104 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4104 status 32s 6 Reply status reference 32s 10 Alignment reference 0 Fixed 1 Dynamic Clear Alignment The Clear Alignment command clears sensor alignment Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4102 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4102 status 32s 6 Repl
79. output data The sum of all output drops analog digital serial host server and ASCII server The number of bytes dropped by the host data server Not currently emitted The number of bytes dropped by the ASCII Ethernet data server Not currently emitted Number of valid ranges Number of invalid ranges Number of frames with anchoring invalid The number of dropped surfaces due to a lack of z encoder pulse during rotational part detection Measurement Value Number of pass decision Number of fail decision Maximum measurement value Minimum measurement value Average measurement value Measurement value standard deviation Number of invalid values Number of times this measurement has overflown on any output Multiple simultaneous overflows Protocols Gocator Protocol 278 Indicator Id Instance Value result in only a sinlge increment to this counter Overflow conditions include Value exceeds bit representation available for given protocol Analog output mA falls outside of acceptable range 0 20 mA When a measurement value overflow occurs the value is set to the null value appropriate for the given protocol s measurement value output type The Overflow health indicator increments Additional undocumented indicator values may be included in addition to the indicators defined above Gocator 2300 amp 2880 Series Protocols Gocator Protocol 279 Modbus TCP Protocol Modbus TCP is designe
80. sensor systems See Dual Sensor System Layout page 51 for more information on orientations Standalone Orientations Single sensor above conveyor Gocator 2300 amp 2880 Series Getting Started Installation 27 Single sensor on robot arm Dual Sensor System Orientations Side by side for wide area measurement Wide Main must be on the left side when looking into the connector of the Buddy Wide Gocator 2300 amp 2880 Series Getting Started Installation 28 Above below for two sided measurement Opposite Main must be on the top with Buddy on the bottom Opposite Gocator 2300 amp 2880 Series Getting Started Installation 29 Network Setup The following sections provide procedures for client PC and Gocator network setup Client Setup Sensors are shipped with the following default network configuration Setting Default DHCP Disabled IP Address 192 168 1 10 Subnet Mask 255 255 255 0 Gateway 0 0 0 0 All Gocator sensors are configured to 192 168 1 10 as the default IP address For a dual sensor system the Main and Buddy sensors must be assigned unique addresses before they can be used on the same network Before proceeding connect the Main and Buddy sensors one at a time to avoid an address conflict and use the steps in Running a Dual Sensor System on page 33 to assign each sensor a unique address To connect to a sensor for the first time 1 Connect
81. such as exposure resolution spacing interval etc For parameters that are independently controlled for Main and Buddy sensors functions accept a role parameter oLayout The GoLayout class represents layout related sensor configuration oTools The GoTools class is the base class of the measurement tools The class provides functions for getting and setting names retrieving measurement counts etc oTransform The GoTransform class represents a sensor transformation and provides functions to get and set transformation information as well as encoder related information The GoOutput class represents output configuration and provides functions to get the specific types of output Analog Digital Ethernet and Serial Classes corresponding to the specific types of output GoAnalog GoDigital GoEthernet and GoSerial are available to configure these outputs Data Types The following sections describe the types used by the SDK and the kApi library alue Types GoSDK is built on a set of basic data structures utilities and functions which are contained in the kApi library The following basic value types are used by the kApi library Value Data Types Type Description k8u 8 bit unsigned integer k16u 16 bit unsigned integer k16s 16 bit signed integer Gocator 2300 amp 2880 Series Software Development Kit 304 Type Description k32u 32 bit unsigned integer k32s 32 bit signed integer k64s 64 bit signed int
82. the trigger signals when time or encoder triggering is used For example a photocell could generate aseries of trigger pulses as long as there is a target in position Example Software Trigger Robot Arm Software triggering can be used to produce a snapshot for profile measurement A software trigger can be used in systems that use external software to control the activities of system components Trigger Settings The trigger source is selected using the Trigger panel in the Scan page Frame Rate NR Max Speed Hz Wl Gate on External Input ps Time us Time Wl Gate on External Input Trigger Delay ol ps After specifying a trigger source the Trigger panel shows the parameters that can be configured Parameter Trigger Source Description Source All Selects the trigger source Time Encoder External Input or Gocator 2300 2880 Series Gocator Web Interface Scan Setup and Alignment 69 Parameter Trigger Source Description Software Frame Rate Time Controls the frame rate Select Max Speed from the drop down to lock to the maximum frame rate Fractional values are supported For example 0 1 can be entered to run at 1 frame every 10 seconds Gate on External Input Time Encoder External input can be used to enable or disable profiling in a sensor When this option is enabled the sensor will respond to time or encoder triggers only
83. the hole center Radius Determines the radius of the hole Parameters Parameter Description Nominal Radius Expected radius of the hole Radius Tolerance The maximum variation from the nominal radius from the nominal radius Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 155 Parameter Description Reference Regions The algorithm uses the Reference Regions option to calculate the Z position of the hole It is typically used in cases where the surface around the hole is not flat Same Z level Detected Hole Same Z level When this option is set to Autoset the algorithm automatically determines the reference region When the option is not set to Autoset the user manually specifies the reference region The location of the reference region is relative to the detected center of the hole and positioned on the nominal surface plane When the Reference Regions option is disabled the tool measures the hole s Z position using all the data in the measurement region except for a bounding rectangular region around the hole Tilt Correction Tilt of the target with respect to the alignment plane When this option is set to Autoset the tool automatically detects the tilt Otherwise the user must enter the angles manually Autoset requires the measurement region to cover more areas on the surface plane than other planes The results from the Plane X and Y tool can be used for angles X and Y parameter
84. the sensor system causes it to enter the Ready state This command is valid when the system is in the Ready or Running state Formats Message Format Command Stop Reply OK or ERROR Error Message Examples The Trigger command triggers a single frame capture This command is only valid if the sensor is configured in the Software trigger mode and the sensor is in the Running state If a start target is specified the sensor starts at the target time or encoder depending on the unit setting in the Trigger panel see page 66 Gocator 2300 amp 2880 Series Protocols ASCII Protocol 295 Formats Message Format Command Trigger start target The start target optional is the time or encoder position at which the sensor will be started The time and encoder target value should be set by adding a delay to the time or encoder position returned by the Stamp command The delay should be set such that it covers the command response time of the Start command Reply OK or ERROR lt Error Message gt Examples Trigger OK Trigger 1000000 OK The Load Job command switches the active sensor configuration Formats Message Format Command LoadJob job file name If the job file name is not specified the command returns the current job name An error message is generated if there is no job loaded job is appended if the filename does not have an extension Reply OK or ERROR lt Error Message gt Examples
85. to process the data itself Only one script can be created Surface Measurement Surface measurement involves capturing a sequence of laser profiles optionally identifying discrete objects and measuring properties of the surface or the objects such as the volume of the object or the height at a certain position of the object All volumetric tools have the ability to operate either on the entire surface or the full object or within a region of interest at a certain position in relation to the surface or an object Multiple measurements can be performed on the entire surface or each discrete object limited only by the available CPU resources The frame of reference for the coordinate system of the detected object can be set to Sensor or Part in the Part Detection panel see page 93 This setting determines what coordinate system the region of interest for a measurement is positioned in as well as the coordinate reference used to output measurement values For example if you need to measure the average height in a certain location relative to the sensor s field of view regardless of the objects passing under the sensor the frame of reference should be set to Sensor This is typical in applications where a wide web of material is continuously scanned such as paper rubber fabrics etc If on the other hand you need to measure the average height in a certain location of a scanned object the frame of reference should be set to Part This
86. 1 Digital input Length 64f Surface length mm Length min 64f Minimum surface length mm Length max 64f Maximum surface length mm Gocator 2300 8 2880 Series Gocator Device Files Job Files 201 VariableLength VariableLength Child Elements Element Type Description MaxLength 64f Maximum surface length mm MaxLength min 64f Minimum value for maximum surface length mm MaxLength max 64f Maximum value for maximum surface length mm Rotational Rotational Child Elements Element Type Description Circumference 64f Circumference mm Circumference min 64f Minimum circumference mm Circumference max 64f Maximum circumference mm PartDetection PartDetection Child Elements Element Type Description Enabled Bool Enables part detection Enabled used Bool Whether or not this field is used Enabled value Bool Actual value used if not configurable Threshold 64f Height threshold mm Threshold min 64f Minimum height threshold mm Threshold max 64f Maximum height threshold mm ThresholdDirection 64f Threshold direction 0 Above 1 Below GapWidth 64f Gap width mm GapWidth min 64f Minimum gap width mm GapWidth max 64f Maximum gap width mm GapLength 64f Gap length mm GapLength min 64f Minimum gap length mm GapLength max 64f Maximum gap length mm PaddingWidth 64f Padding width mm PaddingWidth min 64f Minimum padding width mm PaddingWidth max 64f Maximum padding width mm
87. 1002 status 64s 16 Operation status signature 64u 24 Message signature 0x0000504455494DAC deviceld 64u 32 Serial number Control Commands A client can send commands and receive responses over the Control and Upgrade TCP channels Command Channels Channel Port Description Control 3190 Sensor accepts commands for most operations Upgrade 3192 Sensor accepts commands for firmware upgrades The Control and Upgrade channels can be connected simultaneously but the sensor will accept only a single connection on each port If an additional connection is attempted on a port that is already connected the previous connection will be closed and the new connection will be accepted Protocol Version The Protocol Version command reports the Control protocol version of the connected sensor Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4511 Gocator 2300 amp 2880 Series Protocols Gocator Protocol 244 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4511 status 32s 6 Reply status majorVersion 8u 10 Major version minorVersion 8u 11 Minor version Get Address The Get Address command is used to discover Gocator sensors across subnets Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 C
88. 16u 4 Reply identifier 0x4507 status 32s 6 Reply status progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress All recorded profile data is exported in the CSV Only the current surface scanis exported D determined by the playback position The reply may be followed by a series of continue replies See the section on progressive reply Export Bitmap Progressive The progressive Export Bitmap command exports replay data as a bitmap stream Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4508 type 32s 6 Data type 0 Range or video 1 Intensity source 32s 10 Data source to export Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes Gocator 2300 amp 2880 Series Protocols Gocator Protocol 266 Field Type Offset Description id 16u 4 Reply identifier 0x4508 status 32s 6 Reply status progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress D The reply may be followed by a series of continue replies See the section on progressive reply Upgrade Commands A client can send commands and receive responses over the Control and Upgrade TCP channels Command Channels Channel Port Description Control 3190 Sensor accepts commands for most operations Upgrade 3192 Sensor accepts commands for firmware upgrades
89. 23 Active Area Spacing Material Exposure Mode Dynamic t Auto Set Min Auto Set Max Min 30 Max 1500 us y Use Auto Set to estimate the optimal exposure To enable dynamic exposure 1 Goto the Scan page 2 Expand the Sensor panel by clicking on the panel header or the button 3 Click the button corresponding to the sensor you want to configure The button is labeled Top Bottom Top Left or Top Right depending on the system Exposure can be configured separately for each sensor 4 Click on the Exposure tab 5 Select Dynamic from the Exposure Mode drop down 6 Set the minimum and maximum exposure The auto set function can be used to automatically set the exposure First place the brightest target in the field of view and press the Auto Set Min button to set the minimum exposure Then place the darkest target in the field of view and press the Auto Set Max button to set the maximum exposure 7 Run the sensor and check that laser profiling is satisfactory If laser profiling is not satisfactory adjust the exposure values manually Switch to Video mode to use video to help tune the exposure see Exposure page 74 for details Multiple Exposure The sensor combines data from multiple exposures to create a single laser profile Multiple exposures can be used to increase the ability to detect light and dark materials that are in the field of view simultaneously Up to five exposures can be de
90. 300 amp 2880 Series Gocator Web Interface Measurement 169 Parameter Anchoring Wii Reference Region Auto Set Tilt Correction Auto Set Id O O O O O O Radius Offset Measurement Panel Measurements Measurement Illustration Tip X Determines the X position of the stud tip Tip Y Determines the Y position of the stud tip Tip Z Determines the Z position of the stud tip Base X Determines the X position of the stud base Base Y Determines the Y position of the stud base Base Z Determines the Z position of the stud base Radius Determines the radius of the stud Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 170 Parameters Parameter Nominal Stud Radius Nominal Stud Length Base Height Tip Height Radius Offset Radius measurement only Reference Regions Tilt Correction Decision Region Output Measurement Region Description Expected radius of the stud Expected length of the stud The height above the base surface that will be ignored when the truncated cone is fit to the stud data The height from the top of the surface that will be ignored when the truncated cone is fit to the stud data The distance from the tip of the stud from which the radius is measured The algorithm uses reference regions to calculate the base plane of the stud Reference regions are relative to the base of the stud Tilt o
91. 5m Power and Ethernet to Master cordset 2x RJ45 ends 30858 25m Accessories Description Part Number Calibration Disk 40mm Calibration Disk 100mm 30727 30728 Contact LMI for information on creating cordsets with custom length or connector orientation The maximum cordset length is 60 m Gocator 2300 amp 2880 Series Parts and Accessories 358 Return Policy Return Policy Before returning the product for repair warranty or non warranty a Return Material Authorization RMA number must be obtained from LMI Please call LMI to obtain this RMA number Carefully package the sensor in its original shipping materials or equivalent and ship the sensor prepaid to your designated LMI location Please ensure that the RMA number is clearly written on the outside of the package Inside the return shipment include the address you wish the shipment returned to the name email and telephone number of a technical contact should we need to discuss this repair and details of the nature of the malfunction For non warranty repairs a purchase order for the repair charges must accompany the returning sensor LMI Technologies Inc is not responsible for damages to a sensor that are the result of improper packaging or damage during transit by the courier Gocator 2300 amp 2880 Series 359 Software Licenses Pico C Website http code google com p picoc License picoc is published under the New BSD License http
92. Always Select the measurements The output activates when the selected decisions produce results The output activates only once for each frame even if multiple decision sources are selected Specify a pulse width using the slider The pulse width determines the duration of the digital output pulse in microseconds To respond to software scheduled commands A 2 Go to the Output page Click on Digital 1 or Digital 2 in the Output panel Set Trigger Event to Software Specify a Signal type The signal type specifies whether the digital output is a continuous signal or a pulsed signal If the signal is continuous its state is maintained until the next transition occurs If the signal is pulsed user specifies the pulse width and the delay Gocator 2300 amp 2880 Series Gocator Web Interface Output 185 Specify a Pulse Width The pulse width determines the duration of the digital output pulse in microseconds Specify if the output is Immediate or Scheduled A pulsed signal can become active immediately or scheduled Continuous signal always becomes active immediately Immediate output becomes active as soon as a scheduled digital output see page 257 is received Scheduled output becomes active at a specific target time or position given by the Scheduled Digital Output command Commands that schedule event in the past will be ignored An encoder value is in the future if the value will be reached by moving in the forward
93. Area or Surface Bounding Box in the user interface but simply Area or Bounding Box in the manual Adding and Removing Tools Adding a tool adds all of the tool s measurements to the Tools panel which can then be enabled and configured selectively Profile Circle Profile Dimension Profile Groove Profile Intersect To add a tool 1 Goto the Scan page by clicking on the Scan icon 2 Choose Profile or Surface mode in the Scan Mode panel If one of these modes is not selected tools will not be available in the Measure panel Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 110 3 Goto the Measure page by clicking on the Measure icon 4 Inthe Tools panel select the tool you want to add from the drop down list of tools 5 Click on the Add button in the Tools panel The tool and its available measurements will be added to the tool list The tool parameters will be listed in the configuration area below the tool list To remove a tool 1 Goto the Scan page by clicking on the Scan icon 2 Choose Profile or Surface mode in the Scan Mode panel If is not selected tools will not be available in the Measure panel 3 Gotothe Measure page by clicking on the Measure icon 4 Inthe tool list click on the x button of the tool you want to delete The tool will be removed from the tool list If the drop down list contains only the Distance measurement the sensor is not equipped with D p
94. Channels 308 Perform Operations 20202eeeee 308 Limiting Flash Memory Write Operations 310 Tools and Native Drivers 311 Sensor Recovery Tool 2 2 2 311 Gen Tk DAVET iniciada 313 16 bit RGB Image s 314 16 bit Grey Scale Image 315 Registers iiic ei pug EOE rE ESS sos 316 XML Settings File 0 eee eee cece en es 318 CSV Converter Tool 2 2222 2 2 318 Troubleshooting L u u 320 Specifications _ 2 2 2 2 2 2 322 Gocator 2300 Series lL uuu 323 Gocator 2320 LLL bencina 324 Gocator 2330 sce nllll eus e oe e EIAS 326 Gocator 2340 _ 2 222 222 eee eee eee eee 327 Gocator 2350 secs dd li tenets 328 Gocator 23700 cee fences aaa eens ws se 330 Gocator 2375 ceseuri bi eens Plies 333 Gocator 2380 cucuta ercer 335 7 Gocator 2880 Sensor 2 2 eeee eee eee 338 Gocator 2880 sreco doh ee ce belay dee Leia 339 Gocator Power LAN Connector 342 Grounding Shield _ 342 POWEE copes a as te ELLE aec 343 Laser Safety Input 2 2 2222 2 2 222 2 343 Gocator 2300 amp 2880 I O Connector 344 Grounding Shield ccoo sotana ERI 344 Digital Outputs ocicit tata 345 Inverting Outputs 2 2 222 2 345 Digital Inputs 2 1 0 2
95. Check that the exposure time is set to a reasonable level See Exposure page 74 for more information on configuring exposure time Performance The sensor CPU level is near 100 e Consider reducing the speed If you are using a time or encoder trigger source see Triggers page 66 for information on reducing the speed If you are using an external input or software trigger consider reducing the rate at which you apply triggers e Consider reducing the laser profile resolution See Spacing page 79 for more information on configuring resolution e Review the measurements that you have programmed and eliminate any unnecessary measurements Gocator 2300 amp 2880 Series Troubleshooting 321 Specifications The following sections describe the specifications of the Gocator and its associated hardware Gocator 2300 amp 2880 Series 322 Gocator 2300 Series The Gocator 2300 series consists of the sensor models defined below MODEL 2320 2330 2340 2350 2370 2375 2380 Data Points Profile 1280 1280 1280 1280 1280 1280 1280 Linearity Z 0 01 0 01 0 01 0 01 0 04 0 05 0 04 96 of MR Resolution Z mm 0 0018 0 0030 0 006 0 014 0 013 0 037 0 019 0 060 0 055 0 200 0 154 0 353 0 092 0 488 Resolution X mm 0 014 0 021 0 044 0 075 0 095 0 170 0 150 0 300 0 275 0 550 0 27 0 80 0 375 1 100 Profile Data Interval Repeatability Z um 0 4 0 8 1 2 2 8 N A 12 Clearance 40 90 190 300 400 650 350 Distance CD mm Measurement
96. Count of the regions Measurement region Contains 1 or 2 Region3D elements XAngle measurement YAngle measurement Measurements ZOffset PlaneMeasurement ZOffset measurement PlaneMeasurement Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Gocator 2300 amp 2880 Series Gocator Device Files Job Files 226 SurfacePosition A SurfacePosition element defines settings for a surface position tool and one or more of its measurements SurfacePosition Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for source Anchor X String CSV The X measurements IDs used for anchoring AnchorW options Anchor Anchor W options Anchor MZ Anchor Z options Feature Measurements X Measurements Y Measurements Z PositionMeasurement Element id attribute Name Enabled HoldEnabled SmoothingEnabled SmoothingWindow Scale Offset DecisionMin DecisionMax SurfaceStud String CSV
97. Disable 1 Enable Setting to enable disable region 0 Disable 1 Enable Gocator Device Files Job Files 222 Element Type Description Region Region3D Measurement region RefRegionsEnabled Boolean Setting to enable disable reference regions 0 Disable 1 Enable RefRegionCount 32s Count of the reference regions which are to be used RefRegions Collection Reference regions Contains 2 SurfaceRegion2D elements AutoTiltEnabled Boolean Setting to enable disable tilt correction 0 Disable 1 Enable TiltXAngle 64f Setting for manual tilt correction angle X TiltYAngle 64f Setting for manual tilt correction angle Y CurveFitEnabled Boolean Setting to enable disable curve fitting 0 Disable 1 Enable CurveOrientation 64f Setting for curve orientation angle Measurements X Measurements Y Measurements Z Measurements OuterRadius Measurements Depth Measurements BevelRadius Measurements BevelAngle MeasurementsWAngle Measurements WAngle Measurements Radius CsHoleMeasurement CsHoleMeasurement CsHoleMeasurement CsHoleMeasurement CsHoleMeasurement CsHoleMeasurement CsHoleMeasurement CsHoleMeasurement CsHoleMeasurement CsHoleMeasurement X measurement Y measurement Z measurement Outer Radius measurement Depth measurement Bevel Radius measurement Bevel Angle measurement X Angle measurement Y Angle measurement Radius measurement CsHoleMeasurement Element Type Description id attribute 32s Measureme
98. Discovery 2002 2005 Gocator peer discovery port UDP broadcasts on the subnet are sent once Gocator 2300 amp 2880 Series 240 Channel Port Description 2008 every second Command 2002 to 2015 Gocator request and response ports Gocator uses UDP communications on these ports for configuration and reporting Data 2500 Main Gocator listens on this port for TCP traffic from the Buddy sensor Buddy sensor communicates using a free port available at the time A Gocator system can be in one of three states Conflict Ready or Running The Start and Stop commands are sent by the client to change the current state The sensor can be configured to boot in either the Ready or Running state In the Ready state a sensor can be configured In the Running state a sensor will respond to input signals perform measurements drive its outputs and send data messages to the client Disconnecting to command channel will change the sensor from the Running state to the Ready state The Conflict state indicates that a sensor has been configured with a Buddy sensor but the Buddy sensor is not present on the network The sensor will not accept some commands until the Change Buddy command is used to remove the configured Buddy The table below defines the data types and associated type identifiers used throughout this document All values are transmitted in little endian format least significant byte first unless stated otherwise Data Types Type Des
99. E status 32s 6 Reply status The Start command starts the sensor system system enters the Running state Gocator 2300 amp 2880 Series Protocols Gocator Protocol 254 Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x100D reserved 64s Reserved field set to 0 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x100D status 32s 6 Reply status Scheduled Start The scheduled start command starts the sensor system system enters the Running state at target time or encoder value depending on the trigger mode Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x100P target 64s Target scheduled start value in ticks or microseconds depending on the trigger type Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier 0x101D status 64s Reply status The Stop command stops the sensor system system enters the Ready state Command Field Type Type Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x1001 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1001 status 32s 6 Reply status Gocator 2300 amp 2880 Series P
100. E e Exposure Indication uses the following colors Blue Indicates background pixels ignored by the sensor Red Indicates saturated pixels Correct tuning of exposure depends on the reflective properties of the target material and on the requirements of the application Settings should be carefully evaluated for each application but often a good starting point is to set the exposure so that there are 2 to 3 red pixels in the center of the laser line Spots and Dropouts Various settings can affect how the Material settings behave Video mode can be used to examine how the Material settings are affected To do this check the Show Spots option at the top of the data viewer to overlay spot data in the data viewer To show data dropouts check the Show Dropouts option at the top of the data viewer In the image below the white and gray squares represent the laser line as it appears on the camera sensor Spots which represent the center of the laser line on the camera sensor for each column are displayed as red x symbols Dropouts where no spot is detected on the camera sensor in a given column are depicted at the upper edge of the camera sensor as yellow dots Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 100 F y 3 C gt 1140 1150 1160 1170 1180 1190 1200 1210 1220 1230 1240 X pixels See Material page 81 for more information on settings for different materials
101. E EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE Gocator 2300 amp 2880 Series 360 BlowFish Website http www chiark greenend org uk sgtatham putty licence html License PuTTY is copyright 1997 2011 Simon Tatham Portions copyright Robert de Bath Joris van Rantwijk Delian Delchev Andreas Schultz Jeroen Massar Wez Furlong Nicolas Barry Justin Bradford Ben Harris Malcolm Smith Ahmad Khalifa Markus Kuhn Colin Watson and CORE SDI S A Permission is hereby granted free of charge to any person obtaining a copy of this software and associated documentation files the Software to deal in the Software without restriction including without limitation the rights to use copy modify merge publish distribute sublicense and or sell copies of the Software and to permit persons to whom the Software is furnished to do so subject to the following conditions The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software THE SOFTWARE IS PROVIDED AS IS WITHOUT WARRANTY OF ANY KIND EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY FITNESS FORA PARTICULAR PURPOSE AND NONINFRINGEMENT IN NO EVENT SHALL SIMON TATHAM BE LIABLE FOR ANY CLAIM DAMAGES OR OTHER LIABILITY WHETHER IN AN ACTION OF CONTRACT TORT OR OTHERWISE ARISING FROM OUT OF ORIN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE Code
102. Encoder position Timestamp us Frame counter Each new sample is assigned a frame number Protocols e Modbus TCP Protocol 284 The measurement ID defines the register address of each pair The register address of the first word can be calculated as 1000 3 ID For example a measurement with ID set to 4 can be read from registers 1012 high word and 1013 low word and the decision at 1015 In Profile mode the measurement results are updated after each profile is processed In Surface mode the measurement results are updated after each discrete part has been processed Measurement Register Map Register Address 1000 1001 1002 1003 1004 1005 1006 1007 1008 1057 1058 1059 Name Measurement 0 High Measurement 0 Low Decision 0 Measurement 1 High Measurement 1 Low Decision 1 Measurement 2 High Measurement 2 Low Decision 2 Measurement 19 High Measurement 19 Low Decision 19 Gocator 2300 amp 2880 Series Type 32s 16u Description Measurement value in um 0x80000000 if invalid Measurement decision A bit mask where Bit 0 1 Pass 0 Fail Bits 1 7 0 Measurement value OK 1 Invalid value 2 Invalid anchor Protocols e Modbus TCP Protocol 285 EtherNet IP Protocol EtherNet IP is an industrial protocol that allows bidirectional data transfer with PLCs It encapsulates the object oriented Common Industrial Protocol CIP This section describes
103. Ethernet Child Elements Element Type Description Protocol 32s Ethernet protocol 0 Gocator 1 Modbus 2 EtherNet IP 3 ASCII Ascii See ASCII page 237 EIP See EIP Modbus See Modbus Videos 32s CSV Selected video sources 0 Top 1 Bottom 2 Top left 3 Top right Videos options 32s CSV List of available video sources see above Profiles 32s CSV Selected profile sources 0 Top 1 Bottom 2 Top left 3 Top right Profiles options 32s CSV List of available profile sources see above Surfaces 32s CSV Selected surface sources Gocator 2300 amp 2880 Series 0 Top Gocator Device Files Job Files 233 Element Type Description 1 Bottom 2 Top left 3 Top right Surfaces options 32s CSV List of available surface sources see above Profilelntensities 32s CSV Selected profile intensity sources 0 Top 1 Bottom 2 Top left 3 Top right Profilelntensities options 32s CSV List of available profile intensity sources see above Surfacelntensities 32s CSV Selected surface intensity sources 0 Top 1 Bottom 2 Top left 3 Top right Surfacelntensities options 32s CSV List of available surface intensity sources see above Measurements 32u CSV Selected measurement sources Measurements options 32u CSV List of available measurement sources ASCII ASCII Child Elements Element Type Description Operation 32s Operation mode 0 Asynchronous 1 Polled Contr
104. Files 228 Element Type Description Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold RadiusOffset 64f Radius offset of the stud Radius measurement only SurfaceVolume A SurfaceVolume element defines settings for a surface volume tool and one or more of its measurements Surface Volume Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for source Anchor X String CSV The X measurements IDs used for anchoring AnchorW options Anchor Anchor W options Anchor MZ Anchor W options RegionEnabled Region MeasurementsWolume Measurements MArea Measurements Thickness String CSV String CSV String CSV String CSV String CSV Boolean Region3D VolumeMeasurement VolumeMeasurement VolumeMeasurement The X measurements IDs available for anchoring The Y measurements IDs used for anchoring The Y measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Setting to enable disable region Measurement region Volum
105. Gocator 2300 amp 2880 Series Protocols Gocator Protocol 260 Get Recording Enabled The Get Recording Enabled command retrieves whether recording is enabled Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4517 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4517 status 32s 6 Reply status enable 8u 10 0 disabled 1 enabled Clear Replay Data The Clear Replay Data command clears the sensors replay data Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4513 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4513 status 32s 6 Reply status Set Playback Source The Set Playback Source command sets the data source for data acquisition Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4523 source 32s 6 Source 0 Live 1 Replay buffer Gocator 2300 amp 2880 Series Protocols Gocator Protocol 261 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4523 status 32s 6 Reply status Get Playback Source The
106. Height 1 mm Max Void Width 1 Hmm Region 9 Add Width 10 043 Oo Id 2 gum Output Select Type ndex Left Index Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 137 The Strip tool uses a complex feature locating algorithm to find a strip and then return measurements See Strip Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel The Strip tool lets you add multiple measurements of the same type to receive measurements and set decisions for multiple strips Multiple measurements are added by using the drop down above the list of measurements and clicking on the Add button For example if a target has three strips by adding two measurements choosing Index From The Left in the Select Type setting and providing values of 1 and 3 in the Index of field of the measurements respectively the Strip tool will return measurements and decisions for the first and third strip Measurements Measurement Illustration Width Width Measures the width of a strip WIL Height Measures the height of a strip Height Height Height X X Z Measures the X position of a strip J X Z Z Measures the Z position of a strip J X Z 4 Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 138 Parame
107. Image The default value is 0 CSV Converter Tool After you have exported recorded data to CSV you can use the Gocator CSV Converter Tool to convert the exported profile or part data into different formats including ASCII XYZI 16 bit BMP 16 bit PNG and GenTL formats You can get the tool package 14405 x x x x SOFTWARE GO Tools zip from the download area on LMI s website at http Imi3d com support downloads See see Downloading Exporting and Uploading Recorded Data page 46 for more information on exporting recorded data After downloading the tool package unzip the file and run the Gocator CSV Converter tool bin gt win32 gt kCsvConverter exel 2 Gocator CSV Converter Tool Setup CSV C chiho Tools playground CsvToAsci data yeplay_part csv Intensity E Output Format ASCII txt Z File C chiho Tools playground CsvToAscii data eplay_part txt iE Select input CSV and intensity files and then press the Convert button Is 4 D The software tool supports data exported from Profile or Surface mode The GenTL format is a 48 bit RGB or grey scale PNG Height map intensity and stamp information are stored as defined in the GenTL Driver section see page 313 You can load the exported data into image processing software to provide simulation data for developing applications using the GenTL driver Gocator 2300 amp 2880 Series Tools and Native Drivers CSV Converter Tool 318 T
108. Interface System Management and Maintenance 50 Sensor System The following sections describe the Sensor System category on the Manage page This category lets you choose the layout standalone or dual sensor systems and provides other system settings Sensor System Main Buddy Layout and Buddy assignment ra Status Model 2340 status QA Model IP address settings Version 4 0 9 51 Serial 15776 Version Serial Motion and Alignment Master I autostart Master EA Encoder resolution and travel speed Jobs Layout Visible Sensors Download upload and set default Serial Model Version State Security Admin and Technician passwords Maintenance Upgrade backup restore reset Main sensor D Dual sensor layouts are only displayed when a Buddy sensor has been assigned Sensor Autostart With the Autostart setting enabled laser ranging profiling and measurement functions will begin automatically when the sensor is powered on Autostart must be enabled if the sensor will be used without being connected to a computer A v L Main Status Model 2340 Version 4 0 9 51 Serial 15776 Master Wl Autostart To enable disable Autostart 1 Goto the Manage page and click on the Sensor System category 2 Check uncheck the Autostart option in the Main section Dual Sensor System Layout Mounting orientations must be specified for a dual sensor system This information allows the alignment proced
109. List Files command returns a list of the files in the sensor s file system Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x101A extension 64 char 6 Specifies the extension used to filter the list of files does not include the If an empty string is used then no filtering is performed Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x101A status 32s 6 Reply status count 32u 10 Number of file names fileNames count 64 char 14 File names Gocator 2300 amp 2880 Series Protocols Gocator Protocol 249 The Copy File command copies a file from a source to a destination within the connected sensor Copy a saved configuration to live job to make the configuration live Command Field Type Offset Description length 64s 0 Command size in bytes id 64s 4 Command identifier 0x101B source 64 char 6 Source file name destination 64 char 70 Destination file name Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x101B status 32s 6 Reply status Read File Downloads a file from the connected sensor Read the file live job and live prof to download the live configuration and template Command Field Type Offset Description length 32u 0 Command si
110. Mirror Website http codemirror net License Copyright C 2011 by Marijn Haverbeke lt marijnh gmail com gt Permission is hereby granted free of charge to any person obtaining a copy of this software and associated documentation files the Software to deal in the Software without restriction including without limitation the rights to use copy modify merge publish distribute sublicense and or sell copies of the Software and to permit persons to whom the Software is furnished to do so subject to the following conditions Gocator 2300 amp 2880 Series Software Licenses 361 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software THE SOFTWARE IS PROVIDED AS IS WITHOUT WARRANTY OF ANY KIND EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANT ABILITY FITNESS FORA PARTICULAR PURPOSE AND NONINFRINGEMENT IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM DAMAGES OR OTHER LIABILITY WHETHER IN AN ACTION OF CONTRACT TORT OR OTHERWISE ARISING FROM OUT OF ORIN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE jQuery Website http jquery com License Copyright c 2011 John Resig http jquery com Permission is hereby granted free of charge to any person obtaining a copy of this software and associated documentation files the Software to deal in the Software
111. ON IN ENCODER TRIGGER OUT SERIAL ANALOG DIGITAL Y D 7 Gl YY D we elt SIGO NESS ON GOO NNO ra i SY DN il NN Q IR GUNN P DIS YN a le p LINT N 1 PI Uy Sy GOCATOR 1 0 CORDSET N 2 A El USER PC can be disconnecte after setup Dual Sensor System In a dual sensor system two Gocator sensors work together to perform profiling and output the combined results The controlling sensor is referred to as the Main sensor and the other sensor is referred to asthe Buddy sensor Gocator s software recognizes three installation orientations Opposite Wide and Reverse 17 Gocator 2300 8 2880 Series A Master 400 800 1200 2400 must be used to connect two sensors in a dual sensor system Gocator Power and Ethernet to Master cordsets are used to connect sensors to the Master GOCATOR 2300 SERIES MAIN GOCATOR PUN vA BUDDY GOCATOR POWER LASER SAFETY C TRIGGER INPUTS ENCODER 27 MASTER 400 800 1200 2400 GOCATOR I O CORDSET GOCATOR POWER AND ETHERNET CORDSET GIGABIT ETHERNET SWITCH Multi Sensor System Master 400 800 1 200 2400 networking hardware can be used to connect two or more sensors into a multi sensor system Gocator Master cordsets are used to connect the sensors to a Master The Master provides a single point of connection for power safety encoder and di
112. Output Port Item Description Master Ethernet Port Master Power Port Sensor I O Port Master Host Port Power Power Switch Laser Safety Switch Trigger Encoder Digital Output Gocator 2300 amp 2880 Series Connects to the RJ45 connector labeled Ethernet on the Power LAN to Master cordset Connects to the RJ45 connector labeled Power Sync on the Power LAN to Master cordset Provides power and laser safety to the Gocator Connects to the Gocator I O cordset Connects to the host PC s Ethernet port Accepts power 48 V Toggles sensor power Toggles laser safety signal provided to the sensors O laser off I laser on Signals a digital input trigger to the Gocator Accepts encoder A B and Z signals Provides digital output Getting Started e Hardware Overview 21 See Master 100 page 349 for pinout details Master 400 800 The Master 400 and the Master 800 allow you to connect more than two sensors The Master 400 accepts four sensors and the Master 800 accepts eight sensors SENSOR PORTS 1 4 LED INDICATORS Master ISIN j MASTER 400 FRONT TF ron epson ores on 0 SENSOR PORTS 5 8 SENSOR PORTS 1 4 LED INDICATORS o o
113. Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Axis 32s Measurement axis 0 Edge 1 Surface 2 Distance FlushMeasurement Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not Gocator 2300 amp 2880 Series set Gocator Device Files Job Files 214 Element Type Description Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Absolute Boolean Setting for selecting absolute or signed result 0 Signed 1 Absolute ProfilePosition A ProfilePosition element defines settings for a profile position tool and one or more of its measurements ProfilePosition Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source Anchor WX String CSV The X measurements IDs u
114. Profile mode the stamps are updated after each profile is processed In Surface mode the stamps are updated after each surface has been processed Gocator 2300 amp 2880 Series Protocols e Modbus TCP Protocol 283 Stamp Register Map Register Address 976 977 978 979 980 981 982 983 984 985 986 987 988 989 990 991 992 993 994 995 996 997 998 999 Name Type Buffer Advance Buffer Counter Buffer Overflow Inputs zPosition High 64s zPosition zPosition zPosition Low Exposure High 32u Exposure Low Temperature High 32u Temperature Low Position High 64s Position Position Position Low Time Low 64u Time Time Time Low Frame Index High 64u Frame Index Frame Index Fame Index Low Measurement Registers Measurement results are reported in pairs of values and decisions Measurement values are 32 bits wide and decisions are 8 bits wide Gocator 2300 amp 2880 Series Description If buffering is enabled this address must be read by the PLC Modbus client first to advance the buffer After the buffer advance read operation the Modbus client can read the updated Measurements amp Decisions in addresses 1000 1060 Number of buffered messages currently in the queue Buffer Overflow Indicator 0 No overflow 1 Overflow Digital input state Encoder value when the index is last triggered Laser exposure us Sensor temperature degress celcius 1000
115. Region2d Measurement region Measurements X GrooveMeasurement X measurement Measurements VZ GrooveMeasurement Z measurement MeasurementsWidth GrooveMeasurement Width measurement Measurements WDepth GrooveMeasurement Depth measurement GrooveMeasurement Element Type Description Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state Gocator 2300 amp 2880 Series 0 Disable Gocator Device Files Job Files 210 Element Type Description 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold SelectType 32s Method of selecting a groove when multiple grooves are found 0 Max depth 1 Ordinal from left 2 Ordinal from right SelectIndex 32s Index when SelectType is set to 1 or 2 Location 32s Setting for groove location to return from X and Z measurements only Profilelntersect 0 Bottom 1 Left corner 2 Right corner A Profilelntersect element defines settings for a profile intersect tool and one or more of its measurements Profilelntersect Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source AnchorWX String CSV The X measurem
116. Region3D element defines a rectangular area of interest in 3D Gocator 2300 amp 2880 Series Gocator Device Files Job Files 205 Region3D Child Elements Element Type Description X 64f Setting for volume x position mm Y 64f Setting for volume y position mm Z 64f Setting for volume z position mm Width 64f Setting for volume width mm Length 64f Setting for volume length mm Height 64f Setting for volume height mm SurfaceRegion2D A SurfaceRegion2D element defines a rectangular area of interest on the X Y plane SurfaceRegion2D Child Elements Element Type Description X 64f Setting for area x position mm Y 64f Setting for area y position mm Width 64f Setting for region width mm Height 64f Setting for region height mm SurfaceFeature A SurfaceFeature element defines the settings for detecting a feature within an area of interest SurfaceFeature Child Elements Element Type Description Type RegionEnabled Region ProfileArea 32s 32s Region3D Setting to determine how the feature is detected within the area 0 Average formerly Centroid 2d 1 Centroid formerly Centroid 3d 2 X Min 3 X Max 4 Y Min 5 Y Max 6 Z Min 7 Z Max 8 Median Setting to enable disable region 0 Disable 1 Enable Element for feature detection volume A ProfileArea element defines settings for a profile area tool and one or more of its measurements G
117. Report the current encoder value least significant 32 bit The current encoder value is latched from the sensor when this register is read Report the current encoder value most significant 32 bit The encoder value is latched when EncoderValueO register is read User should read EncoderValueO before reading EncoderValue Read the name of sensor live configuration file or switch write the sensor configuration file The configuration name is NULL terminated and includes the extension job Writing to this register causes the sensor to switch to the specified configuration Return the sensor transformation X offset Return the sensor transformation Z offset Return the sensor transformation angle Return the sensor transformation orientation Return the sensor clearance distance Tools and Native Drivers GenTL Driver 317 XML Settings File The settings file Go2GenTL xml resides in the same directory as the Gocator GenTL driver Users can set the resample mode and output format by changing the setting in this file Element Type Description ResampleMode 32u Settings to disable or enable resampling mode 0 Disable 1 Enable When resampling mode is enabled the GenTL driver will resample the height map so that the pixel spacing is the same in the X and Y axis The default value is 1 DataFormat 32u Settings to choose 16 bit RGB or 16 bit grey scale image output 0 16 bit RGB Image 1 16 bit grey scale
118. Revision Get USINT Byte 1 Minor Revision 6 Serial number UDINT 32 bit value Sensor serial number Get 7 Product Name SHORT Gocator Gocator Product Name Get STRING 32 Gocator 2300 amp 2880 Series Protocols EtherNet IP Protocol 286 TCP IP Object Class OxF5 The TCP IP Object contains read only network configuration attributes such as IP Address TCP IP configuration via Ethernet IP is not supported See Volume 2 Chapter 5 3 of the CIP Specification for a complete listing of TCP IP object attributes Attribut Bee A Name Type Value Description Access 1 Status UDINT 0 TCP interface status Get 2 Configuration UINT 0 Get Capability 3 Configuration UINT 0 Product Code Get Control 4 Physical Link Structure See See 5 3 3 2 4 of CIP Specification Volume 2 Get Object description Path size UINT Path Padded EPATH 5 Interface Structure See See 5 3 3 2 5 of CIP Specification Volume 2 Get Configuration description IP Address UDINT Network Mask UDINT Gateway Address UDINT Name Server UDINT Secondary Name UDINT Domain Name UDINT Ethernet Link Object Class OxF6 The Ethernet Link Object contains read only attributes such as MAC Address Attribute 3 See Volume 2 Chapter 5 4 of the CIP Specification for a complete listing of Ethernet Link object attributes Attribute Name Type Value Description Access 1 Interface UDINT 1000 Ethernet interface data rate mbps Get Speed 2 Interface Flags UDINT
119. Scan Count Trigger Drop Analog Output Drop Digital Output Drop Serial Output Drop Processing Drop Ethernet Drop Digital Output High Count Digital Output Low Count Range Valid Count Range Invalid Count Anchor Invalid Count Valid Spot Count Max Spot Count Camera Search Count Number of scans performed since sensor state last changed to Running Count of camera frames dropped due to excessive trigger speed Count of analog output drops because last output has not been completed Count of digital output drops because last output has not been completed Count of serial output drops because last output has not been completed Count of frame drops due to excessive CPU utilization Count of frame drops due to slow Ethernet link Count of high states on digital outputs Count of low states on digital outputs Count of valid ranges Count of invalid ranges Count of invalid anchors Count of valid spots detected in the last frame Maximum number of spots detected since sensor was started Count of camera frame where laser has lost tracked Only applicable when tracking window is enabled Measurements Measurement statistics are displayed for each measurement that has been configured on the Measure page Use the Reset button to reset the statistics The following information is available for each measurement Dashboard Measurement Statistics Name Gocator 2300 amp 2880 Series Description Gocator Web Interface D
120. Sensor When Frame of Reference is set to Sensor the sensor s frame of reference is used The way the sensor s frame of reference is defined changes depending on the Type surface generation setting see page 91 for more information e When parts are segmented from a continuous surface the surface generation Type setting is set to Continuous measurement values are relative to a Y origin sensor frame of reference at the center of the part the same as for Part frame of reference see below e When parts are segmented from other types of surfaces the surface generation Type setting is set to Fixed Length Variable Length or Rotational measurement values are relative to a Y origin sensor frame of reference at the center of the surface from which the part is segmented The Bounding Box GlobalX and GlobalY measurements are exceptions regardless of the Frame of Reference setting Part When Frame of Reference is set to Part all measurements except Bounding Box X and Y are relative to the center of the bounding box of the part For Bounding Box X and Y the measurement values are always relative to the Sensor frame of reference See Edge Filtering next page 1 Goto the Scan page and choose Surface in the Scan Mode panel If this mode is not selected you will not be able to configure part detection 2 Expand the Part Detection panel by clicking on the panel header or the button 3 Adjustthe settings See the part detection
121. Series OpeningMeasurement Type 32s String Boolean Boolean Boolean 32s 64f 64f 64f 64f Angle measurement Description Measurement ID Optional measurement disabled if not set Measurement name Measurement enable state 0 Disable 1 Enable Output hold enable state 0 Disable 1 Enable Smoothing enable state 0 Disable 1 Enable Smoothing window Output scaling factor Output offset factor Minimum decision threshold Maximum decision threshold Gocator Device Files Job Files 225 SurfacePlane A SurfacePlane element defines settings for a surface plane tool and one or more of its measurements SurfacePlane Child Elements Element Name Source AnchorW AnchorW options Anchor Anchor W options Anchor MZ Anchor Z options RegionsEnabled RegionCount Regions MeasurementsWAngle Measurements WAngle Type String 32s String CSV String CSV String CSV String CSV String CSV String CSV Boolean 32s Region3D PlaneMeasurement PlaneMeasurement Description Setting for measurement name Setting for source The X measurements IDs used for anchoring The X measurements IDs available for anchoring The Y measurements IDs used for anchoring The Y measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Setting to enable disable regions 0 Disable 1 Enable
122. Step Edge Definitions in the Gocator Measurement Tool Technical Manual on how this parameter is used by different base types The maximum width of missing data allowed for the data to be considered as part of a strip when Void is selected in the Left or Right Edge parameter This value must be smaller than the Edge Support Width Gap Maximum void Measurement region When occlusion and exposure causes data drops users should use the gap filling function to fill the gaps See Gap Filling page 88 for information Specifies the minimum width for a strip to be considered valid Enables disables tile correction See Decisions page 115 The measurement region defines the region in which to search for the strip If possible the region should be made large enough to cover the base on the left and right sides of the strip Aum a C Sides of the Strip See Regions page 114 for more information See Filters page 117 Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 140 Tilt The strip may be tilted with respect to the sensor s coordinate X axis This could be caused by conveyor vibration If the Tilt option is enabled the tool will report the width and height measurements following the tilt angle of the strip ge a Script A Script measurement can be used to program a custom measurement using a simplified C based syntax A script measurement can produce multiple measuremen
123. System FindSensorByIpAddress system amp ipAddress amp sensor Connect sensor object and enable control channel GoSensor Connect sensor Enable data channel GoSensor EnableData system kTRUE Optional Setup callback function to receive data asynchronously GoSystem SetDataHandler system onData amp contextPointer Retrieve setup handle setup GoSensor Setup sensor Reconfigure system to use time based triggering GoSetup SetTriggerSource setup GO TRIGGER TIME Send the system a Start command GoSystem Start system Data will now be streaming into the application Data can be received and processed asynchronously if a callback function has been set recommended Data can also be received and processed synchronously with the blocking call GoSystem ReceiveData system amp dataset RECEIVE TIMEOUT Send the system a Stop command GoSystem Stop system Fr the system object GoDestroy system Free the GoSdk library GoDestroy api Gocator 2300 amp 2880 Series Software Development Kit 309 Limiting Flash Memory Write Operations Several operations and Gocator SDK functions write to the Gocator s flash memory The lifetime of the flash memory is limited by the number of write cycles Therefore it is important to avoid frequent write operation to the Gocator s flash memory when you design your system with the
124. The pulse width is the duration of the digital output pulse in microseconds Specify whether the output is immediate or scheduled Check the Scheduled option if the output needs to be scheduled A scheduled output becomes active after a specified delay from the start of Gocator exposure A scheduled output can be used to track the decisions for multiple objects as these objects travel from the sensor to the eject gates The Delay setting specifies the distance from the sensor to the eject gates An immediate output becomes active as soon as measurement results are available The output activates after the sensor finishes processing the data As a result the time between the start of sensor exposure and output activates can vary and is dependent on the processing latency The latency is reported in the dashboard and in the health messages Specify a delay The delay specifies the time or spatial location between the start of sensor exposure and when the output becomes active The delay should be larger than the time needed to process the data inside the sensor It should be set to a value that is larger than the processing latency reported in the dashboard or in the health messages The unit of the delay is configured with the Delay Domain setting To output a measurement valid signal T 2 Go to the Output page Click on Digital 1 or Digital 2 in the Output panel Set Trigger Event to Measurement In Configuration set Assert On to
125. Tools and Native Drivers GenTL Driver 315 Rows The last row of the 16 bit grey scale image Details row of the intensity information not the first row of the whole 16 bit grey scale image X X offset Px X resolution Y Y offset Py Y resolution Z 16 bit intensity value This intensity value is 0 if the intensity image is not available Gocator outputs 8 bit intensity values The values stored in the 16 bit Grey scale image is multiplied by 256 To obtain the original values divide the intensity values by 256 Refer to the stamps on how to retrieve the offset and resolution values Stamp information Stamps are 64 bit auxiliary information related to the height map and intensity content The next table explains how the stamps are packed into the blue pixel channel See Data Results page 269 for an explanation of the stamp information The following table shows how the stamp information is packed into the last row A stamp is a 64 bit value packed into four consecutive 16 bit pixels with the first byte position storing the most significant byte Stamp Information from GenTL driver Stamp Index Column Position Details 0 0 3 Version 1 4 7 Frame Count 2 8 11 Timestamp us 3 12 15 Encoder value ticks 4 16 19 Encoder index ticks This is the encoder value when the last index is triggered 5 20 23 Digital input states 6 24 27 X offset nm 7 28 31 X resolution nm 8 32 35 Y offset nm 9 36 39
126. UDDY Theory of Operation Profile Output 40 For Wide and Opposite layouts profiles and measurements from the Main and Buddy sensors are expressed in a unified coordinate system Isolated layouts express results using a separate coordinate system for each sensor Resampled and Uniform Spacing Profile Format Profile data produced in Profile mode is available in two formats with and without uniform spacing Uniform spacing is enabled in the Scan Mode panel on the Scan page With uniform spacing enabled the ranges that make up a profile are resampled so that the spacing is uniform along the laser line X axis The resampling divides the X axis into fixed size bins Profile points that fall into the same bin are combined into a single range value Z The size of the spacing interval can be set under the Spacing tab in the Sensor panel on Scan page Uniform Spacing Uniform Spacing disabled enabled Uneven spacing Even spacing e e gt o gt e 0 o 0 e Lu om non X mm X mm As aresult in the Ethernet data channel only the range values Z are reported and the X positions can be reconstructed through the array index at the receiving end the client Resampling to uniform spacing reduces the complexity for downstream algorithms to process the profile data from the Gocator but places a higher processing load on the sensor s CPU In contrast the profile format without uniform spacing set requires no processing
127. V 64f 64f Boolean Boolean Region3D Boolean 32s Collection Boolean 64f 64f HoleMeasurement HoleMeasurement HoleMeasurement HoleMeasurement The X measurements IDs available for anchoring The Y measurements IDs used for anchoring The Y measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Nominal radius mm Radius tolerance mm Setting to enable disable partial detection 0 Disable 1 Enable Setting to enable disable region 0 Disable 1 Enable Measurement region Setting to enable disable reference regions 0 Disable 1 Enable Count of the reference regions that are to be used Reference regions Contains 2 SurfaceRegion2D elements Setting to enable disable tilt correction 0 Disable 1 Enable Setting for manual tilt correction angle X Setting for manual tilt correction angle Y X measurement Y measurement Z measurement Radius measurement HoleMeasurement Element id attribute Type 32s Description Measurement ID Optional measurement disabled if not Name Enabled Gocator 2300 amp 2880 Series String Boolean set Measurement name Measurement enable state 0 Disable 1 Enable Gocator Device Files Job Files 221 Element Type Description HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing
128. X Z plane A positive value rotates the profile counter clockwise When applying the transformations Angle is applied before the X and Z offsets To configure transformation settings 1 Goto the Scan page 2 Choose Profile or Surface mode in the Scan Mode panel If one of these modes is not selected you will not be able to configure the transformations 3 Expand the Sensor panel by clicking on the panel header 4 Click the button corresponding to the sensor you want to configure The button is labeled Top Bottom Top Left or Top Right depending on the system Transformations can be configured separately for each sensor 5 Expand the Transformations area by clicking on the expand button See the table above for more information 6 Set the parameter values See the table above for more information 7 Save the job in the Toolbar by clicking the Save button m 8 Check that the transformation settings are applied correctly after profiling is restarted Exposure determines the duration of camera and laser on time Longer exposures can be helpful to detect laser signals on dark or distant surfaces but increasing exposure time decreases the maximum speed Different target surfaces may require different exposures for optimal results Gocator sensors provide three exposure modes for the flexibility needed to scan different types of target surfaces Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment
129. Y resolution nm 10 40 43 Z offset nm 11 44 47 Z resolution nm 12 48 51 Height map Width in pixels 13 52 55 Height map length in pixels 14 56 59 Specify if intensity is enabled or not GenTL registers are multiple of 32 bits The registers are used to control the operation of the GenTL driver send commands to the sensors or to report the current sensor information Gocator 2300 8 2880 Series Tools and Native Drivers GenTL Driver 316 Register Map Overview Register Address 260 264 292 296 300 304 320 324 328 332 336 me WidthReg HeightReg ResampleMode EncoderValueO EncoderValue1 Configuration File Transformatio n X offset Transformatio n Z offset Transformatio n Angle Transformatio n Orientation Clearance distance Gocator 2300 amp 2880 Series Read Write RO RO RO RW RO RO RO RO RO Length bytes 4 16 Description Specify the width of the returned images The part height map is truncated if it is wider than the specified width Specify the height of the returned images i e length of the part The part height map is truncated if it is longer than the specified length Enable the resampling logic in the GenTL driver 0 Disable resampling 1 Enable resampling When resampling is enabled the GenTL driver will resample the height map so that the pixel spacing is the same in the X and Y axis
130. ZAngle gt 2 7078302556 lt XAngle gt lt Orientation gt 0 lt Orientation gt lt Device gt lt Device id 1 gt lt X gt 0 lt X gt lt Y gt 0 0 lt Y gt lt Z gt 123 4966803469 lt Z gt lt XAngle gt 5 7478302588 lt XAngle gt lt YAngle gt 3 7078302555 lt XAngle gt lt ZAngle gt 2 7078302556 lt XAngle gt lt Orientation gt 0 lt Orientation gt lt Device gt lt Devices gt lt Transform gt Gocator 2300 amp 2880 Series Gocator Device Files e Transformation File 238 Transform The Transform element contains the alignment record for both the Main and the Buddy sensor The version attribute defines the version of the record format lt Transform version 100 gt Transform Child Elements Element Type Description EncoderResolution 64f Encoder Resolution mm tick Speed 64f Travel Speed mm s Devices Collection Contains two Device elements A Device element defines the transformation for a sensor There is one entry element per sensor identified by a unique role attribute 0 for main and 1 for buddy lt Device role 0 gt Device Child Elements Element Type Description X 64f Translation in the X axis mm Y 64f Translation in the Y axis mm Z 64f Translation in the Z axis mm XAngle 64f Rotation about X axis degrees YAngle 64f Rotation about Y axis degrees ZAngle 64f Rotation about Z axis degrees The rotation counter clockwise in the X Z plane is performed befor
131. able the X or Y setting and select the averaging window value 6 Save the job in the Toolbar by clicking the Save button m 7 Checkthatthe laser profiling is satisfactory Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 90 Decimation reduces the number of data points along the X or Y axis by choosing data points at the end of a specified window around the data point For example by setting X to 2 points will be used every 2 millimeters Gap Filling Median Smoothing Decimation Sa x Co M 9 0 2 mm My AC RR 5 mm To configure X or Y decimation 1 Gotothe Scan page 2 Choose Profile or Surface mode in the Scan Mode panel If one of these modes is not selected you will not be able to configure smoothing 3 Expand the Filters panel by clicking on the panel header or the 5 button 4 Clickonthe Decimation tab 5 Enable the X or Y setting and select the decimation window value 6 Save the job in the Toolbar by clicking the Save button m 7 Checkthatthe laser profiling is satisfactory Surface Generation The sensor can generate a surface using different methods depending on the needs of the application Surface generation is configured in the Surface Generation panel on the Scan page Type Continuous Fixed Length Type Start Trigger Sequential 5 Length Part Detection is enabled Type Rotational Enco
132. alignment reference 1 Goto the Manage page and click on the Motion and Alignment category 2 Inthe Alignment section choose Fixed or Dynamic in the Alignment Reference drop down Encoder Resolution You can manually enter the encoder resolution in the Resolution setting or it can be automatically set by performing an alignment with Type set to Moving Establishing the correct encoder resolution is required for correct scaling of the scan of the target object in the direction of travel Gocator 2300 amp 2880 Series Gocator Web Interface System Management and Maintenance 56 Encoder Resolution 1 mmv tick Encoder Value ee Encoder Frequency A Encoder resolution is expressed in millimeters per tick To configure encoder resolution 1 Goto the Manage page and click on the Motion and Alignment category 2 Inthe Encoder section enter a value in the Resolution field Encoder Value and Frequency The encoder value and frequency are used to confirm the encoder is correctly wired to the Gocator and to manually calibrate encoder resolution that is by moving the conveyor system a known distance and making a note of the encoder value at the start and end of movement Travel Speed The Travel Speed setting is used to correctly scale scans in the direction of travel in systems that lack an encoder but have a conveyor system that is controlled to move at constant speed Establishing the correct travel speed is r
133. alue of the specified measurement ID The ID must correspond to an existing measurement The value output will be displayed as an integer in micrometers decision Measurement ID Measurement decision where the selected measurement ID must correspond to an existing measurement Measurement decision is a bit mask where Bit 0 1 Pass 0 Fail Bits 1 7 0 Measurement value OK 1 Invalid value 2 Invalid anchor Control Commands Optional parameters are shown in italic The placeholder for data is surrounded by brackets lt gt In the examples the delimiter is set to Gocator 2300 amp 2880 Series Protocols ASCII Protocol 294 The Start command starts the sensor system causes it to enter the Running state This command is only valid when the system is in the Ready state If a start target is specified the sensor starts at the target time or encoder depending on the trigger mode Formats Message Format Command Start start target The start target optional is the time or encoder position at which the sensor will be started The time and encoder target value should be set by adding a delay to the time or encoder position returned by the Stamp command The delay should be set such that it covers the command response time of the Start command Reply OK or ERROR lt Error Message gt Examples Start OK Start 1000000 ok Start ERROR Could not start the sensor The stop command stops
134. an Output 1 Out_2 Digital 6 Orange Output 1 View Looking into the connector on the sensor Encoder_A 7 White Brown amp Black Encoder_A 8 Brown Black Encoder_B 9 Black Encoder_B 10 Violet Encoder_Z 11 White Green amp Black Encoder Z 12 Green Black Serial out 13 White Serial out 14 Brown Reserved 15 Blue Black Reserved 16 White Blue amp Black Analog out 17 Green Analog out 18 Yellow amp Maroon White Reserved 19 Maroon Grounding Shield The grounding shield should be mounted to the earth ground Gocator 2300 amp 2880 Series Specifications e Gocator 2300 amp 2880 I O Connector 344 Digital Outputs Each Gocator sensor has two optically isolated outputs Both outputs are open collector and open emitter this allows a variety of power sources to be connected and a variety of signal configurations Out 1 Collector Pin 3 and Emitter Pin 4 and Out 2 Collector Pin 5 and Emitter Pin 6 are independent and therefore V and GND are not required to be the same Max Collector Max Collector Emitter Function Pins Min Pulse Width Current Voltage Out 1 3 4 40 mA 70V 20 us Out 2 5 6 40 mA 70V 20us Out 1 USER GND Out2 x outt RS uq The resistors shown above are calculated by R V 2 5 mA The size of the resistors is determined by power V 2 R Inverting Outputs To invert an output connect a resistor between ground and Out 1 or Out 2 and connect Out
135. anchor from the X Y or Z drop down box When you choose an anchor a white bulls eye indicator shows the position of the anchor in the data viewer If the sensor is running the anchored tool s measurement regions are shown in white to indicate the regions are locked to the anchor The measurement regions of anchored tools cannot be adjusted The anchored tool s measurement regions are now tracked and will move with the target s position under the sensor as long as the anchor measurement produces a valid measurement value If the anchor measurement is invalid for example if there is no target under the sensor the anchored tool will not show the measurement regions at all and an Invalid Anchor message will be displayed in the tool panel To remove an anchor from a tool 1 Click on the anchored tool s Anchoring tab Select Disabled in the X Y or Z drop down Profile Measurement This section describes the profile measurement tools available in Gocator sensors that are equipped with these tools Gocator 2300 amp 2880 Series Gocator Web Interface e Measurement 119 Most measurement functions detect and compare feature points or lines found within laser profile data Measurement values are compared against minimum and maximum thresholds to yield decisions Many profile measurements involve estimating the locations of feature points and then making comparisons between the feature points The following types of points can be identifie
136. anchoring The Y measurements IDs used for anchoring The Y measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Gocator 2300 amp 2880 Series StudRadius 64f Radius of stud mm StudHeight 64f Height of stud mm BaseHeight 64f Height of stud s base TipHeight 64f Height of stud s tip RegionEnabled Boolean Setting to enable disable region Region Region3D Measurement region RefRegionsEnabled Boolean Setting to enable disable reference regions 0 Disable 1 Enable RefRegionCount 32s Count of the reference regions that are to be used RefRegions Collection Reference regions Contains 2 SurfaceRegion2D elements AutoTiltEnabled Boolean Setting to enable disable tilt correction 0 Disable 1 Enable TiltXAngle 64f Setting for manual tilt correction angle X TiltYAngle 64f Setting for manual tilt correction angle Y Measurements Basex StudMeasurement BaseX measurement Measurements BaseY StudMeasurement BaseY measurement Measurements BaseZ StudMeasurement BaseZ measurement Measurements TipX StudMeasurement TipX measurement Measurements TipY StudMeasurement TipY measurement Measurements TipZ StudMeasurement TipZ measurement Measurements Radius StudMeasurement Radius measurement StudMeasurement Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Gocator Device Files Job
137. and receiving Gocator Protocol control commands Category Description 1 Ethernet Used to select the data sources that will transmit data via Ethernet See Ethernet Output next page 2 Digital Output 1 Used to select the data sources that will be combined to produce a digital output pulse on Output 1 See Digital Output page 183 3 Digital Output 2 Used to select the data sources that will be combined to produce a digital output pulse on Output 2 See Digital Output page 183 4 Analog Panel Used to convert a measurement value or decision into an analog output signal See Analog Output page 186 5 Serial Panel Used to select the measurements that will be transmitted via RS 485 Gocator 2300 amp 2880 Series serial output See Serial Output page 188 Gocator Web Interface Output 179 Ethernet Output Asensor uses TCP messages Gocator protocol to receive commands from client computers and to send video laser profile intensity and measurement results to client computers The sensor can also receive commands from and send measurement results to a PLC using ASCII Modbus TCP or EtherNet IP protocol See Protocols page 240 for the specification of these protocols The specific protocols used with Ethernet output are selected and configured within the panel Output Ethernet Protocol pcr ERI ERE Gocator n Digital 1 Trigger condition and pulse width Information Data Digital 2 The Gocator Protocol uses TCP messages to
138. any position in the current playback dataset The frame is then sent Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4503 frame 32u 6 Frame index Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4503 status 32s 6 Reply status Step Playback The Step Playback command advances playback by one frame Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4501 direction 32s 6 Define step direction 0 Forward 1 Reverse Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4501 status 32s 6 Reply status When the system is running in the Replay mode this command advances replay data playback D by one frame This command returns error if no live playback data set is loaded You can use the Copy File command to load a replay data set to live Gocator 2300 8 2880 Series Protocols Gocator Protocol 263 Playback Position The Playback Position command retrieves the current playback position Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4502 Reply Field Type Offset Description length 32u 0 Reply size including t
139. are available from the downloads section under the support tab on the LMI web site See Firmware Upgrade page 62 for more information on obtaining the latest firmware Every Gocator sensor contains factory backup firmware If a firmware upgrade command fails e g power is interrupted the factory backup firmware will be loaded when the sensor is reset or power cycled In this case the sensors will fall back to the factory default IP address To avoid IP address conflicts in a multi sensor system connect to one sensor at a time and re attempt the firmware upgrade Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4002 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4002 status 32s 6 Reply status locallnfo Sensor 10 Info for this device Info remoteCount 32u 66 Number of discovered sensors remotelnfo Sensor 70 List of info for discovered sensors remoteCount Info Sensorinfo Field Type Offset Description deviceld 32u 0 Serial number of the device address 4 byte 4 IP address most significant byte first modelName 32 char 8 Model name firmwareVersion 4 byte 40 Firmware version most significant byte first state 32s 44 Sensor state 1 Conflict Gocator 2300 amp 2880 Series Protocols Gocator Protocol 246 Field Type Offset Description 0 Ready 1 Ru
140. are flammable or corrosive gases e where the unit may be directly subjected to harsh vibration or impact e where water oil or chemicals may splash onto the unit e where static electricity is easily generated Ensure that ambient conditions are within specifications Gocator sensors are suitable for operation between 0 50 C and 25 8596 relative humidity non condensing Measurement error due to temperature is limited to 0 015 of full scale per degree C The Master 400 800 1200 2400 is similarly rated for operation between 0 50 C The storage temperature is 30 70 C The sensor must be heat sunk through the frame it is mounted to When a sensor is properly heat sunk the difference between ambient temperature and the temperature reported in the sensor s health channel is less than 15 C Gocator sensors are high accuracy devices and the temperature of all of its components must therefore be in equilibrium When the sensor is powered up a warm up time of at least one hour is required to reach a consistent spread of temperature in the sensor Gocator 2300 amp 2880 Series Safety and Maintenance Environment and Lighting 15 Sensor Maintenance Keep sensor windows clean Gocator sensors are high precision optical instruments To ensure the highest accuracy is achieved in all measurements the windows on the front of the sensor should be kept clean and clear of debris Use care when cleaning sensor windows Use dry clea
141. ashboard 191 Measurements The measurement ID and name Value The most recent measurement value Min Max The minimum and maximum measurement values that have been observed Avg The average of all measurement results collected since the sensor was started Std The standard deviation of all measurement results collected since the sensor was started Pass Fail The counts of pass or fail decisions that have been generated Invalid The count of frames from which no feature points could be extracted Gocator 2300 amp 2880 Series Gocator Web Interface Dashboard 192 Gocator Device Files This section describes the device files found on a Gocator Job Files Job files contain settings that control system behavior when a sensor is running If Alignment Reference is set to Dynamic a job file will also contain transformation settings Elements in job files contain three types of values settings constraints and properties Settings are input values that can be edited Constraints are read only limits that define the valid values for settings Properties are read only values that provide supplemental information related to sensor setup When a job file is received from a sensor it will contain settings constraints and properties When a job file is sent to a sensor any constraints or properties in the file will be ignored Changing the value of a setting can affect multiple constraints and properties After you upload a job fi
142. asurement of ID 2 Result 2 ERROR Specified measurement ID not found Please verify your input Custom formatted data string time 96value 0 decision 0 Result OK 1420266101 151290 0 Get Value The Get Value command retrieves measurement values Formats Message Format Command Value measurement ID measurement ID Reply If no arguments are specified the custom format data string is used OK lt custom data string gt ERROR lt Error Message gt If arguments are specified OK lt data string in standard format except that the decisions are not sent gt ERROR lt Error Message gt Examples Standard data string for measurements ID 0 and 1 Value 0 1 OK M00 00 V151290 M01 01 V18520 Standard formatted measurement data with a non existent measurement of ID 2 Value 2 ERROR Specified measurement ID not found Please verify your input Custom formatted data string 96time 96value 0 Gocator 2300 amp 2880 Series Protocols ASCII Protocol 299 Value OK 1420266101 151290 The Get Decision command retrieves measurement decisions Formats Message Format Command Decision measurement ID measurement ID Reply If no arguments are specified the custom format data string is used OK lt custom data string gt ERROR lt Error Message gt If arguments are specified OK lt data string in standard format except that the values are not sent gt ERROR lt Error Message gt Examp
143. at AC ground and DC ground are not connected D The Safety Control requires a voltage differential 12VDC to 48VDC across the pin to enable the laser Digital Input 16 pin connector Function Pin Input 1 1 Input 1 GND 2 Reserved 3 Reserved 4 Gocator 2300 amp 2880 Series Specifications e Master 1200 2400 354 Function Pin Reserved 5 Reserved 6 Reserved 7 Reserved 8 Reserved 9 Reserved 10 Reserved 11 Reserved 12 This connector does not need to be wired up for proper operation Encoder 8 pin connector Function Pin Encoder_A 1 Encoder_A Encoder_B Encoder_B Encoder_Z Encoder Z GND 0 N OD Ui A W N 5VDC Master 1200 2400 Electrical Specifications Electrical Specifications for Master 1200 2400 Master 1200 2400 Power Supply Voltage 48VDC Power Supply current Max 10A Power Draw Min 15W Safety Voltage 12 to 48VDC Encoder signal voltage range RS485 Differential Digital input voltage range Logical LOW 0 VDC to 0 1VDC Logical HIGH 3 5 VDC to 6 5VDC A When using a Master 1200 2400 its chassis must be well grounded D The 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected Gocator 2300 amp 2880 Series Specifications Master 1200 2400 355 The Power Draw specification is based ona Master with no sensors attached Every sensor has D its own power requirements which need to be considered when calculating to
144. ayed in the Data Viewer see Troubleshooting page 320 Top 350 us Press the Stop button The laser should turn off Replay Vw CO FAA SALAS a Stop All sensors are shipped with a default IP address of 192 168 1 10 Ethernet networks require a unique IP address for each device so you must set up a unique address for each sensor To configure a dual sensor system idi Turn off the sensors and unplug the Ethernet network connection of the Main sensor All sensors are shipped with a default IP address of 192 168 1 10 Ethernet networks require a unique IP address for each device Skip step 1 to 3 if the Buddy sensor s IP address is already set up with an unique address Power up the Buddy sensor The power LED blue of the Buddy sensor should turn on immediately Enter the sensor s IP address 192 168 1 10 in a web Gocator 2300 amp 2880 Series Cuz 192 168 1 10 gt Getting Started e Network Setup 33 browser This will log into the Buddy sensor 4 Log in as Administrator with no password 5 Goto the Manage Page 6 Modify the IP address to 192 168 1 11 in the Networking category and click the Save button When you click the Save button you will be prompted to confirm your selection 7 Turn off the sensors re connect the Main sensor s Ethernet connection and power cycle the sensors After changing network configuration the sensors must be reset or power cycled befor
145. b Interface User Interface Overview 47 To export recorded intensity data to BMP 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background will turn blue and a Replay Mode Enabled message will be displayed 2 Click the Export button and select Intensity data as BMP Only the intensity data in the current replay location is exported Use the playback control buttons to move to a different replay location see To replay recorded data in Recording Playback and Measurement Simulation on page 45 for more information on playback The log located at the bottom of the web interface is a centralized location for all messages that the Gocator displays including warnings and errors Clear Log Errors Warnings Information 7 8 2014 2 22 57 PM Error message 7 8 2014 2 23 23 PM Warning message O 7 8 2014 2 23 40 PM Infomation message To use the log 1 Click on the Log open button at the bottom of the web interface 2 Click on the appropriate tab for the information you need The Metrics area displays two important sensor performance metrics CPU load and speed current frame rate The CPU bar in the Metrics panel at the top of the interface displays how much of the CPU is being utilized A warning symbol 4 will appear next to the CPU bar if the sensor drops profiles because the CPU is over loaded CPU 100 96 A CPU Warning x SSS A EER Speed 199 Hz Proces
146. based on the strip edge parameters Data end Last valid profile data point in the measurement region Void Gap in the data that is larger than the maximum Void parameter Gaps connected to the measurement region s boundary are not considered as a void See Strip Start and Terminate Conditions in the Gocator Measurement Tool Technical Manudl for the definitions of these conditions Specifies how a strip is selected when there are multiple strips within the measurement area Best The widest strip Index from The Left O based strip index counting from left to right Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 139 Parameter Index Minimum Edge Height Edge Support Width Edge Transition Width Maximum Void Minimum Strip Width Tilt Decision Region Output Description Index from the Right 0 based strip index counting from right to left 0 based strip index Specifies the minimum deviation from the strip base See Strip Step Edge Definitions in the Gocator Measurement Tool Technical Manual on how this parameter is used for different base types Specifies the width of the region around the edges from which the data is used to calculate the step change See Strip Step Edge Definitions in the Gocator Measurement Tool Technical Manual on how this parameter is used by different base types Specifies the nominal width needed to make the transition from the base to the strip See Strip
147. be customized Contact LMI for more details Specifications stated are based on standard laser classes Resolution Z and Linearity Z may vary for other laser classes 2880 1280 0 04 0 092 0 488 0 375 1 1 350 800 390 1260 3B 49x75x498 1 3 ALL 2300 SERIES MODELS Scan Rate Interface Inputs Outputs Input Voltage Power Housing Operating Temp Storage Temp Gocator 2300 amp 2880 Series Approx 170Hz to 5000 Hz Gigabit Ethernet Differential Encoder Laser Safety Enable Trigger 2x Digital output RS 485 Serial 115 kBaud 1x Analog Output 4 20 mA 24 to 48 VDC 13 Watts RIPPLE 10 Gasketed aluminum enclosure IP67 0 to 50 C 30 to 70 C Specifications e Gocator 2880 Sensor 338 CLEARANCE DISTANCE NEAR FOV HA FAR FOV t MEASUREMENT RANGE Mechanical dimensions for the sensor model are illustrated on the following pages Gocator 2880 Field of View Measurement R ange ES 350 195 0 195 400 0 800 400 630 0 630 Gocator 2300 amp 2880 Series Specifications e Gocator 2880 Sensor 339 Dimensions y d V MOUNTING HOLES 6X M5X0 8 6H y 10 244 5 Y 508 8 498 244 5 h 249 10 8 Y NL 4 iE
148. cale nm ZScale 32u 20 Z scale nm xOffset 32s 24 X offset um zOffset 32s 28 Z offset um source 8u 32 Source 0 Top 1 Bottom 2 Top Left 3 Top Right exposure 32u 33 Exposure ns reserved 3 8u 37 Reserved ranges C W 16s 40 Profile ranges Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier attributesSize 16u 6 Size of attributes in bytes min 24 current 24 count C 32u 8 Number of profile intensity arrays width W 32u 12 Number of points per profile intensity array xScale 32u 16 X scale nm xOffset 32s 20 X offset um source 8u 24 Source 0 Top 1 Bottom 2 Top Left 3 Top Right exposure 32u 25 Exposure ns Gocator 2300 amp 2880 Series Protocols Gocator Protocol 272 Field reserved 3 points C W Type 8u 8u Offset 29 32 Description Reserved Intensity arrays Field size control attributeSize length L length W xScale yScale zScale xOffset yOffset zOffset source exposure rotation reserved 3 ranges L W Type 32u 16u 16u 32u 32u 32u 32u 32u 32s 32s 32s 8u 32u 32s 8u 16s Offset 12 16 20 24 28 32 36 40 41 45 49 50 Description Count of bytes in message including this field Bit 15 Last message flag Bits 0 14 Message type identifier Size of attributes in bytes min 40 cu
149. chnician Manage A lt Sensor System Administrator Layout and Buddy assignment Networking Password IP address settings Confirm Password Motion and Alignment Change Password Encoder resolution and travel speed Jobs Technician Download upload and set default P Password Security Admin and Technician passwords Confirm Password Maintenance Change Password Upgrade backup restore reset Gocator Account Types Account Description Administrator The Administrator account has privileges to use the toolbar loading and saving jobs recording and viewing replay data to view all pages and edit all settings and to perform setup procedures such as sensor alignment Technician The Technician account has privileges to use the toolbar loading and saving jobs recording and viewing replay data to view the Dashboard page and to start or stop the sensor Gocator 2300 amp 2880 Series Gocator Web Interface System Management and Maintenance 59 The Administrator and Technician accounts can be assigned unique passwords By default passwords are blank empty To set or change the password for the Administrator account 1 Goto the Manage page and click on the Security category 2 Inthe Administrator section enter the Administrator account password and password confirmation 3 Click Change Password The new password will be required the next time that an administrator logs in to th
150. choring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Type of the opening 0 Rounded 1 Slot Nominal width mm Nominal length mm Nominal angle degrees Nominal radius mm Radius tolerance mm Length tolerance mm Angle tolerance degrees Setting to enable disable partial detection 0 Disable 1 Enable Setting to enable disable region 0 Disable 1 Enable Gocator Device Files Job Files 224 Element Type Description Region Region3D Measurement region RefRegionsEnabled Boolean Setting to enable disable reference regions 0 Disable 1 Enable RefRegionCount 32s Count of the reference regions that are to be used RefRegions Collection Reference regions Contains 2 SurfaceRegion2D elements AutoTiltEnabled Boolean Setting to enable disable tilt correction 0 Disable 1 Enable TiltXAngle 64f Setting for manual tilt correction angle X TiltYAngle 64f Setting for manual tilt correction angle Y Measurements X OpeningMeasurement X measurement Measurements Y OpeningMeasurement Y measurement Measurements Z OpeningMeasurement Z measurement Measurements Width OpeningMeasurement Width measurement Measurements Length OpeningMeasurement Length measurement Measurements Angle OpeningMeasurement Element id attribute Name Enabled HoldEnabled SmoothingEnabled SmoothingWindow Scale Offset DecisionMin DecisionMax Gocator 2300 amp 2880
151. cription Null Value char Character 8 bit ASCII encoding byte Byte 8u 8 bit unsigned integer 8s 8 bit signed integer 16s 16 bit signed integer 32768 0x8000 16u 16 bit unsigned integer 65535 OxFFFF 32s 32 bit signed integer 2147483648 0x80000000 32u 32 bit unsigned integer 4294967295 OxFFFFFFFF 64s 64 bit signed integer 9223372036854775808 0x8000000000000000 64u 64 bit unsigned integer 18446744073709551615 OxFFFFFFFFFFFFFFFF 64f 64 bit floating point 1 7976931348623157e 308 Point16s Two 16 bit signed integers D IP addresses are an exception to the little endian rule The bytes in the address a b c d will always be transmitted in the order a b c d big endian Gocator 2300 amp 2880 Series Protocols Gocator Protocol 241 Status Codes Each reply on Discovery page 242 Control page 244 and Upgrade page 267 channels contains a status field containing a status code indicating the result of the command The following status codes are defined Status Codes Label Value Description OK 1 Command succeeded Failed 0 Command failed Invalid State 1000 Command is not valid in the current state Item Not Found 999 A required item e g file was not found Invalid Command 998 Command is not recognized Invalid Parameter 997 One or more command parameters are incorrect Not Supported 996 The operation is not supported Discovery Commands Sensors ship with the foll
152. ction Trigger Section Layout Section Alignment Section Devices Collection SurfaceGeneration Section PartDetection Section Custom Custom Filters Enables automatically data capture after boot up Enables laser temperature safety control Whether or not this property is used The default scan mode List of available scan modes Enables occlusion reduction Enables uniform spacing Whether or not property is used Actual value used if not configurable Enables intensity data collection Whether or not property is used Actual value used if not configurable Enables the External Input based encoder Z Pulse feature See Filters below See Triggers page 203 See Layout page 196 See Alignment page 197 A collection of two Device sections with roles main and buddy See SurfaceGeneration page 201 See PartDetection page 202 Used by specialized sensors The Filters element contains the settings related to post processing the profiles before they are output or used by measurement tools XSmoothing XSmoothing Child Elements Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm Gocator 2300 amp 2880 Series Gocator Device Files Job Files 194 YSmoothing YSmoothing Child Elements Element Type Description Enabled Bool Enables filtering W
153. ction of travel at each X location If both X and Y gap filling are enabled missing data is filled along the X and Y axes at the same time using the available neighboring data In Profile mode Gap Filling is limited to the X axis The Y setting is not available Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 88 rmm Median Smoothing Decimation m a 5 mm To configure X or Y gap filling 1 Goto the Scan page 2 Choose Profile or Surface mode in the Scan Mode panel If one of these modes is not selected you will not be able to configure gap filling 3 Expand the Filters panel by clicking on the panel header or the button 4 Clickonthe Gap Filling tab 5 Enable the X or Y setting and select the maximum width value The value represents the maximum gap width that the Gocator will fill Gaps wider than the maximum width will not be filled 6 Save the job in the Toolbar by clicking the Save button pm 7 Checkthatthe laser profiling is satisfactory The Median filter substitutes the value of a data point with the median calculated within a specified window around the data point Missing data points will not be filled with the median value calculated from data points in the neighbourhood Gap Filling Smoothing Decimation X COMME 5 mm gv 5 mm To configure X or Y median 1 Gotothe Scan page 2 Choose Profile or Surface mode in the Sca
154. d Point Type Max Z Finds the point with the maximum Z value in the region of interest Min Z Finds the point with the minimum Z value in the region of interest Min X Finds the point with the minimum X value in the region of interest Max X Finds the point with the maximum X value in the region of interest Average Determines the average location of points in the region of interest Corner Finds a dominant corner in the region of interest where corner is defined as a change in profile slope Top Corner Finds the top most corner in the region of interest where corner is defined as a change in profile shape Gocator 2300 amp 2880 Series Examples Max Z e o od gt ee ee Minz Min X See O ee On e e o 9 MaxX e e ORO y Average lt O T Corner La gt e e e e e ME Top Corner e e e ecco Gocator Web Interface Measurement 120 Point Type Bottom Corner Finds the bottom most corner in the region of interest where corner is defined as a change in profile shape Left Corner Finds the left most corner in the region of interest where corner is defined as a change in profile shape Right Corner Finds the right most corner in the region of interest where corner is defined as a change in profile shape Rising Edge Finds a risi
155. d Bool Whether or not field is used Spacinglnterval value 64f Actual value used if not configurable SpacinglntervalType 32s Spacing interval type 0 Maximum resolution 1 Balanced 2 Maximum speed SpacingintervalType used Bool Whether or not field is used Tracking Section Described below Material Section Described below Custom Custom Used by specialized sensors XSpacingCount 32u Number of resampled points along X read only YSpacingCount 32u Number of resampled points along Y read only Tracking Tracking Child Elements Element Type Description Enabled Bool Enables tracking SearchThreshold 64f Percentage of spots that must be found to remain in track Height 64f Tracking window height mm Height min 64f Minimum tracking window height mm Height max 64f Maximum tracking window height mm Material Material Child Elements Element Type Description Type 32s Type of Material settings to use Gocator 2300 amp 2880 Series 0 Custom Gocator Device Files Job Files 199 Element Type Description 1 Diffuse Type used Bool Determines if the setting s value is currently used Type value 32s Value in use by the sensor useful for determining value when used is false SpotThreshold 32s Spot detection threshold SpotThreshold used Bool Determines if the setting s value is currently used SpotThreshold value 32s Value in use by the sensor useful for determining value when used is false SpotWidthMax 32s Spot det
156. d external input Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 93 Gap in Y direction Gap in X direction Direction of travel The following settings can be tuned to improve the accuracy and reliability of part detection Part Detection O Enabled Height Threshold 5 mm Threshold Direction Above Gap Width 5 mm Gap Length 5 mm Padding Width 0 mm Padding Length 0 mm Min Area 5 mm2 Max Part Length 100 mm Frame Of Reference Sensor MM Edge Filtering Setting Description Height Threshold Determines the profile height threshold for part detection The setting for Threshold Direction determines if parts should be detected above or below the threshold Above is typically used to prevent the belt surface from being detected as a part when scanning objects on a conveyor In an Opposite layout the threshold is applied to the difference between the top and the bottom profile A target thinner than the threshold value is ignored including places where only one of either top or bottom is detected To separate parts by gated external input set the Height Threshold to the active area Z offset i e minimum Z position of the current active area set Source to Time or Encoder and check the Gate Using External Input checkbox in the Trigger panel page 66 Threshold Direction Determines if parts should be detected above or below the height thres
157. d in the USA Systems that incorporate laser components or laser products manufactured by LMI Technologies require certification by the FDA Customers are responsible for achieving and maintaining this certification Customers are advised to obtain the information booklet Regulations for the Administration and Enforcement of the Radiation Control for Health and Safety Act of 1968 HHS Publication FDA 88 8035 This publication containing the full details of laser safety requirements can be obtained directly from the FDA or downloaded from their web site at http www fda gov cdrh Electrical Safety A Failure to follow the guidelines described in this section may result in electrical shock or equipment damage Sensors should be connected to earth ground All sensors should be connected to earth ground through their housing All sensors should be mounted on an earth grounded frame using electrically conductive hardware to ensure the housing of the sensor is connected to earth ground Use a multi meter to check the continuity between the sensor connector and earth ground to ensure a proper connection Minimize voltage potential between system ground and sensor ground Care should be taken to minimize the voltage potential between system ground ground reference for I O signals and sensor ground This voltage potential can be determined by measuring the voltage between Analog out and system ground The maximum permissible voltage potent
158. d to allow industrial equipment such as Programmable Logic Controllers PLC sensors and physical input output devices to communicate over an Ethernet network Modbus TCP embeds a Modbus frame into a TCP frame in a simple manner This is a connection oriented transaction and every query expects a response This section describes the Modbus TCP commands and data formats Modbus TCP communication enables the client to e Switch to a different active job e Align and run sensors e Receive sensor states stamps and measurement results Modbus TCP is enabled in the Output panel For more information see Ethernet Output page 180 If buffering is enabled with the Modbus protocol the PLC must read the Buffer Advance output register see page 283 to advance the queue before reading the measurement results A PLC sends a command to start each Gocator The PLC then periodically queries each Gocator for its latest measurement results In Modbus terminology the PLC is a Modbus Client Each Gocator is a Modbus Server which serves the results to the PLC The Modbus TCP protocol uses TCP for connection and messaging The PLC makes a TCP connection to the Gocator on port 502 Control and data messages are communicated on this TCP connection Up to eight clients can be connected to the Gocator simultaneously A connection will be closed after 10 minutes of inactivity Messages All Modbus TCP messages consist of an MBAP header Modbus Applicati
159. dbus Protocol and measurement selectio um Digital 1 Configuration Map Trigger condition and pulse width E Buffering Name Register Type A n a 2 d d pul dth The Modbus TCP Protocol can be used to operate a sensor Control rigger condition and pulse widt from a PLC Modbus TCP only supports a subset of the tasks Command 0 8 bit y Analog that can be accomplished in the web interface Start Stop Arguments 1 E Trigger condition and current scaling Align and Switch Job and only measurement results can be M transmitted to the PLC State eria ves Protocol and rement selection Running 300 8 bit otoco and measurement selection Buffering should be enabled when part detection is used and Command in Progress 301 8 bit if multiple objects may be detected within a time frame shorter than the polling rate of the PLC Calibration State 302 8 bit Encoder Position 303 32 bit If buffering is enabled the PLC must read the Advance FE Pi register to advance the queue before reading the m AL measurement results Configuration Name Length 311 8 bit Configuration Name 312 var Stamp Inputs 979 8 bit Z Encoder 980 32 bit Exposure 984 16 bit Temperature 986 16 bit Y c mi ERE my To receive commands and send results using Modbus TCP messages 1 Goto the Output page 2 Click on Ethernet in the Output panel 3 Select Modbus as the protocol in the Protocol drop down Unlike the Gocator Protocol you do not select which measurement items to outp
160. dentifier see below instance 64s 4 Indicator instance value 64s 8 Value identifier specific meaning The following health indicators are defined for Gocator sensor systems Health Indicators Indicator Id Instance Value Encoder Value 1003 Current system encoder tick Encoder Frequency 1005 Current system encoder frequency ticks s App Version 2000 Firmware application version Uptime 2017 Time elapsed since node boot up or reset seconds Internal Temperature 2002 Internal temperature centidegrees Celsius Projector Temperature 2404 Projector module temperature centidegrees Celsius Only available on projector based devices Control Temperature 2028 Control module temperature centidegrees Celsius Available only on 3B class devices Memory Usage 2003 Amount of memory currently used bytes Memory Capacity 2004 Total amount of memory available bytes Gocator 2300 amp 2880 Series Protocols Gocator Protocol 276 Indicator Storage Usage Storage Capacity CPU Usage Net Out Capacity Net Out Link Status Sync Source Digital Inputs Event Count Camera Search Count Camera Trigger Drops Analog Output Drops Digital Output Drops Serial Output Drops Sensor State Current Sensor Speed Maximum Speed Spot Count Max Spot Count Scan Count Laser Overheat Laser Overheat Duration Playback Position Playback Count FireSync Version Gocator 2300 amp 2880 Se
161. der Resolution 360 ticks rev Assuming one millimeter per degree Variable Length 100 mm The following types correspond to the Type setting in the panel Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 91 Continuous Part detection is always automatically enabled and the sensor continuously generates surfaces of parts that are detected under the sensor See Part Detection next page for descriptions of the settings that control detection logic Fixed Length The sensor generates surfaces of a fixed length in mm using the value in the Length setting For correct length measurement you should ensure that motion is calibrated that is encoder resolution for encoder triggers or travel speed time triggers The Type setting provides two types of start triggers o Sequential Continuously generates back to back fixed length surfaces o External Input A pulse on the digital input triggers the generation of a single surface of fixed length For more information on connecting external input to a Gocator sensor see page 345 You can optionally enable part detection to process the surface after it has been generated but the generation itself does not depend on the detection logic Variable Length The sensor generates surfaces of variable length Profiles collected while the external digital input is held high are combined to form a surface If the value of the Max L
162. details A Gocator can be in one of three alignment states None Manual or Auto Alignment State State Explanation None Sensor is not aligned Profiles are reported in default sensor coordinates Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 83 State Explanation Manual Transformations see page 74 or encoder resolution see page 69 have been manually edited Auto Sensor is aligned using the alignment procedure see below An indicator on the Alignment panel will display ALIGNED or UNALIGNED depending on the Gocator s state Alignment Types Gocator sensors support two types of alignment which are related to whether the target is stationary or moving Type Description Stationary Stationary is used when the sensor mounting is constant over time and between scans e g when the sensor is mounted in a permanent position over a conveyor belt Moving Moving is used when the sensor s position relative to the object scanned is always changing e g when the sensor is mounted on a robot arm moving to different scanning locations Alignment With and Without Encoder Calibration For systems that use an encoder encoder calibration can be performed while aligning sensors The table below summarizes the differences between performing alignment with and without encoder calibration calibration With encoder calibration Without encoder calibration Target Type Calibration disk or
163. direction the direction that encoder calibration was performed in To output an exposure signal ils 2 w Go to the Output page Click on Digital 1 or Digital 2 in the Output panel Set Trigger Event to Exposure Set the Pulse Width option The pulse width determines the duration of the digital output pulse in microseconds Analog Output Gocator sensors can convert a measurement result or software request to an analog output Each sensor supports one analog output channel See Analog Output page 347 for information on wiring analog output to an external device Output Ethernet Trigger Event Measurement Protocol and measurement selection um Digital 1 Configuration Data Trigger condition and pulse width Send Name ld E Analog Current in Digital 2 ea None Analog Y 10000 O Profile Dimension Distance 2 Trigger condition and current scaling Current Range Profile Groove X 1 E Protocol and measurement selection Trigger condition and pulse width Data Scale Values Serial o 20 mA q lt ss EE Invalid amp 0 mA MM scheduled Gocator 2300 amp 2880 Series Gocator Web Interface Output 186 To output measurement value or decision 1 Goto the Output page 2 Click on Analog in the Output panel 3 Set Trigger Event to Measurement 4 Select the measurement that should be used for output Only one measurement can be used for analog output Measureme
164. dobe Systems Incorporated The contents of this file are subject to the Mozilla Public License Version 1 1 the License you may not use this file except in compliance with the License You may obtain a copy of the License at http www mozilla org MPL Software distributed under the License is distributed on an AS IS basis WITHOUT WARRANTY OF ANY KIND either express or implied See the License for the specific language governing rights and limitations under the License Gocator 2300 amp 2880 Series Software Licenses 364 EtherNet IP Communication Stack Website sourceforge net projects opener License SOFTWARE DISTRIBUTION LICENSE FOR THE ETHERNET IP TM COMMUNICATION STACK ADAPTED BSD STYLE LICENSE Copyright c 2009 Rockwell Automation Inc ALL RIGHTS RESERVED EtherNet IP is a trademark of ODVA Inc Gocator 2300 amp 2880 Series Software Licenses 365 Support For assistance regarding a component or product please contact LMI Technologies World Email support Imi3D com Web http www Imi3D com North America Phone 1 604 636 1011 Fax 1 604 516 8368 Europe Phone 31 45 850 7000 Fax 31 45 574 2500 For more information on safety and laser classifications please contact U S Food and Drug Administration Center for Devices and Radiological Health WO66 G609 10903 New Hampshire Avenue Silver Spring MD 20993 0002 USA Gocator 2300 amp 2880 Series 366 Contact North Amer
165. dow Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold ProfileDimension AProfileDimension element defines settings for a profile dimension tool and one or more of its measurements Gocator 2300 8 2880 Series Gocator Device Files Job Files 208 ProfileCircle Child Elements Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Setting for measurement name Source 32s Setting for profile source Anchor x String CSV The X measurements IDs used for anchoring AnchorW options Anchor MZ Anchor W options RefFeature Feature Measurements Width Measurements Height Measurements Distance Measurements CenterX Measurements CenterZ String CSV String CSV String CSV ProfileFeature ProfileFeature DimensionMeasureme nt DimensionMeasureme nt DimensionMeasureme nt DimensionMeasureme nt DimensionMeasureme nt The X measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Reference measurement region Measurement region Width measurement Height measurement Distance measurement CenterX measurement CenterZ measurement DimensionMeasurement Element Name Type Description Measurement name Enabled HoldEnabled SmoothingE
166. ds 191 Gocator Device Files 193 Job Files ia Dos esee vot leia 193 Configuration Root llll luu uu 193 Set p cie cede d USD rct ERU E RT WA EE 193 dlc M m 194 XSmoothing 2 194 YSMOOtHING iaa datada 195 XGAPFilling wots cta occ eER 195 YGapFillitig eiii ii ts 195 XMedian nervion Tree RE CDS 195 YMedian 2 eee e eee eee eee 195 XDecimation 196 YDecimati n 2 2 2 Ricci i8ekz 196 Layout 2022s cler lie puo eiiiieerue 196 Alignmellt diria ida rS res 197 DISK TREE 197 Bat wove lid e lvvilPfnfyAgliiv 197 Plate TT 198 Devices Device luuu 198 Tracking esce ue NIE DA E 199 Material conan 199 SurfaceGeneration 201 A A Ere ed EOS 201 VariableLength 202 Rotational ui 202 PartDetection 202 Gocator 2300 amp 2880 Series EdgeFiltering 5 rp enun 203 TIBBSeIS x oboe t ieee teed ee ee as 203 MD 204 Profile Types Luuuuu uuuu u 204 ProfileRegion2D 204 ProfileFeature Luuuuuuuuu 205 ProfileLine occi ml p DxEUY 205 Surface Types ocs vesspeanikecicedeadssse 205 R gion 3D ssepe ls eerie iler ad 205 SurfaceRegion2D 206 SurfaceFeature suuuuueu 206 ProfileArea 222222222 206 Profil Circle i003 coto coccion 208 ProfileDimension
167. ds a 64 bit signed integer from persistent memory Parameters id ID of the value Returns value Value stored in persistent memory Stores a 64 bit unsigned integer in the persistent memory Parameters id ID of the value value Value to store unsigned long long Memory Get64u int id Loads a 64 bit unsigned integer from persistent memory void Memory Set64f int id double value double Memory Get64f int id Gocator 2300 amp 2880 Series Parameters id ID of the value Returns value Value stored in persistent memory Stores a 64 bit double into persistent memory Parameters id ID of the value value Value to store Loads a 64 bit double from persistent memory All persistent memory values are set to 0 when the sensor starts Gocator Web Interface Measurement 176 Function Description int Memory_Exists int id void Memory_Clear int id void Memory_ClearAll Stamp Functions Function long long Stamp_Frame long long Stamp_Time long long Stamp_Encoder long long Stamp_EncoderZ unsigned int Stamp_Inputs Math Functions Function Parameters id ID of the value Returns value Value stored in persistent memory Tests for the existence of a value by ID Parameters id Value ID Returns 0 value does not exist 1 value exists Erases a value associated with an ID Parameters id Value ID Erases all values from persistent memory Descrip
168. e angle the hole relative to the X axis The measurement assumes that the hole is perpendicular to the surface even though the surface itself is tilted Y Angle Determines the angle of the hole relative to the Y axis The measurement assumes that the hole is perpendicular to the surface even though the surface Illustration l X or Y Angle B itself is tilted Parameters Parameter Nominal Bevel Angle Bevel Angle Tolerance Nominal Outer Radius Outer Radius Tolerance Nominal Inner Radius Inner Radius Tolerance Bevel Radius Offset Curve Surface Reference Regions Gocator 2300 amp 2880 Series Description The expected bevel angle of the countersunk hole The maximum variation from the nominal bevel angle from the nominal bevel angle The expected outer radius of the countersunk hole The maximum variation from the nominal outer radius from the nominal outer radius The expected outer radius of the countersunk hole The maximum variation from the nominal inner radius from the nominal inner radius The offset relative to the surface that the countersunk hole is on at which the bevel radius will be measured Whether the surface that the countersunk hole is on is curved When enabled specify the radius of the curvature in the Curve Orientation setting The algorithm uses the Reference Regions option to calculate the Z position of the hole It is typically u
169. e edit field The name change will be changed Changing a Measurement ID The measurement ID is used to uniquely identify a measurement in the Gocator protocol or in the SDK The value must be unique among all measurements To edita measurement ID 1 Goto the Scan page by clicking on the Scan icon 2 Choose Profile or Surface mode in the Scan Mode panel If one of these modes is not selected tools will not be available in the Measure panel 3 Gotothe Measure page by clicking on the Measure icon 4 Inthe measurement list select a measurement To select a measurement it must be enabled See Enabling and Disabling Measurements page 111 for instructions on how to enable a measurement Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 113 5 Click in the ID field 6 Enter a new ID number The value must be unique among all measurements 7 Pressthe Tab or Enter key or click outside the ID field The measurement ID will be changed All tools provide region settings under the Parameter tab and all measurements provide decision and filter settings under the Output tab Many tools and measurements also have tool and measurement specific parameters See the individual measurement tools for details Source For dual sensor systems you must specify a profile source for tools The profile source determines which sensor provides data for the measurement Depending on the layout you have selected the Source dr
170. e measurement Area measurement Thickness measurement VolumeMeasurement Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not Gocator 2300 amp 2880 Series Gocator Device Files Job Files 229 Element Type Description set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Location 32s Measurement type Thickness measurement only 0 Maximum 1 Minimum 2 2D Centroid 3 3D Centroid 4 Average 5 Median SurfaceCsHole A SurfaceCsHole element defines settings for a surface countersunk hole tool and one or more of its measurements SurfaceCsHole Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for source Anchor X String CSV The X measurements IDs used for anchoring AnchorW options String CSV The X measurements IDs available for anchoring Anchor yY String CSV The Y measurements IDs used for anchoring Anchor W options String CSV The Y measurements IDs available for anchoring Anchor MZ String CSV The Z measur
171. e sensor To set or change the password for the Technician account 1 Goto the Manage page and click on the Security category 2 Inthe Technician section enter the Technician account password and password confirmation 3 Click Change Password The new password will be required the next time that a technician logs in to the sensor If the administrator or technician password is misplaced the sensor can be recovered using a special software tool See Sensor Recovery Tool page 311 for more information Maintenance The Maintenance category in the Manage page is used to do the following e upgrade the firmware and check for firmware updates e backup and restore all saved jobs and recorded data e restore the sensor to factory defaults e reset the sensor Gocator 2300 amp 2880 Series Gocator Web Interface System Management and Maintenance 60 Sensor System Firmware Layout and Buddy assignment Upgrade firmware and check for latest release Networking es IP address settings Current Version 4 0 9 84 Motion and Alignment Upgrade Check Updates Encoder resolution and travel speed Jobs Download upload and set default Backup and Restore Security Admin and Technician passwords Backup and restore all saved jobs and recorded data Maintenance Restore Backup Upgrade backup restore reset Factory Restore Restore sensor to factory settings This will erase all saved jobs and settings Fact
172. e the change will take effect 8 Enter the sensor s IP address 192 168 1 10 in a web browser This will log into the Main sensor 9 Loginas Administrator with no password The interface display language can be changed using the language option After selecting the language the browser will refresh and the web interface will display in the selected language Gocator 2300 amp 2880 Series X Manage Networking Type IP Subnet Mask Gateway Gocator 2340 e a 1 Language English E Hh wa cz 8 Scan Measure Output Dashboard Manual 192 168 1 11 255 255 255 0 0 0 0 0 Save sl Q Yr htip 192 168 1 10 gt TAS Administrator Language English Getting Started e Network Setup 34 10 11 12 13 14 15 16 Select the Manage page Go to Manage page Sensor System panel and select the Visible Sensors panel The serial number of the Buddy sensor is listed in the Available Sensors panel Select the Buddy sensor and click the Assign button The Buddy sensor will be assigned to the Main sensor and its status will be updated in the System panel The firmware on Main and Buddy sensors must be the same for Buddy assignment to be successful If the firmware is different connect the Main and Buddy sensor one at a time and follow the steps in Firmware Upgrade on page 62 to upgrade the sensors Ensure that the Laser Safety Sw
173. e the translation Gocator 2300 amp 2880 Series Gocator Device Files e Transformation File 239 Protocols The following sections describe the protocols that Gocator sensors support Gocator Protocol This section describes TCP and UDP commands and data formats used by a client computer to communicate with Gocator sensors Network communication enables the client to e Discover Main and Buddy sensors on an IP network and re configure their network addresses e Configure Main and Buddy sensors e Send commands to run sensors provide software triggers read write files etc e Receive data health and diagnostic messages e Upgrade firmware The Concepts section defines network connection types Discovery Control Upgrade Data and Health common data types and other terminologies Subsequent sections provide details about network commands and data formats The Gocator SDK provides open source C language libraries that implement the network commands and data formats defined in this section See Software Development Kit page 302 for more information A Gocator system can operate in the following modes System Modes Mode Description Video Sends raw video Profile Performs profile measurements default mode Surface Performs part detection and measurements Buddy Communication Channels The peer to peer control channels are used by Gocator sensors to communicate between sensors Channel Port Description
174. easurement disabled if not set Measurement name Measurement enable state 0 Disable 1 Enable Output hold enable state 0 Disable 1 Enable Smoothing enable state 0 Disable 1 Enable Smoothing window Output scaling factor Output offset factor Minimum decision threshold Maximum decision threshold A SurfaceEllipse element defines settings for a surface ellipse tool and one or more of its measurements SurfaceEllipse Child Elements Element Name Source Anchor AnchorW options Gocator 2300 amp 2880 Series Type String 32s String CSV String CSV Description Setting for measurement name Setting for source The X measurements IDs used for anchoring The X measurements IDs available for anchoring Gocator Device Files Job Files 219 Element Type Description Anchor Anchor W options Anchor MZ Anchor Z options RegionEnabled Region Measurements Major Measurements Minor Measurements Ratio Measurements ZAngle EllipseMeasurement Element id attribute Name Enabled HoldEnabled SmoothingEnabled SmoothingWindow Scale Offset DecisionMin DecisionMax SurfaceHole String CSV String CSV String CSV String CSV Boolean Region3D EllipseMeasurement EllipseMeasurement EllipseMeasurement EllipseMeasurement Type 32s String Boolean Boolean Boolean 32s 64f 64f 64f 64f The Y measurements IDs used for anc
175. eb Interface Scan Setup and Alignment 75 Top Active Area Spacing Material Exposure Mode Single t Auto Set CU H 400 us Use Auto Set to estimate the optimal exposure To enable single exposure 1 Place a representative target in view of the sensor The target surface should be similar to the material that will normally be measured 2 Gotothe Scan page 3 Expandthe Sensor panel by clicking on the panel header 4 Clickthe button corresponding to the sensor you want to configure The button is labeled Top Bottom Top Left or Top Right depending on the system Exposure can be configured separately for each sensor 5 Click on the Exposure tab 6 Select Single from the Exposure Mode drop down 7 Edit the Exposure setting You can automatically tune the exposure by pressing the Auto Set button which causes the sensor to turn on and tune the exposure time 8 Runthe sensor and check that laser profiling is satisfactory If laser profiling is not satisfactory adjust the exposure values manually Switch to Video mode to use video to help tune the exposure see Exposure page 74 for details Dynamic Exposure The sensor automatically uses past profile information to adjust the exposure to yield the best profile This is used when the target surface changes from scan to scan Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 76 i Q Top 110
176. ection maximum width SpotWidthMax used Bool Determines if the setting s value is currently used SpotWidthMax value 32s Value in use by the sensor useful for determining value when used is false SpotWidthMax min 32s Minimum allowed spot detection maximum value SpotWidthMax max 32s Maximum allowed spot detection maximum value SpotSelectionType 32s Spot selection type O Best Picks the strongest spot in a given column 1 Top Picks the spot which is most Top Left on the imager 2 Bottom Picks the spot which is most Bottom Right on the imager SpotSelectionType used Bool Determines if the setting s value is currently used SpotSelectionType value 32s Value in use by the sensor useful for determining value when used is false CameraGainAnalog 64f Analog camera gain factor CameraGainAnalog used Bool Determines if the setting s value is currently used CameraGainAnalog value 64f Value in use by the sensor useful for determining value when used is false CameraGainAnalog min 64f Minimum value CameraGainAnalog max 64f Maximum value CameraGainDigital 64f Digital camera gain factor CameraGainDigital used Bool Determines if the setting s value is currently used CameraGainDigital value 64f Value in use by the sensor useful for determining value when used is false CameraGainDigital min 64f Minimum value CameraGainDigital max 64f Maximum value DynamicSensitivity 64f Dynamic exposure control sensitivity factor This can be us
177. ed Gocator Data Protocol GDP Each GDP message consists of a 6 byte header followed by a variable length message specific content section The structure of the GDP message is defined below Gocator Data Protocol Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier Gocator 2300 amp 2880 Series Protocols Gocator Protocol 275 GDP messages are always sent in groups The last message flag in the control field is used to indicate the final message within a group If there is only one message per group this bit will be set in each message A Health Result contains a single data block for health indicators Each indicator reports the current status of some aspect of the sensor system such as CPU usage or network throughput Health Result Header Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier count C 32u 6 Count of indicators in this message source 8u 10 Source 0 Main 1 Buddy reserved 3 8u 13 Reserved indicators C Indicator 16 Array of indicators see format below The health indicators block contains a 2 dimensional array of indicator data Each row in the array has the following format Indicator Format Field Type Offset Description id 64s 0 Unique indicator i
178. ed to communicate measurements to external devices See Output page 179 5 Dashboard page Provides monitoring of measurement statistics and sensor health See Dashboard page 190 6 CPU Load and Speed Provides important sensor performance metrics See Metrics Area page 48 7 Help Provides links to the user manual and SDK 8 Toolbar Controls sensor operation manages jobs and replays recorded measurement data See Toolbar below 9 Configuration area Provides controls to configure scan and measurement tool settings 10 Data viewer Displays sensor data tool setup controls and measurements See Data Viewer on page 97 for its use when the Scan page is active and on page 110 for its use when the Measure page is active 11 Log Displays messages from the sensor errors warnings and other information See Log page 48 Common Elements The toolbar is used for performing common operations This section explains how to use the toolbar to manage jobs and to operate the sensor new 1 A ama 1 Replay v EY y e 1 2 3 Element Description 1 Job controls For saving and loading different jobs 2 Recorded data controls For downloading uploading and exporting recorded data 3 Sensor operation replay control Use the sensor operation controls to start sensors enable recording and control recorded data 4 Replay switch Toggles the sensor data source between live and replay Savi
179. ed to scale the control setpoint DynamicSensitivity used Bool Determines if the setting s value is currently used DynamicSensitivity value 64f Value in use by the sensor useful for determining value when used is Gocator 2300 amp 2880 Series false Gocator Device Files Job Files e 200 Element Type Description DynamicSensitivity min 64f Minimum value DynamicSensitivity max 64f Maximum value DynamicThreshold 32s Dynamic exposure control threshold If the detected number of spots is fewer than this number the exposure will be increased DynamicThreshold used Bool Determines if the setting s value is currently used DynamicThreshold value 32s Value in use by the sensor useful for determining value when used is false DynamicThreshold min 32s Minimum value DynamicThreshold max 32s Maximum value GammaType 32s Gamma type Gammatype used Bool Value in use by the sensor useful for determining value when used is false Gammatype value 32s Determines if the setting s value is currently used SurfaceGeneration SurfaceGeneration Child Elements Element Type Description Type 32s Surface generation type 0 Continuous 1 Fixed length 2 Variable length 3 Rotation FixedLength Section Described below VariableLength Section Described below Rotational Section Described below FixedLength FixedLength Child Elements Element Type Description StartTrigger 32s Start trigger condition 0 Sequential
180. eeee 242 Discovery Commands 242 Get Address Luuuuleleees 242 Set Address riis etie LEAd Alei iE 243 Control Commands s 244 Protocol Version llluuus 244 Get Address osese d eoo asias 245 Set Address Die bre i AEAIRIDOe 245 Get System Info LLiuuuuuuuuuu 246 GetStates 2 2 2ccc2cccscccecccscdeccecscuc 247 Log IN OUT noc ee tek i EUN eee 248 Change Password uuus 248 Set Buddy 2 2 2 222222 2 2 249 IE dici EDEN 249 CODY FIG unsere io 250 A aee ieie neata on 250 Write File 0 0 0 cece eee eee ee 250 Delete File 2 0 2 l eee cee ee eee eee 251 Get Default Job 22222 2 22 222222 251 Set Default Job 2522s RRccIt RR ox 252 Get Loaded Job LLuuuu 252 Set Alignment Reference 252 Get Alignment Reference 253 Clear Alignment Luuuuu 253 Get Timestamp l u u 253 Get Encoder LlLlululllllules 254 Reset Encoder Leuuueue 254 cic P 254 Scheduled Start L uiuuuuuuuu 255 ioo E Ha 255 Start Alignment 020 22 cssconsaes etr ES 256 Start Exposure Auto set 256 Software Trigger 2 2 2 2 2 256 Gocator 2300 amp 2880 Series Schedule Digital Output 257 Schedule Analog Output
181. eger k64u 64 bit unsigned integer k64f 64 bit floating number kBool Boolean value can be kTRUE or kFALSE kStatus Status value can be KOK or KERROR klpAddress IP address Output Types The following output types are available in the SDK Output Data Types Data Type Description GoDataMsg Represents a base message sourced from the data channel See GoDataSet Type below for more information GoMeasurementMsg Represents a message containing a set of GoMeasurementData objects GoProfilelntensityMsg Represents a data message containing a set of profile intensity arrays GoProfileMsg Represents a data message containing a set of profile arrays GoRangelntensityMsg Represents a data message containing a set of range intensity data GoRangeMsg Represents a data message containing a set of range data GoResampledProfileMsg Represents a data message containing a set of resampled profile arrays GoStampMsg Represents a message containing a set of acquisition stamps GoSurfacelntensityMsg Represents a data message containing a surface intensity array GoSurfaceMsg Represents a data message containing a surface array GoVideoMsg Represents a data message containing a video image Referto the GoSdkSamples sample code for examples of acquiring data using these data types D See Setup and Locations page 302 for more information on the code samples GoDataSet Type Data are passed to the data handler in a GoDataSet object The GoDataSet ob
182. ements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring NominalBevelAngle 64f Nominal bevel angle mm Gocator 2300 amp 2880 Series Gocator Device Files Job Files 230 Element Type Description BevelAngleTolerance 64f Bevel angle tolerance mm NominalOuterRadius 64f Nominal outer radius mm OuterRadiusTolerance 64f Outer radius tolerance mm NominallnnerRadius 64f Nominal inner radius mm InnerRadiusTolerance 64f Inner radius tolerance mm BevelRadiusOffset 64f Bevel radus offset mm PartialDetectionEnabled Boolean Setting to enable disable partial detection 0 Disable 1 Enable RegionEnabled Boolean Setting to enable disable region 0 Disable 1 Enable Region Region3D Measurement region RefRegionsEnabled Boolean Setting to enable disable reference regions 0 Disable 1 Enable RefRegionCount 32s Count of the reference regions which are to be used RefRegions Collection Reference regions Contains 2 SurfaceRegion2D elements AutoTiltEnabled Boolean Setting to enable disable tilt correction 0 Disable 1 Enable TiltXAngle 64f Setting for manual tilt correction angle X TiltYAngle 64f Setting for manual tilt correction angle Y CurveFitEnabled Boolean Setting to enable disable curve fitting 0 Disable 1 Enable CurveOrientation 64f Setting for curve orientation angle Measurements X Measurements Y Measurements Z Measurements OuterRadius Measurements
183. ength setting is reached while external input is still high the next surface starts directly with the next profile For correct length measurement you should ensure that motion is calibrated i e encoder resolution for encoder triggers or travel speed for time triggers For more information on connecting external input to a Gocator sensor see page 345 You can optionally enable part detection to process the surface after it has been generated but the generation itself does not depend on the detection logic Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 92 Rotational The sensor reorders profiles within a surface to be aligned with the encoder s index pulse That is regardless of the radial position the sensor is started at the generated surface always starts at the position of the index pulse If the index pulse is not detected and the rotation circumference is met the surface is dropped and the Encoder Index Drop indicator will be incremented To scan exactly one revolution of a circular target without knowing the circumference manually set the encoder resolution page 56 to 1 the encoder trigger spacing page 66 to number of encoder ticks per revolution number of desired profiles per revolution and Encoder Resolution in the Surface Generation panel to the number of encoder ticks per revolution You can optionally enable part detection to process the surface aft
184. ent disabled if not set Measurement name Measurement enable state 0 Disable 1 Enable Output hold enable state 0 Disable 1 Enable Smoothing enable state 0 Disable 1 Enable Smoothing window Output scaling factor Output offset factor Minimum decision threshold Maximum decision threshold Method of selecting a groove when multiple grooves are found 0 Best 1 Ordinal from left 2 Ordinal from right Index when SelectType is set to 1 or 2 Setting for groove location to return from Gocator Device Files Job Files 217 Element Type Description X Z and Height measurements O Left only 1 Right 2 Center Script A Script element defines settings for a script measurement Script Child Elements Element Type Description Name String Setting for measurement name Code String Script code Measurements Output Collection Dynamic list of Output elements Output Element Type Description id attribute 32s Output ID Optional output disabled if set to 1 Name String Output name SurfaceBoundingBox A SurfaceBoundingBox element defines settings for a surface bounding box tool and one or more of its measurements SurfaceBoundingBox Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for the source AnchorWX String CSV The X measurements IDs used for anchoring AnchorW options String CSV String CSV String CSV Str
185. ents IDs used for anchoring AnchorW options Anchor Z Anchor Z options RefType RefLine Line Measurements X Measurements Z Measurements Angle Gocator 2300 amp 2880 Series String CSV String CSV String CSV 32s ProfileLine ProfileLine ResultMeasurement ResultMeasurement IntersectAngleMeasure ment The X measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Reference line type O Fit 1 X Axis Reference line Ignored if RefType is not 0 Line X measurement Z measurements Angle measurement Gocator Device Files Job Files 211 IntersectAngleMeasurement Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Absolute Boolean Setting for selecting absolute or signed result 0 Signed 1 Absolute ProfileLine AProfileLine element defines settings for a profile line tool and one or more of its measurements ProfileLine Child Elements
186. epts encoder signal Input Accepts digital input See Master 1200 2400 page 354 for pinout details Calibration Targets Targets are used for alignment and calibrating encoder systems Disks are typically used with systems containing a single sensor and can be ordered from LMI Technologies When choosing a disk for your application select the largest disk that fits entirely within the required field of view See Parts and Accessories page 357 for disk part numbers 40mm DIAMETER m aon NI i For wide multi sensor systems bars are required to match the length of the system by following the guidelines illustrated below LMI Technologies does not manufacture or sell bars 100mm DIAMETER DISK Gocator 2300 amp 2880 Series Getting Started e Hardware Overview 23 LENGTH OF BAR SHOULD BE GREATER THAN THE COMBINED FIELD OF VIEW OF ALL SENSORS HOLE DISTANCE BETWEEN HOLES CENTERS ONE HOLE PER SENSOR CENTERED IN EACH SENSOR S FIELD OF VIEW DIAMETER MUST BE LARGE ENOUGH FOR HOLE TO BE DETECTED BY SENSOR DEPENDS ON SENSOR RESOLUTION See Aligning Sensors page 84 for more information on alignment Gocator 2300 amp 2880 Series Getting Started e Hardware Overview 24 Installation The following sections provide grounding mounting and orientation information Grounding Gocator Gocators should be grounded to the earth chassis through their housings and through the grounding shield of the P
187. equired for correct scaling of the scan in the direction of travel Speed Travel Speed 100 mm s Travel speed is expressed in millimeters per second To manually configure travel speed 1 Goto the Manage page and click on the Motion and Alignment category 2 Inthe Speed section enter a value in the Travel Speed field Travel speed can also be set automatically by performing an alignment with Type set to Moving see page 84 The Jobs category on the Manage page lets you manage the jobs stored on the sensor Gocator 2300 amp 2880 Series Gocator Web Interface System Management and Maintenance 57 Manage lt Sensor System Jobs List Layout and Buddy assignment R Job1 loaded default Download Networking io IP address settings Job2 Upload Motion and Alignment Encoder resolution and travel speed Load Download upload and set default Security Delete Admin and Technician passwords Maintenance Upgrade backup restore reset Job Name Save Element Description Name field Used to provide a job name when saving files Jobs list Displays the jobs that are currently saved in the sensor s flash storage Save button Saves current settings to the job using the name in the Job Name field Load button Loads the job that is selected in the file list Reloading the current job discards any unsaved changes Delete button Deletes the job that is selected in the jobs list Set
188. er 2 Click the Scaling button e To automatically set the scale choose Auto in the Range drop down e To automatically set the scale based on a user selected sub region of the heightmap choose Auto Region in the Range drop down and adjust the yellow region box in the data viewer to the desired location and size e To manually set the scale choose the Manual in the Range drop down and enter the minimum and maximum height to which the colors will be mapped Regions such as an active area or a measurement region can be graphically set up using the data viewer When the Scan page is active the data viewer can be used to graphically configure the active area The Active Area setting can also be configured manually by entering values into its fields and is found in the Sensor panel see page 71 Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 106 Profile Rote To set up a region of interest 1 Move the mouse cursor to the rectangle The rectangle is automatically displayed when a setup or measurement requires an area to be specified 2 Drag the rectangle to move it and use the handles on the rectangle s border to resize it Gocator sensors can produce intensity images that measure the amount of light reflected by an object An 8 bit intensity value is output for each range value along the laser line Gocator applies the same coordinate system and resampling logic as the ranges to the i
189. er 0x2 status 32s 6 Reply status length 32u 10 Length of the log bytes log length char 14 Log content Data Results Aclient can receive data messages from a Gocator sensor by connecting to the Data or Health TCP channels Result Channels Channel Port Description Data 3196 Sensor sends data messages Health 3194 Sensor sends health messages The ports above can be connected simultaneously and the sensor will also accept multiple connections on each port Messages that are received on the Data and Health channels use a common structure called Gocator Data Protocol GDP Each GDP message consists of a 6 byte header followed by a variable length message specific content section The structure of the GDP message is defined below Gocator Data Protocol Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier GDP messages are always sent in groups The last message flag in the control field is used to indicate the final message within a group If there is only one message per group this bit will be set in each message Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier Gocator 2300 amp 2880 Series Protocols Gocator Protocol 269 Field Type Offset Description count
190. er it has been generated but the generation itself does not depend on the detection logic To configure surface generation 1 Goto the Scan page and choose Surface in the Scan Mode panel If this mode is not selected you will not be able to configure surface generation 2 Expand the Surface Generation panel by clicking on the panel header or the button 3 Choose an option from the Type drop down and any additional settings See the types and their settings described above Part Detection In Surface mode the Gocator sensor can analyze the 3D point cloud created from profiles to identify discrete objects Surface measurements can then be performed on each discrete object Part detection is configured using the Part Detection panel on the Scan page Part detection must be manually enabled when Type is set to Fixed Length Variable Length or Rotational in the Surface Generation panel When Type is set to Continuous part detection is automatically enabled Part detection can be performed when Source in the Trigger panel is set to Time or Encoder To use the Time trigger source the travel speed must be calibrated To use the Encoder trigger source the encoder resolution must be calibrated See Aligning Sensors page 84 for more information Multiple parts can pass through the laser at the same time and will be individually tracked Parts can be separated along the laser line X axis in the direction of travel Y axis or by gate
191. eration will be lost To restore a sensor to its factory default settings 1 Goto the Manage page and click on Maintenance 2 Consider making a backup Before proceeding you should perform a backup Restoring to factory defaults cannot be undone 3 Clickthe Factory Restore button under Factory Restore You will be prompted whether you want to proceed LMI recommends routinely updating firmware to ensure that Gocator sensors always have the latest features and fixes In order for the Main and Buddy sensors to work together they must be use the same firmware D version This can be achieved by upgrading through the Main sensor or by upgrading each sensor individually Firmware Upgrade firmware and check for latest release Current Version 4 0 9 84 Upgrade Check Updates To download the latest firmware 1 Goto the Manage page and click on the Maintenance category 2 Clickthe Check Updates button in the Firmware section 3 Download the latest firmware Gocator 2300 amp 2880 Series Gocator Web Interface System Management and Maintenance 62 If a new version of the firmware is available follow the instructions to download it to the client computer If the client computer is not connected to the Internet firmware can be downloaded and transferred to the client computer by using another computer to download the firmware from LMI s website http www Imi3D com support downloads To upgrade the
192. ess 192 168 1 5 Subnet mask 255 255 255 0 Default gateway ddress automatically Use the following DNS server addresses Preferred DNS server Alternate DNS server Advanced CC Cms eoo Network show at CD Location Automatic E Self Assigned IP Status Connected here has a slasigned address nd onn Ed gt e Configure Wamaly A dapter g IP Address 192 168 4 5 mene i Subnet Mask 255 255 255 0 th wem O sua DNS Server Search Domains Advanced 2 Apply id Click the lock to prevent further changes Assist me Revert Apply AN See Troubleshooting page 320 if you experience any problems while attempting to establish a connection to the sensor Gocator 2300 amp 2880 Series Getting Started Network Setup 31 Gocator Setup The Gocator is shipped with a default configuration that will produce laser profiles on most targets The following sections walk you through the steps required to set up a standalone sensor system and a dual sensor system for operations After you have completed the setup you can perform laser profiling to verify basic sensor operation Running a Standalone Sensor System To configure a standalone sensor system Power up the sensor The power indicator blue should turn on immediately po POWER LED 2 Enter the sensor s IP address 192 168 1 10 in a web Ere
193. ess or implied See the License for the specific language governing permissions and limitations under the License jQuery CopyEvents Website http brandonaaron net License Copyright c 2006 Brandon Aaron Licensed under the MIT License http www opensource org licenses mit license php jQuery history License jQuery history plugin Copyright c 2006 Taku Sano Mikage Sawatari Licensed under the MIT License http www opensource org licenses mit license php Modified by Lincoln Cooper to add Safari support and only call the callback once during initialization for msie when no initial hash supplied API rewrite by Lauris Bukis Haberkorns jQuery mouseWheel Website http brandonaaron net License Copyright c 2010 Brandon Aaron Gocator 2300 amp 2880 Series Software Licenses 363 Licensed under the MIT License http www opensource org licenses mit license php jQuery scaling Website http eric garside name License Scaling 1 0 Scale any page element Copyright c 2009 Eric Garside Licensed under the MIT License http www opensource org licenses mit license php jQuery scrollFollow Website http kitchen net perspective com License Copyright c 2008 Net Perspective Licensed under the MIT License http www opensource org licenses mit license php Flex SDK Website http opensource adobe com wiki display flexsdk Flex SDK License Copyright c 2010 A
194. ex etc into either a 16 bit RGB image or a 16 bit grey scale image You can select the format in the Go2GenTL xml setting file The width and height of the 16 bit RGB or grey scale image is calculated from the maximum number of columns and rows required to support the sensor s FOV and the maximum part length 16 bit RGB Image When the 16 bit RGB format is used the height map intensity and stamps are stored in the red green and blue channel respectively Channel Details Red Height map information The width and height of the image represent the dimensions in the X and Y axis Together with the pixel value each red pixel presents a 3D point in the real world coordinates The following formula can be used to calculate the real world coordinates X Y Z from pixel coordinates Px Py Pz X X offset Px X resolution Y Y offset Py Y resolution Z Z offset Pz Z resolution Refer to the blue channel on how to retrieve the offset and resolution values If Pz is O if the data is invalid The Z offset is fixed to 32768 Z resolution Z is zero if Pz is 32768 Green Intensity information Same as the red channel the width and height of the image represent the dimension in the X and the Y axis Together with the pixel value each blue pixel represents an intensity value in the real world coordinates The following formula can be used to calculate the real world coordinates X Y Z from pixel coordinates Px Py Pz
195. f the Buddy sensor after the Buddy sensor is assigned to the Main sensor Configuration for both sensors can be performed through the Main sensor s interface Main and Buddy sensors must be assigned unique IP addresses before they can be used on the same network Before proceeding connect the Main and Buddy sensors one at a time to avoid an address conflict and use the steps outline in Running a Dual Sensor System page 30 to assign each sensor a unique address When a sensor is acting as a Budgy itis not discoverable and its web interface is not accessible D Buddy Status Model Version Serial Master Visible Sensors Serial Model Version State Gocator2330 4 0 9 84 Ready To assign a Buddy sensor 1 Goto the Manage page and click on the Sensor System category 2 Selecta sensor in the Visible Sensors list 3 Click the Assign button A sensor can only be assigned as a Buddy if its firmware and model number match the firmware and model number of the Main sensor The Assign button will be greyed out if a sensor cannot be assigned as a Buddy The Buddy sensor will be assigned to the Main sensor and its status will be updated in the System panel Gocator 2300 amp 2880 Series Gocator Web Interface System Management and Maintenance 53 Buddy Status Model 2330 Version 4 0 9 84 Serial 17355 Master Remove To remove a Buddy click on the Remove button Exposure Multiplexing If the Main and Buddy
196. f the target with respect to the alignment plane Set to Auto Set to have the tool automatically detect the tilt or enter the angles manually Auto Set requires the measurement region to cover more areas on the surface plane than other planes The results from the Plane X and Y tool can be used for angles X and Y parameters See Decisions page 115 See Regions page 114 See Filters page 117 The tip and the side of the stud must be within the measurement region Volume The Volume tool determines the volume area and thickness of a part The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 110 for instructions on how to add measurement tools Gocator 2300 amp 2880 Series 2D View 3D View Gocator Web Interface e Measurement 171 Source Top 5 Region gt E x 14 196 mm Ys 6 121 mm y 21 471 mm Width 11 847 mm Length 20 693 mm Height 14 326 mm Measurements Measurement Volume Measures volume in XYZ space Area Measures area in the XY plane Gocator 2300 amp 2880 Series ld 8 Filters Decision Min 6540 mme Max 6560 mm Measurement Panel Illustration yA Gocator Web Interface Measurement 172 Measurement Illustration Thickness Measures thickness height of a part tm Parameters Parameter Description Loca
197. field in bytes id 16u 4 Command identifier 0x4519 Gocator 2300 amp 2880 Series Protocols Gocator Protocol 257 Field Type Offset Description index 16u 6 Index of the output Must be 0 target 64s 8 Specifies the time clock ticks or position encoder ticks of when the event should happen The target value is ignored if the Signal setting in Analog in the Output panel is not set to Scheduled The output will be triggered immediately See Analog Output page 186 for information on setting the Signal type value 32s 16 Output current micro amperes Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4519 status 32s 6 Reply status The analog output takes about 75 us to reach 9096 of the target value for a maximum change then roughly another 40 us to settle completely The Ping command can be used to test the control connection This command has no effect on sensors D Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier Ox100E timeout 64u 6 Timeout value microseconds Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier Ox100E status 32s 6 Reply status If a non zero value is specified for timeout the client must send another ping command before the timeout elapses o
198. fined with each set to a different exposure level For each exposure the sensor will perform a complete scan at the current frame rate making the effective frame rate slower Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 77 For example if two exposures are selected then the speed will be half of the single exposure frame rate The sensor will perform a complete multi exposure scan for each external input or encoder trigger The resulting profile is a composite created by combing data collected with different exposures The sensor will choose profile data that is available from the lowest numbered exposure step It is recommended to use a larger exposure for higher numbered steps Sensor O Top 11023 Active Area Spacing Material Exposure Mode Multiple 2 A l Exposure es 400 ps Use Auto Set to estimate the optimal exposure To enable multiple exposure 1 Goto the Scan page 2 Expand the Sensor panel by clicking on the panel header or the button 3 Clickthe button corresponding to the sensor you want to configure The button is labeled Top Bottom Top Left or Top Right depending on the system Exposure can be configured separately for each sensor 4 Click on the Exposure tab 5 Select Multiple from the Exposure Mode drop down 6 Clickthe button to add an exposure step Up to a maximum of five exposure settings can be added To remove an exposure select
199. firmware 1 Goto the Manage page and click on the Maintenance category 2 Click the Upgrade button in the Firmware section 3 Provide the location of the firmware file in the File dialog 4 Wait for the upgrade to complete After the firmware upgrade is complete the sensor will self reset If a buddy has been assigned it will be upgraded and reset automatically Gocator 2300 amp 2880 Series Gocator Web Interface System Management and Maintenance 63 Scan Setup and Alignment The following sections describe the steps to configure Gocator sensors for laser profiling using the Scan page Setup and alignment should be performed before adding and configuring measurements or outputs Scan Page Overview The Scan page lets you configure sensors and perform alignment x ME sa d cs 0 Y Manage Measure Output Dashboard speed __ 2u M e ob3 default gt Jm tem Replay 4 e IEA sy AE e 3 Surface Scan Mode View Profile Top mo al r 2B 1 Tap 350 uS Video Profile Series 8 Option EA Acquire Intensity ES 2 Trigger Max Frame Rate Sensor T 3 Alignment T d Filters T 5 Surface Generation 6 7 Part Detection Element Description 1 Scan Mode panel Contains settings for the current scan mode Video Profile or Surface and other options See Scan Modes next page 2 Trigger panel Contains trigger source and trigger related settings See Triggers pa
200. forward direction the direction that encoder calibration was performed in Serial Output The Gocator s web interface can be used to select measurements to be transmitted via RS 485 serial output Each sensor has one serial output channel The ASCII protocol outputs data asynchronously using a single serial port See ASCII Protocol page 292 for the ASCII Protocol parameters and data formats See Serial Output page 347 for information on wiring serial output to an external device Output Ethernet Protocol ASCII Protocol and measurement selection um Digital 1 Configuration Data Trigger condition and pulse width Send Name ld a Data Format Standard E um Digital 2 Measurements Trigger condition and pulse width time 96value id decisions id m E 2 J Analog m Profile Groove X 1 Trigger condition and current scaling Serial Protocol and measurement selectio Special Characters Command Delimeter Delimeter Termination 9S6r96n Invalid Value INVALID To exchange results using ASCII messages 1 Goto the Output page 2 Click on Serial in the Output panel 3 Select ASCII in the Protocol option 4 Selectthe Data Format Select Standard to use the default result format of the ASCII protocol Select value and decision to send by placing a check in the corresponding check box See Standard Result Format page 293 for an explanation of the standard result mode Select Custom to customize the output resul
201. g Operating Temp Storage Temp Approx 170Hz to 5000 Hz Gigabit Ethernet Differential Encoder Laser Safety Enable Trigger 2x Digital output RS 485 Serial 115 kBaud 1x Analog Output 4 20 mA 24 to 48 VDC 13 Watts RIPPLE 10 Gasketed aluminum enclosure IP67 0 to 50 C 30 to 70 C CLEARANCE DISTANCE NEAR FOV f FAR FOV Y MEASUREMENT RANGE Mechanical dimensions for each sensor model are illustrated on the following pages Gocator 2320 Field of View Measurement Range ep Gocator 2300 amp 2880 Series Specifications Gocator 2300 Series 324 Dimensions MOUNTING HOLES 3x M6x1 0 6H Y 12 123 80 84 m 35 y SATA 8 A 49 5 135 y ooo JEE Y m 49 24 04 98 22 131 Envelope 8 53 11 17 E FIL a 44 45 48 23 Gocator 2300 amp 2880 Series Specifications e Gocator 2300 Series 325 Gocator 2330 Field of View Measurement Range
202. g Max Z Min Z Max X Min X Corner Average the mean X and Z of the data points Rising Edge Falling Edge Any Edge Top Corner Bottom Corner Left Corner Right Corner or Median median X and Z of the data points The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 110 for instructions on how to add measurement tools F parameter Anchoring Source Top E Feature Max X gt X 0 357 Q ID Output Filters Decision Min 0 mm Max 1 mm Measurements Measurement Illustration X Finds the position of a feature on the X axis Position X Position Z Z Finds the position of a feature on the Z axis Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 133 Parameters Parameter Description Feature Type Choose Max Z Min Z Max X Min X Corner Average Rising Edge Falling Edge Any Edge Top Corner Bottom Corner Left Corner Right Corner or Median Decision See Decisions page 115 Region See Regions page 114 Output See Filters page 117 Panel This section describes the Panel tool s Gap and Flush measurements Gap The Gap measurement provides the distance between the edges of two surfaces The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 110 for instructions on how to add measurement tools So
203. ge 66 3 Sensor panel Contains settings for an individual sensor such as active area or exposure See Sensor page 71 4 Alignment panel Used to perform alignment See Alignment page 83 5 Filters panel Contains settings for post processing of the profiles See Filters page 88 6 Part Detection Used to set the part detection logic for sorting profiles into discrete objects See Part panel Detection page 93 7 Surface Generation Contains settings for surface generation See Surface Generation page 91 panel Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 64 Element Description 8 Data Viewer Displays sensor data and adjust regions of interest Depending on the current operation mode the data viewer can display video images profile plots or surface views See Data Viewer page 97 The following table provides quick references for specific goals that you can achieve from the panels in the Scan page Goal Reference Select a trigger source that is appropriate for the application Triggers next page Ensure that camera exposure is appropriate for laser profiling Exposure page 74 Find the right balance between profile quality speed and CPU utilization Active Area page 71 Exposure page 74 Gocator Device Files page 193 Dual Sensor System Layout page 51 Specify mounting orientations for dual sensor systems Calibrate the system so that laser profile data can be ali
204. gital inputs A Master 400 800 1200 2400 can be used to ensure that the scan timing is precisely synchronized across sensors Sensors and client computers communicate via an Ethernet switch 1 Gigabit s recommended Master 400 800 1 200 2400 networking hardware does not support digital serial or analog output Gocator 2300 amp 2880 Series Getting Started System Overview 18 POWER LASER SAFETY GOCATOR 2300 SERIES TRIGGER INPUTS ENCODER GOCATOR MASTER 400 800 1200 2400 USER PC GOCATOR POWER AND ETHERNET Oe TO MASTER CORDSET Gocator 2300 amp 2880 Series Getting Started System Overview 19 Hardware Overview The following sections describe Gocator and its associated hardware Gocator 2300 amp 2880 Sensor CAMERA LASER EMITTER SERIAL NUMBER POWER RANGE LASER INDICATORS Gocator 2330 Item Description Camera Observes laser light reflected from target surfaces Laser Emitter Emits structured light for laser profiling 1 O Connector Accepts input and output signals Power LAN Connector Accepts power and laser safety signals and connects to 1000 Mbit s Ethernet network Power Indicator Illuminates when power is applied blue Range Indicator Illuminates when camera detects laser light and is within the target range green Laser Indicator Illuminates when laser safety input is active amber Serial Number Unique sensor serial number Gocator 2300 amp 2880 Cordsets Gocato
205. gned to acommon Aligning Sensors page 84 reference and values can be correctly scaled in the axis of motion Set up the part detection logic to create discrete objects from surfaces or profiles Part Detection page 93 Specify smoothing gap filling and resampling parameters to remove effects of Filters page 88 occlusions The Gocator web interface supports threescan modes Video Profile and Surface The scan mode can be selected in the Scan Mode panel ra Scan Mode Option Acquire Intensity Uniform Spacing Mode and Option Description Video Outputs video images from the Gocator This mode is useful for configuring exposure time and troubleshooting stray light or ambient light problems Profile Outputs profiles and performs profile measurements Video images are processed Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 65 Mode and Option Description Surface Uniform Spacing Acquire Intensity internally to produce laser profiles and cross sectional measurements Outputs 3D point clouds made up of many laser profiles combined together and performs surface measurements The sensor uses various methods to generate a surface see page 91 Part detection can be enabled on a surface to identify discrete parts see page 93 When this option is enabled ranges are resampled to a uniform spacing along the X axis see page 41 for more information The s
206. gnment individual sensors use the coordinate system shown here The Z axis represents the sensor s measurement range MR with the values increasing towards the sensor The X axis represents the sensor s field of view FOV The origin is at the center of the MR and FOV In Surfacedata the Y axis represents the relative position of the part in the direction of travel Y position increases as the object moves forward increasing encoder position Alignment is used with a single sensor to compensate for mounting misalignment and to set a zero reference such as a conveyor belt surface Alignment is also used to set a common coordinate system for dual sensor systems In both cases alignment determines the adjustments to X Z and tilt rotation in the X Z plane needed to align the data from each sensor The adjustments resulting from alignment are called transformations See Alignment page 83 for more information on alignment System coordinates are aligned so that the system X axis is parallel to the alignment target surface The system Z origin is set to the base of the alignment target object The tilt angle is positive when rotating from the X to the Z axis Similar to the sensor coordinates Y positions increase when the encoder increases Gocator 2300 amp 2880 Series AD Pa B
207. gnment Result 2 2 2 222 275 Exposure Calibration Result 275 HealthiResults toda 275 Modbus TCP Protocol L u usu 280 Concepts 260 lL5i122006501 1i23282llLiieg 280 6 Message unta adri id 280 Reglsters cucscoiciocion ricas ida 281 Control Registers 2 0 02 2 eee eee eee 282 Output Registers 2 283 State TK 283 Stdiptss imet seus cpi E e res 283 Measurement Registers 284 EtherNet IP Protocol 2 2 sceess tceceeesneecedces 286 CONCEPTS mear is 286 Basic Object ooooooccccccccccnonocnonono oo 286 Identity Object Class 0x01 286 TCP IP Object Class OxF5 287 Ethernet Link Object Class OxF6 287 Assembly Object Class Ox04 287 Command Assembly 288 Sensor State Assembly 288 Sample State Assembly 289 ASCII Protocol 42 5 aleci aldea 292 Ethernet Communication 292 Asynchronous and Polling Operation 292 Command and Reply Format 292 Special Characters 2 2 293 Standard Result Format 293 Custom Result Format 294 Control Commands uuus 294 Stata ca cono netto to duesi dico tet ete 295 O 295 IBgBeL oral docs 295 Load OD cucovdensaasaar E AERA IEDUMER de 296 StalTip esce sk eese s
208. ground This means that AC ground and DC ground are not connected D The Safety Control requires a voltage differential 12VDC to 48VDC across the pin to enable the laser Digital Input 16 pin connector Function Pin Input 1 1 Input 1 GND 2 Reserved 3 Reserved 4 Reserved 5 Gocator 2300 amp 2880 Series Specifications e Master 400 800 351 Function Pin Reserved 6 Reserved 7 Reserved 8 Reserved 9 Reserved 10 Reserved 11 Reserved 12 Reserved 13 Reserved 14 Reserved 15 Reserved 16 D This connector does not need to be wired up for proper operation Encoder 8 pin connector Function Pin Encoder_A 1 Encoder_A Encoder_B Encoder_B Encoder_Z Encoder Z GND 0 N OD UW BR WN 5VDC Master 400 800 Electrical Specifications Electrical Specifications for Master 400 800 Master 400 800 Power Supply Voltage 48VDC Power Supply current Max 10A Power Draw Min 15W Safety Voltage 12to 48VDC Encoder signal voltage range RS485 Differential Digital input voltage range Logical LOW 0 VDC to 0 1VDC Logical HIGH 11 VDC to 22 5VDC A When using a Master 400 800 its chassis must be well grounded Gocator 2300 amp 2880 Series Specifications Master 400 800 352 The 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected D The Power Draw specification is based on a Master with no sensors attached Every sensor has D its ow
209. gured Ensure that the latest version of Flash is loaded on the client computer Use the LMI Discovery tool to verify that the sensor has the correct network settings See Sensor Recovery Tool page 311 for more information When attempting to log in the password is not accepted See Sensor Recovery Tool page 311 for steps to reset the password Laser Profiling When the Start button or the Snapshot button is pressed the sensor does not emit laser light Ensure that the sticker covering the laser emitter window normally affixed to new sensors has been removed The laser safety input signal may not be correctly applied See Specifications page 322 for more inform ation The exposure setting may be too low See Exposure page 74 for more information on configuring exposure time Use the Snapshot button instead of the Start button to capture a laser profile If the laser flashes when you use the Snapshot button but not when you use the Start button then the problem could be related to trig gering See Triggers page 66 for information on configuring the trigger source The sensor emits laser light but the Range Indicator LED does not illuminate and or points are not displayed in the Data Viewer Gocator 2300 amp 2880 Series 320 e Verify that the measurement target is within the sensor s field of view and measurement range See Spe cifications page 322 to review the measurement specifications for your sensor model e
210. han 10 seconds EMITTED WAVELENGTH 660 nm This product is designated for use solely as a component and as such it does not fully comply IEC 60825 1 2007 with the standards relating to laser products specified in U S FDA CFR Title 21 part 1040 and IEC 60825 1 INVISIBLE LASER RADIATION AVOID EXPOSURE TO THE BEAM CLASS 3B LASER PRODUCT PEAK POWER 450 mW EMITTED WAVELENGTH 808 nm This product is designated for use solely as a component and as such it does not fully comply IEC 60825 1 2007 with the standards relating to laser products specified in U S FDA CFR Title 21 part 1040 and IEC 60825 1 Labels reprinted here are examples only For accurate specifications refer to the label on your D sensor Precautions and Responsibilities Precautions specified in IEC 60825 1 and FDA CFR Title 21 Part 1040 are as follows Gocator 2300 amp 2880 Series Safety and Maintenance Laser Safety 11 Requirement Remote interlock Key control Power on delays Beam attenuator Emission indicator Warning signs Beam path Specular reflection Eye protection Laser safety officer Training Class 2M Not required Not required Not required Not required Not required Not required Not required Not required Not required Not required Not required Class 3R Not required Not required Not required Not required Not required Not required Terminate beam at useful length Prevent unintentiona
211. he Gocator sensor can be configured to use DHCP or assigned a static IP address 3 Click on the Save button You will be prompted to confirm your selection Motion and Alignment The Motion and Alignment category on the Manage page lets you configure alignment reference encoder resolution and travel speed Gocator 2300 amp 2880 Series Gocator Web Interface System Management and Maintenance 55 Sensor System Alignment Layout and Buddy assignment Networking Alignment Reference IP address settings ns Encoder Fixed 5 Motion and Alignment NE Resolution Jobs Encoder Value Download upload and set default Encoder Frequency Security Admin and Technician passwords Speed Maintenance Upgrade backup restore reset Travel Speed 100 mm s Alignment Reference The Alignment Reference setting can have one of two values Fixed or Dynamic Alignment Alignment Reference Fixed E Setting Description Fixed A single global alignment is used for all jobs This is typically used when the sensor mounting is constant over time and between scans for example when the sensor is mounted in a permanent position over a conveyor belt Dynamic A separate alignment is used for each job This is typically used when the sensor s position relative to the object scanned is always changing for example when the sensor is mounted on a robot arm moving to different scanning locations To configure
212. he following sections describe the safe use and maintenance of Gocator sensors Laser Safety Gocator sensors contain semiconductor lasers that emit visible A LASER or invisible light and are designated as Class 2M Class 3R or Class 3B 2 depending on the chosen laser option Gocator sensors are referred to as components indicating that they are sold only to qualified customers for lt t incorporation into their own equipment These sensors do not incorporate safety items that the customer may be required to provide WARNING DO NOT LOOK DIRECTLY in their own equipment e g remote INTO THE LASER BEAM interlocks key control refer to references for detailed information As such these sensors do not fully comply with the standards relating to laser products specified in IEC 60825 1 and FDA CFR Title 21 Part 1040 SENSOR LASER N Use of controls or adjustments or performance of procedures other than those specified herein may result in hazardous radiation exposure References 1 International standard IEC 60825 1 2001 08 consolidated edition Safety of laser products Part 1 Equipment classification requirements and user s guide 2 Technical report 60825 10 Safety of laser products Part 10 Application guidelines and explanatory notes to IEC 60825 1 3 Laser Notice No 50 FDA and CDRH http www fda gov cdrh rad health html Gocator 2300 amp 2880 Series 10 Laser Classes Clas
213. he gain in speed and the tracking ability by configuring the size of the tracking area This feature is typically used in road or web scanning applications where the target is a continuous flat surface A laser line remains tracked as long as the percentage of detected laser points exceeds the user defined search threshold When the sensor loses track of the laser line the sensor will search for the laser line using the full active area j i SS 1 Search using the Full Active Area 2 Track using the Tracking Window 3 Track using the Tracking Window poco j _ A mm 4 Lose track of laser line 5 Search using the Full Active Area 6 Track using the Tracking Window Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 72 E Tracking Window Select Reset Height 21 mm Search Threshold To enable the tracking window ils 2 9 Go to the Scan page Choose Profile or Surface mode in the Scan Mode panel If one of these modes is not selected you will not be able to set the tracking window Expand the Sensor panel by clicking on the panel header Click on the Active Area tab Check the Tracking Window box The panel below the checkbox expands and shows the settings for the window used to track the object height Click the tracking window s Select button Resize the tracking window shown in the data viewer Only the heig
214. he profile s X resolution to decrease sensor CPU usage The X setting works by reducing the number of image columns used for laser profiling The Z sub sampling setting is used to decrease the profile s Z resolution to increase speed TheZ setting works by reducing the number of image rows used for laser profiling Sub sampling values are expressed as fractions in the Web interface For example an X sub sampling value of 1 2 indicates that every second camera column will be used for laser profiling D The CPU Load bar at the top of the interface displays how much the CPU is being used D Both the X and the Z sub sampling settings must be decreased to increase speed To configure X or Z sub sampling 1 Goto the Scan page 2 Expand the Sensor panel by clicking on the panel header or the button 3 Click the button corresponding to the sensor you want to configure The button is labeled Top Bottom Top Left or Top Right depending on the system X and Z sub sampling can be configured separately for each sensor 4 Clickonthe Spacing tab 5 Select an X or Z sub sampling value 6 Save the job in the Toolbar by clicking the Save button m 7 Check that laser profiling is satisfactory Spacing Interval Spacing interval is the spacing between data points in resampled data Resampled data is only produced if the Uniform Spacing option in the Scan Mode panel is checked A larger interval creates profiles with lower X resolution red
215. his field in bytes id 16u 4 Reply identifier 0x4502 status 32s 6 Reply status Frame Index 32u 10 Current frame index starts from 0 Frame Count 32u 14 Total number of available frames objects Clear Measurement Stats The Clear Measurement Stats command clears the sensor s measurement statistics Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4526 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4526 status 32s 6 Reply status Simulate Unaligned The Simulate Unaligned command simulates data before alignment transformation Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x452A Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4524 status 32s 6 Reply status Gocator 2300 amp 2880 Series Protocols Gocator Protocol 264 The Acquire command acquires a new scan Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4528 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4528 status 32s 6 Reply status Acquire U
216. hold Gap Width Determines the minimum separation between objects on the X axis If parts are closer than the gap interval they will be merged into a single part Gap Length Determines the minimum separation between objects on the Y axis If parts are closer than the gap interval they will be merged into a single part Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 94 Setting Description Padding Width Padding Length Min Area Max Part Length Frame of Reference Edge Filtering To set up part detection Determines the amount of extra data on the X axis from the surface surrounding the detected part that will be included This is mostly useful when processing part data with third party software such as HexSight Halcon etc Determines the amount of extra data on the Y axis from the surface surrounding the detected part that will be included This is mostly useful when processing part data with third party software such as HexSight Halcon etc Determines the minimum area for a detected part Set this value to a reasonable minimum in order to filter out small objects or noise Determines the maximum length of the part object When the object exceeds the maximum length it is automatically separated into two parts This is useful to break a long object into multiple sections and perform measurements on each section Determines the coordinate reference for dsurface measurements
217. horing The Y measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Setting to enable disable region Measurement region Major measurement Minor measurement Ratio measurement ZAngle measurement Description Measurement ID Optional measurement disabled if not Set Measurement name Measurement enable state 0 Disable 1 Enable Output hold enable state 0 Disable 1 Enable Smoothing enable state 0 Disable 1 Enable Smoothing window Output scaling factor Output offset factor Minimum decision threshold Maximum decision threshold A SurfaceHole element defines settings for a surface hole tool and one or more of its measurements SurfaceHole Child Elements Element Type Description Name Gocator 2300 8 2880 Series String Setting for measurement name Gocator Device Files Job Files e 220 Element Type Description Source 32s Setting for source Anchor xX String CSV The X measurements IDs used for anchoring AnchorW options Anchor Anchor W options Anchor MZ Anchor Z options NominalRadius RadiusTolerance PartialDetectionEnabled RegionEnabled Region RefRegionsEnabled RefRegionCount RefRegions AutoTiltEnabled TiltXAngle TiltYAngle Measurements WX Measurements Y Measurements Z Measurements Radius String CSV String CSV String CSV String CSV String CS
218. ht is wider than the laser and does not merge into the laser itself A lower Spot Width setting reduces the chance of false detection but limits the ability to detect features surfaces that elongate the spot Spot Selection Determines the spot selection method Best Top or Bottom Best selects the strongest spot in a given column on the imager Top the topmost spot or the one farthest to the left on the imager and Bottom the bottommost spot or the one farthest to the right on the imager can be useful in applications where there are reflections flying sparks or smoke which are always on one side of the laser Analog Analog camera gain can be used when the application is severely exposure limited yet dynamic range is not a critical factor Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 82 Setting Description Digital Digital camera gain can be used when the application is severely exposure limited yet dynamic range is not a critical factor Sensitivity Controls the exposure that dynamic exposure converges to The lower the value the lower the exposure Gocator will settle on The trade off is between the number of exposure spots and the possibility of over exposing Threshold The minimum number of spots for dynamic exposure to consider the spot valid If the number of spots is below this threshold the algorithm will walk over the allowed exposure range slowly to find the correct exposure
219. ht of the window is required You can move the position of the tracking window to cover a live profile to help adjust the window height Edit the Search Threshold setting The search threshold defines the minimum percentage of the points detected across the profile for the laser to be considered tracked If tracking is lost the sensor will search for the laser using the full active area Click the Save button in the Sensor panel 10 Save the job in the Toolbar by clicking the Save button pm The sensor adjusts the position of the tracking window so that the area is centered around the average height of the entire visible laser profile You should adjust the lighting and the active area to remove all background objects such as the conveyor belt surface ambient lights etc Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 73 Transformations The transformation settings are used to control how profiles are converted from sensor coordinates to system coordinates Transformation X Offset 1 638 mm Z Offset 54 556 mm Angle 1 72 2 Parameter Description X Offset Specifies the shift along the X axis With Normal orientation a positive value shifts the Profiles to the right With Reverse orientation a positive value shifts the Profiles to the left Z Offset Specifies the shift along the Z axis A positive value shifts the Profiles toward the sensor Angle Specifies the tilt rotation in the
220. hy page 303 for information on the different objects used for configuring a sensor Sensors must be connected before they can be configured Refer to the Configure example for details on how to change settings and to switch save or load jobs Refer to the BackupRestore example for details on how to back up and restore settings Enable Data Channels Use GoSystem_EnableData to enable the data channels of all connected sensors Similarly use GoSystem_ EnableHealth to enable the health channels of all connected sensors Perform Operations Operations are started by calling GoSystem_Start GoSystem_StartAlignment and GoSystem_ StartExposureAutoSet Refer to the StationaryAlignment and MovingAlignment examples for details on how to perform alignment operations Refer to the ReceiveRange ReceiveProfile and Receive WholePart examples for details on how to acquire data Example Configuring and starting a sensor with the Gocator API include lt GoSdk GoSdk h gt void main Gocator 2300 amp 2880 Series Software Development Kit 308 kIpAddress ipAddress GoSystem system kNULL GoSensor sensor kNULL GoSetup setup kNULL Construct the GoSdk library GoSdk Construct amp api Construct a Gocator system object GoSystem Construct system KNULL Parse IP address into address data structure kIpAddress Parse amp ipAddress SENSOR IP Obtain GoSensor object by sensor IP address Go
221. ial is 12 V but should be kept below 10 V to avoid damage to the serial and encoder connections Gocator 2300 amp 2880 Series Safety and Maintenance Electrical Safety 14 See Gocator 2300 amp 2880 I O Connector page 344 for a description of connector pins used with Gocator 2300 series sensors Use a suitable power supply The 24 to 48 VDC power supply used with Gocator sensors should be an isolated supply with inrush current protection or be able to handle a high capacitive load Use care when handling powered devices Wires connecting to the sensor should not be handled while the sensor is powered Doing so may cause electrical shock to the user or damage to the equipment Environment and Lighting Avoid strong ambient light sources The imager used in this product is highly sensitive to ambient light hence stray light may have adverse effects on measurement Do not operate this device near windows or lighting fixtures that could influence measurement If the unit must be installed in an environment with high ambient light levels a lighting shield or similar device may need to be installed to prevent light from affecting measurement Avoid installing sensors in hazardous environments To ensure reliable operation and to prevent damage to Gocator sensors avoid installing the sensor in locations e that are humid dusty or poorly ventilated e with a high temperature such as places exposed to direct sunlight e where there
222. ica LMI Technologies Inc 1673 Cliveden Avenue Delta BC V3M 6V5 Canada Phone 1 604 636 1011 Fax 1 604 516 8368 Gocator 2300 amp 2880 Series Europe LMI Technologies BV Valkenburgerweg 223 NL 6419AT Heerlen The Netherlands Phone 31 45 850 7000 Fax 31 45 574 2500 367
223. igger panel by clicking on the panel header 3 Select the trigger source from the drop down 4 Configure the settings See the trigger parameters above for more information 5 Save the job in the Toolbar by clicking the Save button m Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 70 The following sections describe the settings that are configured in the Sensor panel on the Scan page Active area refers to the region within the sensor s maximum field of view that is used for laser profiling By default the active area covers the sensor s entire field of view By reducing the active area the sensor can operate at higher speeds Active area is specified in sensor coordinates rather than in system coordinates As a result if the sensor is already alignment calibrated press the Acquire button to display uncalibrated data before configuring the active area See Coordinate Systems page 40 for more information on sensor and system coordinates To set the active area 1 Goto the Scan page FIELD OF VIEW AZ ACTIVE AREA 7 x MEER 1 Sensor Exposure Spacing Material Select Reset Min Value Max X Field of View mmn 100 ENT Measurement Range mmn 80 mm X Start 50 Est mm Z Start mg 40 mm mm Tracking Window Transformation 2 Choose Profile or Surface mode in the Scan Mode
224. indow 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm XGap Filling XGapFilling Child Elements Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm YGapFilling YGapFilling Child Elements Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm XMedian XMedian Child Elements Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm YMedian YMedian Child Elements Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm Gocator 2300 amp 2880 Series Gocator Device Files Job Files 195 XDecimation XDecimation Child Elements Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm YDecimation YDecimation Child Elements Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm
225. ing CSV String CSV The X measurements IDs available for anchoring Anchor yY The Y measurements IDs used for anchoring AnchorWY options The Y measurements IDs available for anchoring Anchor Z The Z measurements IDs used for anchoring Anchor Z options The Z measurements IDs available for anchoring ZRotationEnabled Boolean Setting to enable disable rotation of bounding box RegionEnabled Boolean Setting to enable disable region Region Region3D Measurement region Measurements WNGlobalX Measurements WNGlobalY Measurements X Gocator 2300 amp 2880 Series BoundingBoxMeasure ment BoundingBoxMeasure ment BoundingBoxMeasure ment Global X measurement Global Y measurement X measurement Gocator Device Files Job Files 218 Element Type Description Measurements Y Measurements Z Measurements Width Measurements Height Measurements ZAngle BoundingBoxMeasurement Element id attribute Name Enabled HoldEnabled SmoothingEnabled SmoothingWindow Scale Offset DecisionMin DecisionMax SurfaceEllipse BoundingBoxMeasure ment BoundingBoxMeasure ment BoundingBoxMeasure ment BoundingBoxMeasure ment BoundingBoxMeasure ment Type 32s String Boolean Boolean Boolean 32s 64f 64f 64f 64f Y measurement Z measurement Width measurement Height measurement ZAngle measurement Description Measurement ID Optional m
226. ing balances CPU load data output rate and X resolution Resolution Uses the highest X resolution within the active area as the spacing interval This setting maximizes resolution but has higher CPU load and has the highest data output rate i e greatest detail Save the job in the Toolbar by clicking the Save button m Profile data acquisition can be configured to suit different types of target materials This helps maximize the number of useful profile points produced For many targets the setting it is not necessary but it can make a great difference with others Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 81 Preset material types can be selected in the Materials setting Sensor Active Area Exposure Spacing MUECA Materials Diffuse Spot Threshold Spot Width Max Spot Selection Camera Gain Analog Digital Dynamic Exposure Sensitivity Threshold When Materials is set to Custom the following settings can be configured Setting Description Spot Threshold The minimum increase in intensity level between neighbouring pixels for a pixel to be considered the start of a potential spot This setting is important for filtering false profile spots generated by sunlight reflection Spot Width Max The maximum number of pixels a spot is allowed to span This setting can be used to filter out data caused by background light if the unwanted lig
227. instructions on howto add measurement tools Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 131 SN Anchoring Source Region 9 Std Dev 0 410 O O O Id Filters Decision Min 0 mm Max 11mm Measurements Measurement Illustration Std Dev Finds the best fitted line and measures the standard deviation of the laser points from the best fitted line Min Error Finds the best fitted line and measures the minimum error from the best fitted line the maximum excursion below the fitted line Max Error Finds the best fitted line and measures the maximum error from the best fitted line the maximum excursion above the fitted line Percentile Finds the best fitted line and measures the range in Z that covers a percentage of points around the best fitted line I Standard Deviation Line Error Min Line Error Ma Line Percentile Covers 50 of Spots Parameters Parameter Percent Gocator 2300 amp 2880 Series Description The specified percentage of points around the best Gocator Web Interface Measurement 132 Parameter Description Percentile measurement only fitted line Decision See Decisions page 115 Region See Regions page 114 Output See Filters page 117 Position The Position tool finds the X or Z axis position of a feature point The feature type must be specified and is one of the followin
228. is typical in applications where discrete objects pass under the sensor and specific locations on the objects need to be inspected Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 142 Bounding Box The Bounding Box tool provides measurements related to the smallest rectangle box that encapsulates the part for example X position Y position width length etc The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 110 for instructions on how to add measurement tools A bounding box can be vertical or rotated A vertical bounding box provides the absolute position from which the Position centroids tools are referenced The vertical bounding box X and Y correspond to the part frame of reference origin For this reason all X and Y measurements except Bounding Box GlobalX and GlobalY are referenced to this point when Frame of Reference on the Part Detection panel is set to Part See Part Detection page 93 for more information 25 680 25 680 26912 20912 2844 28 144 29376 29 376 20 508 30 608 31240 31240 E 2o72 10 000 E ETA 2D View 3D View Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 143 GEES Anchoring Source Top Rotation m F2 Region o iii oo0o00000 a e Filters Decision Min olm 3 Max 0 mm Measurement Panel Measurements Measurement Illu
229. itch is enabled or the Laser Safety input is high Ensure that Replay mode is off the slider is set to the left Go to the the Scan page Press the Start or the Snapshot button on the Toolbarto start the sensors The Start button is used to run sensors continuously while the Snapshot button is used to trigger a single profile Gocator 2300 amp 2880 Series 241 Mb w Manage Scan Measure Output Dashboard Buddy Status BZN Model Version Serial Master Visible Sensors Serial Model Version State Gocator 2330 4 0 9 84 Ready Assign ENCODER Y LIDDBBUDBUO At Be Be Be Zo Zo SV Master 400 800 1200 2400 Replay off Snapshot Start Getting Started e Network Setup 35 17 Move a target into the laser plane If a target object is within the sensor s measurement range the data viewer will display the shape of the target and the sensor s range indicator will illuminate If you cannot see the laser or if a profile is not displayed in the Data Viewer see Troubleshooting page 320 18 Press the Stop button if you used the Start button to start the sensors The laser should turn off D Replay NS WRI Stop Next Steps After you complete the steps in this section the Gocator measurement system is ready to be configured for an application using the software interface The interface is explained in the following sections System
230. ize of the spacing can be set in the Spacing tab see page 80 When the option is disabled the Gocator outputs unprocessed range data Ranges are reported in x z coordinate pairs Disable this option to extract ranges from the Gocator at the highest possible rate Post profiling processing and measurements are disabled This option is not available when in Surface mode When this option is enabled an intensity value will be produced for each laser profile point Atrigger is an event that causes a sensor to take a single picture Triggers are configured in the Trigger panel on the Scan page When a trigger is processed the laser is strobed and the camera exposes to produce an image The resulting image is processed inside the sensor to yield a profile range distance information which can then be used for measurement The laser and camera inside a sensor can be triggered by one of the following sources Trigger Source Time Encoder Gocator 2300 amp 2880 Series Description Sensors have an internal clock that can be used to generate fixed frequency triggers The external input can be used to enable or disable the time triggers An encoder can be connected to provide triggers in response to motion Three encoder triggering behaviors are supported These behaviors are set using the Behavior setting Ignore Backward A scanis triggered when the target object moves forward If the target object moves backward it must mo
231. ject is a container that can contain any type of data including scan data profiles or surfaces measurements and results from various operations Data inside the GoDataSet object are represented as messages The following illustrates the content of a GoDataSet object of a profile mode setup with two measurements The content when using a surface mode setup is identical except that a GoSurfaceMsg is sent instead of a GoProfileMsg Gocator 2300 amp 2880 Series Software Development Kit e 305 GoDataSet Header GoStampMsg GoProfileMsg GoMeasurementMsg for measurement ID 0 GoMeasurementMsg for measurement ID 1 After receiving the GoDataSet object you should call GoDestroy to dispose the GoDataSet object You do not need to dispose objects within the GoDataSet object individually All objects that are explicitly created by the user or passed via callbacks should be destroyed by using the GoDestroy function Measurement Values and Decisions Measurement values and decisions are 32 bit signed values k32s See Value Types page 304 for more information on value types D The following table lists the decisions that can be returned Measurement Decisions Decision Description 1 The measurement value is between the maximum and minimum decision values This is a pass decision 0 The measurement value is outside the maximum and minimum This is a fail decision 1 The measurement is invalid for example the target is
232. l reflections Not required Not required Required for operator and maintenance personnel Class 3B Required Required cannot remove key when in use Required Required Required Required Terminate beam at useful length Prevent unintentional reflections Required under special conditions Required Required for operator and maintenance personnel LMI Class 3B laser components do not incorporate these laser safety items These items must be added and completed by customers in their system design Class 3B Responsibilities LMI Technologies has filed reports with the FDA to assist customers in achieving certification of laser products These reports can be referenced by an accession number provided upon request Detailed descriptions of the safety items that must be added to the system design are listed below Remote Interlock Aremote interlock connection must be present in Class 3B laser systems This permits remote switches to be attached in serial with the keylock switch on the controls The deactivation of any remote switches must prevent power from being supplied to any lasers Key Control A key operated master control to the lasers is required that prevents any power from being supplied to the lasers while in the OFF position The key can be removed in the OFF position but the switch must not allow the key to be removed from the lock while in the ON position Power On Delays A delay circuit is req
233. lay 2D viewer with intensity ovelay Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 104 3D viewer with height map overlay 3D viewer with uniform overlay 3D viewer with uniform overlay Clicking on the 3D button toggles between the 2D and 3D viewer See Data Viewer Controls page 98 for explanations on the available controls In a dual sensor system data from individual sensors or from a combined view can be selected While in the Scan page selecting a panel e g Sensor or Part Detection panel will automatically set the display to the most appropriate display type and display view To manually select the display type and the display view in the Scan page 1 Goto the Scan page 2 Selectthe View options in the data viewer Profile Heightmap Grayscale Uniform or Intensity can be selected from the left drop down list The view from an individual sensor or the combined view of two sensors can be selected from the right drop down list Height Map Color Scale Height maps are displayed in pseudo color The height axis Z is color coded The scaling of the height map can be adjusted Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 105 Configure Range Auto Min mm Max mm Surface View Surface Heightmap Top 30 Mo PF To change the scaling of the height map 1 Select Heightmap from the drop down in the data view
234. le you can download the job file again to access the updated values of the constraints and properties All Gocator sensors share a common job file structure When editing the job file manually you should only edit the elements that are applicable and leave the other elements in the structure D The following sections correspond to the XML structure used in job files Configuration Root Configuration Child Elements Element Type Description version 32u Configuration version 101 Setup Section See Setup below for a description of the Setup elements Tools Collection Collection of sections Each section is an instance of a tool and is named by the type of the tool it describes See the topics for each tool for more information Tools options String CSV List of available tool types Output Section See Output page 232 for a description of the Outputs elements The Setup element contains settings related to system and sensor setup Gocator 2300 amp 2880 Series 193 Setup Child Elements Element Type Description AutoStartEnabled Bool TemperatureSafetyEnabled Bool TemperatureSafetyEnabled Bool used ScanMode 32s ScanMode options String CSV OcclusionReductionEnabled Bool UniformSpacingEnabled Bool UniformSpacingEnabled use Bool d UniformSpacingEnabled val Bool ue IntensityEnabled Bool IntensityEnabled used Bool IntensityEnabled value Bool ExternallnputZPulseEnabled Bool Filters Se
235. le edge filtering Configure the Width and Length settings The Width and Length settings represent the size of the filter on the X axis and the Y axis respectively Set the Preserve Interior Feature setting if necessary The Preserve Interior Feature setting limits filtering to the outside edges of the target The data viewer can display video images profile plots height maps and intensity images It is also used to configure the active area see page 71 and measurement tools see page 109 The data viewer changes depending on the current operation mode and the panel that has been selected Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 97 The data viewer is controlled by mouse clicks and by the buttons on the display toolbar The mouse wheel can also be used for zooming in and out Press F when the cursor is in the data viewer to switch to full screen Zoom in out Pan Scaling Setting Toggle 3D Mesh 1 1 Aspect Ratio m Sa Views Surface Heightmap Top 30 mo gt m 23 227 41006 Reset Zoom 45 764 49 533 53 301 57 070 In Video scan mode the data viewer displays a camera image In a dual sensor system camera images from the Main or the Buddy sensor can be displayed Exposure View Exposure can be set to Single Dynamic or Multiple Different exposures can be displayed in the data viewer if more than one exposure has been set For details on setting expo
236. led 64u 40 0 Disabled 1 Enabled reserved 4 byte 48 Reserved address 4 byte 52 The IP address in left to right order reserved 4 byte 56 Reserved subnetMask 4 byte 60 The subnet mask in left to right order reserved 4 byte 64 Reserved gateway 4 byte 68 The gateway address in left to right order reserved 4 byte 72 Reserved reserved 4 byte 76 Reserved The Set Address command modifies the network configuration of a Gocator sensor On receiving the command the Gocator will perform a reset You should wait 30 seconds before re connecting to the Gocator Command Field Type Offset Description length 64u 0 Command length type 64s 8 Command type 0x2 status 64s 16 1 OK O Error signature 64u 24 Message signature 0x0000504455494DAC deviceld 64u 32 Serial number of the device whose address information is Gocator 2300 amp 2880 Series queried 0 selects all devices Protocols Gocator Protocol 243 Field Type Offset Description dhcpEnabled 64u 40 0 Disabled 1 Enabled reserved 4 byte 48 Reserved address 4 byte 52 The IP address in left to right order reserved 4 byte 56 Reserved subnetMask 4 byte 60 The subnet mask in left to right order reserved 4 byte 64 Reserved gateway 4 byte 68 The gateway address in left to right order reserved 4 byte 72 Reserved reserved 4 byte 76 Reserved Reply Field Type Offset Description length 64u 0 Reply length type 64s 8 Reply type 0x
237. les Standard data string for measurements ID 0 and 1 Decision 0 1 OK M00 00 D0 M01 01 D0 Standard formatted measurement data with a non existent measurement of ID 2 Decision 2 ERROR Specified measurement ID not found Please verify your input Custom formatted data string 96time decision 0 Decision OK 1420266101 0 Health Commands Optional parameters are shown in italic The placeholder for data is surrounded by brackets lt gt In the examples the delimiter is set to The Get Health command retrieves health indicators See Health Results page 275 for details on health indicators Formats Message Format Command Health health indicator ID health indicator instance More than one health indicator can be specified Note that the health indicator instance is optionally attached to the indicator ID with a If the health indicator instance field is Gocator 2300 amp 2880 Series Protocols ASCII Protocol 300 Message Format used the delimiter cannot be set to Reply OK lt health indicator of first ID gt lt health indicator of second ID gt ERROR lt Error Message gt Examples health 2002 2017 OK 46 1674 Health ERROR Insufficient parameters Gocator 2300 amp 2880 Series Protocols ASCII Protocol 301 Software Development Kit The Gocator Software Development Kit SDK includes open source software libraries and documentation that can be used to program
238. line r Carriage return 9696 Percentage 96 symbol Standard Result Format Measurement results can either be sent in the standard format or in a custom format In the standard format you select in the web interface which measurement values and decisions to send For each measurement the following message is transmitted M t j i V V 5 D d CR n n n 1 Field Shorthand Length Description MeasurementsStart M 1 Start of measurement frame Type t n Hexadecimal value that identifies the type of n measurement The measurement type is the same as defined elsewhere see page 269 Id i n Decimal value that represents the unique identifier of the measurement ValueStart V 1 Start of measurement value Value V n Measurement value in decimal The unit of the value is measurement specific Gocator 2300 amp 2880 Series Protocols ASCII Protocol 293 Field Shorthand Length Description DecisionStart D 1 Start of measurement decision Decision d 1 Measurement decision a bit mask where Bit 0 1 Pass 0 Fail Bits 1 7 0 Measurement value OK 1 Invalid value 2 Invalid anchor Custom Result Format Inthe custom format you enter a format string with place holders to create a custom message The default format string is time value 0 decision 0 Result Placeholders Format Value Explanation time Timestamp encoder Encoder position frame Frame number value Measurement ID Measurement v
239. lse Output Set Volume 0 Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 178 Output The following sections describe the Output page Output Page Overview Output configuration tasks are performed using the Output page Gocator sensors can transmit laser profiles and measurement results to various external devices using several output interface options Up to two outputs can have scheduling enabled with ASCII as the Serial output protocol When D Selcom is the current Serial output protocol only one other output can have scheduling enabled X H Manage Scan Job6 default Output Ethernet protocol and measurement 2 um Digital 1 Information Data Trigger condition and pulse width The Gocator Protocol uses TCP messages to command the Send Name ld 3 Digital 2 sensor and to transmit data and measurement results to a Profiles in Trigger condition and pulse width dient computer The user selects which measurements and T what type of scan data to send Video 3D Intensity 3D data Dp 4 N Analog can be in the form of Ranges Profiles or Surfaces depending Profile Intensities Trigger condition and current scaling on Gocator series pint Top eria 5 o Serial protocol and measurements s All of the tasks that can be accomplished via the Gocator s Mesures web interface can be accomplished programmatically by ill Profile Dimension Width 0 sending
240. m Layout 51 Buddy Assignment 53 Exposure Multiplexing 54 Networking oe us oleate he cca 54 Motion and Alignment 55 Alignment Reference 56 Encoder Resolution 56 Encoder Value and Frequency 57 Travel Speed 22 2 doas eser RR EDU EET 57 I NE PEREA EERE de ust D eerste see 57 SECUN sarao 59 Maintenance causo cari ei 60 Sensor Backups and Factory Reset 61 Firmware Upgrade 62 Scan Setup and Alignment 64 Scan Page Overview 2 2 64 3 Scan Modes ccoo 65 Measure Page Overview 109 o c Senet eet le leew eee lee ed ner king 66 Data Viewer duugiezcanccsbetlze ineo ckbii 110 Trigger Examples Lueusees 68 Tools Panel 2 cece e eee ee eee eee ences 110 Trigger Settings o occocccncnccncnonon 69 Measurement Tool Management 110 SON SOF GENERE OR RENI REESE RM 71 Adding and Removing Tools 110 Active Area _ 2 2 22220 22222 e eee eee eee 71 Enabling and Disabling Measurements 111 Tracking Window 72 Editing a Tool or Measurement Name 113 Transformations 74 Changing a Measurement ID 113 EXpOSUIe cesa ii aa 74 Common Measurement Settings 114 Single Exposure
241. mand size including this field in bytes id 16u 4 Command identifier 0x4003 userType 32s 6 Defines the user type 0 None log out 1 Administrator 2 Technician password 64 char 10 Password required for log in only Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4003 status 32s 6 Reply status Change Password The Change Password command is used to change log in credentials for a user Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4004 user type 32s 6 Defines the user type 0 None log out 1 Administrator 2 Technician password 64 char 10 New password Gocator 2300 amp 2880 Series Protocols Gocator Protocol 248 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4004 status 32s 6 Reply status Set Buddy The Set Buddy command is used to assign or unassign a Buddy sensor Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4005 buddyld 32u 6 Id of the sensor to acquire as buddy Set to 0 to remove buddy Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4005 status 32s 6 Reply status List Files The
242. matically access and control Gocator sensors The latest version of the SDK can be downloaded by going to http Imi3d com support downloads selecting a product type and clicking on the Product User Area link Applications compiled with previous versions of the SDK are compatible with Gocator firmware if the major version numbers of the protocols match For example an application compiled with version 4 0 of the SDK which uses protocol version 4 0 will be compatible with a Gocator running firmware version 4 1 which uses protocol version 4 1 However any new features in firmware version 4 1 would not be available If the major version number of the protocol is different for example an application compiled using SDK version 3 x being used with a Gocator running firmware 4 x you must recompile the application The Gocator API included in the SDK is a C language library that provides support for the commands and data formats used with Gocator sensors The API is written in standard C to allow the code to be compiled for any operating system A pre built DLL is provided to support 32 bit and 64 bit Windows operating systems Projects and makefiles are included to support other editions of Windows and Linux For Windows users code examples explaining how to wrap the calls in C and VB NET are provided in the tools package which can be downloaded at http Imi3d com support downloads For more information about programming with the Gocator
243. measurements ProfilePanel Child Elements Element Name Source Anchor x AnchorW options Anchor MZ Anchor Z options RefSide MaxGapWidth LeftEdge RightEdge Measurements Gap Measurements Flush Gocator 2300 amp 2880 Series Type String 32s String CSV String CSV String CSV String CSV 32s 64f ProfilePanelEdge ProfilePanelEdge GapMeasurement FlushMeasurement Description Setting for measurement name Setting for profile source The X measurements IDs used for anchoring The X measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Setting for reference side to use Setting for maximum gap width mm Element for left ede configuration Element for right edge configuration Gap measurement Flush measurement Gocator Device Files Job Files 213 ProfilePanelEdge Element Type Description EdgeType 32s Edge type 0 Tangent 1 Corner MinDepth 64f Minimum depth MaxVoidWidth 64f Maximum void width SurfaceWidth 64f Surface width SurfaceOffset 64f Surface offset NominalRadius 64f Nominal radius EdgeAngle 64f Edge angle Region ProfileRegion2d Edge region GapMeasurement Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean
244. ment 117 6 Click onthe Output tab For some measurements only the Output tab is displayed 7 Expand the Filters panel by clicking on the panel header or the button 8 Configure the filters Refer to the table above for a list of the filters Measurement Anchoring Measurement anchoring is used to track the movement of parts within the field of view of the sensor compensating for variations in the height and position of parts The movement is calculated as an offset from the position of a measured feature where the offset is then used to correct the positions of measurement regions of other measurement tools This ensures that the regions used to measure features are correctly positioned for every part Top 250 uS Parameter pum ring X 3 Profile Position X Distance 117 077 Filters Decision Min 110 mm Max 125 mm Anchoring is not required in order to use measurement tools This is an optional feature that helps make measurements more robust when the position and the height of the target varies from target to target Any X Y or Z measurement can be used as an anchor for a tool Several anchors can be created to run in parallel For example you could anchor some measurements relative to the left edge of a target at the same time as some other measurements are anchored relative to the right edge of a target To anchor a profile or surface tool to a measurement 1 Puta representative target object
245. ments use more than one region Region a X 54 122 mm i 36 593 mm Width 109 67 mm Height 109 67 mm This parameter is also referred to as a measurement region In 2D mode the tool region defaults to the center of the current data view not the global field of view In 3D mode the region defaults to the global field of view D To configure regions 1 Goto the Scan page by clicking on the Scan icon 2 Choose Profile or Surface mode in the Scan Mode panel If one of these modes is not selected tools will not be available in the Measure panel 3 Gotothe Measure page by clicking on the Measure icon 4 Inthe Tools panel click on a tool in the tool list 5 Expand the region area by clicking on the expand button Some region settings are found within other settings in this area 6 Configure the region using the fields You can also configure the region graphically using the mouse in the data viewer Decisions Results from a measurement can be compared against minimum and maximum thresholds to generate pass fail decisions The decision state is pass if a measurement value is between the minimum and maximum threshold In the user interface these values are displayed in green Otherwise the decision state is fail In the user interface these values are displayed in red Gocator 2300 amp 2880 Series Gocator Web Interface e Measurement 115 Oo Distance 14 785 O O Id 4
246. n regions where the profile is below the X axis Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 122 Measurements Measurement Illustration Area Measures the cross sectional area within a region that is above or below a fitted baseline Area Area Type Object TYT Area Type Clearance Baseline User defined line Standalone or dual sensor setup in Wide orientation Er Area Type Object Baseline X Axis z 0 Dual sensor setup in Opposite orientation Centroid X X Z Determines the X position of the centroid of the area 1 Centroid Z Determines the Z position of the centroid of the area Centroid Type Object Baseline User defined line Parameters Parameter Description Type Object area type is for convex shapes above the baseline Regions below the baseline are ignored Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 123 Parameter Baseline Line Decision Region Filters Circle Description Clearance area type is for concave shapes below the baseline Regions above the baseline are ignored Baseline is the fit line that represents the line above which Object clearance type or below which Clearance area type the cross sectional area is measured When this parameter is set to Line you must define a line in the Line parameter See Fit Lines page 121
247. n An element for each added tool Profile Types The following types are used by various measurement tools ProfileRegion2D A ProfileRegion2D element defines a rectangular area of interest Gocator 2300 amp 2880 Series Gocator Device Files Job Files 204 ProfileRegion2D Child Elements Element Type Description X 64f Setting for profile region X position mm Z 64f Setting for profile region Z position mm Width 64f Setting for profile region width position mm Height 64f Setting for profile region height position mm ProfileFeature A ProfileFeature element defines the settings for detecting a feature within an area of interest ProfileFeature Child Elements Description Setting to determine how the feature is detected within the Element Type Type 32s Region ProfileRegion2D ProfileLine area 0 Max Z 1 MinZ 2 Min X 3 Max X 4 Corner 5 Average 6 Rising Edge 7 Falling Edge 8 Any Edge 9 Top Corner 10 Bottom Corner 11 Left Corner 12 Right Corner 13 Median Element for feature detection area A ProfileLine element defines measurement areas used to calculate a line ProfileLine Child Elements Element Type Description RegionCount 32s Count of the regions Regions Collection The regions used to calculate a line Contains 1 or 2 ProfileRegion2D elements Surface Types The following types are used by the various measurement tools Region3D A
248. n Mode panel Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 89 If one of these modes is not selected you will not be able to configure gap filling 3 Expand the Filters panel by clicking on the panel header or the button 4 Click on the Median tab 5 Enable the X or Y setting and select the maximum width value 6 Save the job in the Toolbar by clicking the Save button m 7 Checkthatthe laser profiling is satisfactory Smoothing works by substituting a data point value with the average value of that data point and its nearest neighbors within a specified window Smoothing can be applied along the X axis or the Y axis X smoothing works by calculating a moving average across samples within the same profile Y smoothing works by calculating a moving average in the direction of travel at each X location If both X and Y smoothing are enabled the data is smoothed along X axis first then along the Y axis Missing data points will not be filled with the mean value calculated from data points in the neighbourhood Fliters e Gap Filling Median Decimation mx mv To configure X or Y smoothing 1 Goto the Scan page 2 Choose Profile or Surface mode in the Scan Mode panel If one of these modes is not selected you will not be able to configure smoothing 3 Expand the Filters panel by clicking on the panel header or the button 4 Clickonthe Smoothing tab 5 En
249. n air to remove dust or other dirt particles If dirt remains clean the windows carefully with a soft lint free cloth and non streaking glass cleaner or isopropyl alcohol Ensure that no residue is left on the windows after cleaning Turn off lasers when not in use LMI Technologies uses semiconductor lasers in 3D measurement sensors To maximize the lifespan of the sensor turn off the laser when not in use Avoid excessive modifications to files stored on the sensor Settings for Gocator sensors are stored in flash memory inside the sensor Flash memory has an expected lifetime of 100 000 writes To maximize lifetime avoid frequent or unnecessary file save operations Gocator 2300 amp 2880 Series Safety and Maintenance Sensor Maintenance 16 Getting Started The following sections provide system and hardware overviews in addition to installation and setup procedures System Overview Gocator sensors can be installed and used in a variety of scenarios Sensors can be connected as standalone devices dual sensor systems or multi sensor systems Standalone System Standalone systems are typically used when only a single Gocator sensor is required The sensor can be connected to a computer s Ethernet port for setup and can also be connected to devices such as encoders photocells or PLCs POWER 24 48VDC 13W LASER SAFETY 24 48VDC TO ENABLE GOCATOR WIRE RICH I O AS REQUIRED BY APPLICATI
250. n power requirements which need to be considered when calculating total system power requirements Master 400 800 Dimensions The dimensions of Master 400 and Master 800 are the same Es 483 9 i 466 7 i m i 44 318 Ciao oa qu GOS m metiendo Oo 0 A le ei ae 0 99 289 7 D o o o 0 295 a IS 44 36 z Gocator 2300 amp 2880 Series Specifications Master 400 800 353 Master 1200 2400 The Master 1200 2400 provides sensor power and safety interlock and broadcasts system wide synchronization information i e time encoder count encoder index and digital 1 O states to all devices on a sensor network SENSOR PORTS 1 12 LED INDICATORS MASTER 1200 FRONT 200 EE A SENSOR PORTS 13 24 2400 ONLY SENSOR PORTS 1 12 LED INDICATORS MASTER 2400 FRONT E fea Master 2400 MASTER 1200 2400 REAR GROUND CONNECTION POWER AND SAFETY ENCODER INPUT Power and Safety 6 pin connector Function Pin 48VDC 1 48VDC 2 GND 48VDC 3 GND 48VDC 4 Safety Control 5 Safety Control 6 D The 48VDC power supply must be isolated from AC ground This means th
251. n the surface and returns its E position and radius See Adding and Removing Tools page 110 for instructions on howto add measurement tools The hole can be on a surface at an angle to the a IN sensor PA EN MA The tool uses a complex feature locating Un algorithm to find a hold and then return ES rl measurements See Hole Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel The measurement value can be compared with minimum and maximum constraints to yield a decision Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 153 3D View 2D View Advanced Anchoring Source Top Nominal Radius 10 im Radius Tolerance FS i Partial Detection m Region om x m Y 325 mm Z 50 mim Width 3405 nm Length f 7452 mm Height 1 Gocator 2300 amp 2880 Series Gocator Web Interface e Measurement 154 Parameter Anchoring Reference Region Auto Set 4 Tilt Correction Auto Set 4 O O O ld 10 Output Filters Decision Min 3 mm Max 8m Measurement Panel Measurements Measurement Illustration X Determines the X position of the hole center Y Determines the Y position of the hole center Z Determines the Z position of
252. nabled SmoothingWindow Scale Offset DecisionMin DecisionMax Absolute Gocator 2300 amp 2880 Series String Boolean Boolean Boolean 32s 64f 64f 64f 64f Boolean Measurement enable state 0 Disable 1 Enable Output hold enable state 0 Disable 1 Enable Smoothing enable state 0 Disable 1 Enable Smoothing window Output scaling factor Output offset factor Minimum decision threshold Maximum decision threshold Setting for selecting absolute or signed result Gocator Device Files Job Files 209 Element Type Description Width and Height 0 Signed measurements only 1 Absolute ProfileGroove A ProfileGroove element defines settings for a profile groove tool and one or more of its measurements ProfileGroove Child Elements Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Setting for measurement name Source 32s Setting for profile source AnchonxX String CSV The X measurements IDs used for anchoring AnchorW options Anchor Z Anchor Z options String CSV String CSV String CSV The X measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Shape 32s Shape 0 U shape 1 V shape 2 Open MinDepth 64f Minimum depth MinWidth 64f Minimum width MaxWidth 64f Maximum width Region Profile
253. naligned The Acquire Unaligned command acquires a new scan without performing alignment transformation Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4527 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4527 status 32s 6 Reply status Read File Progressive The progressive Read File command reads the content of a file as a stream Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4529 name 64 char 6 Source file name Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4529 status 32s 6 Reply status Gocator 2300 amp 2880 Series Protocols Gocator Protocol 265 Field Type Offset Description progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress D The reply may be followed by a series of continue replies Export CSV Progressive The progressive Export CSV command exports replay data as a CSV stream Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4507 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id
254. ncapsulates the part The value returned is relative to the global sensor coordinates Global Y Determines the Y position of the center of the smallest N Z rectangle that encapsulates the part The value returned is relative to the global sensor coordinates Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 145 Parameters Parameter Rotation Decision Region Output Countersunk Hole Description A bounding box can be vertical or rotated A vertical bounding box provides the absolute position from which the part s Position centroid measurements are referenced Check the Rotation checkbox to select rotated bounding box See Decisions page 115 See Regions page 114 See Filters page 117 The Countersunk Hole tool locates a countersunk circular opening within a region of interest on the surface and provides measurements to evaluate characteristics of countersunk holes including the position X Y and Z of the center of the hole outside radius of the hole hole bevel angle and the depth of the hole The countersunk hole can be on a surface at an angle to the sensor See Adding and Removing Tools page 110 for instructions on how to add measurement tools 2D View Gocator 2300 amp 2880 Series 3D View Gocator Web Interface Measurement 146 Gocator 2300 amp 2880 Series Outer Radius Depth Bevel Radius Bevel Angle X Angle Y Angle 4 f 3 3 K
255. nd pulse width are then configured within the panel Output Ethernet Trigger Event Measurement Protocol and measurement selection Digital 1 Configuration Trigger condition and pulse width x Assert On Pass um Digital 2 Trigger condition and pulse width Signal Pulsed R 0 y Analog P ey 100 ps Trigger condition and current scaling E scheduled Serial Vez Protocol and measurement selection Data Send Name Id Decisions m Profile Dimension Distance 2 m Profile Groove X 1 To output measurement decisions 1 Gotothe Output page 2 Click on Digital 1 or Digital 2 in the Output panel 3 SetTrigger Event to Measurement 4 In Configuration set Assert On and select the measurements that should be combined to determine the output If multiple measurement decisions are selected and Assert On is set to Pass the output is activated when all selected measurements pass If Assert On is setto Fail the output is activated when any one of the selected measurements fails 5 Setthe Signal option The signal type specifies whether the digital output is a continuous signal or a pulsed signal If Signal is set to Continuous the signal state is maintained until the next transition occurs If Signal is set to is Pulsed you must specify the pulse width and how it is scheduled Gocator 2300 amp 2880 Series Gocator Web Interface Output 184 Specify a pulse width using the slider
256. nd then use the replacement patterns listed in Replacement Patterns to create a custom format in the editor 6 Setthe special characters in the Special Characters tab Set the command delimiter delimiter termination and invalid value characters Special characters are used in commands and standard format data results 7 Setthe TCP ports in the Ports tab Select the TCP ports for the control data and health channels If the port numbers of two channels are the same the messages for both channels are transmitted on the same port Digital Output Gocator sensors can convert measurement decisions or software commands to digital output pulses which can then be used to output to a PLC or to control external devices such as indicator lights or air Gocator 2300 amp 2880 Series Gocator Web Interface Output 183 ejectors A digital output can act as a measurement valid signal to allow external devices to synchronize to the timing at which measurement results are output In this mode the sensor outputs a digital pulse when a measurement result is ready A digital output can also act as a strobe signal to allow external devices to synchronize to the timing at which the sensor exposes In this mode the sensor outputs a digital pulse when the sensor exposes Each sensor supports two digital output channels See Gocator Power LAN Connector page 342 for information on wiring digital outputs to external devices Trigger conditions a
257. ndition See Digital Inputs page 345 for more information on connecting external input to Gocator sensors A network command can be used to send a software trigger See Protocols page 240 for more information For examples of typical real world scenarios see below For information on the settings used with each trigger source see next page Example Encoder Conveyor Encoder triggering is used to perform profile measurements at a uniform spacing The speed of the conveyor can vary while the object is being measured an encoder ensures that the measurement spacing is consistent independent of conveyor speed Example Time Conveyor Time triggering can be used instead of encoder triggering to perform profile measurements at a fixed frequency Measurement spacing will be non uniform if the speed of the conveyor varies while the object is being measured It is strongly recommended to use an encoder with transport based systems due to the difficulty in maintaining constant transport velocity Conveyor Speed Time Conveyor Speed Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 68 Example External Input Conveyor External input triggering can be used to produce a snapshot for profile measurement For example a photocell can be connected as an external input to generate a trigger pulse when a target object has moved into position An external input can also be used to gate
258. nel start stop align system GoSensor Connect and configure GoSetup GoTools GoTransform GoOutput Scanning Measurement Aligned results and Output related parameters tools transformed world settings coordinates GoLayout GoEthernet GoDigital GoAnalog GoSerial Layout and Protocol and exposure data selection multi plexing The GoSystem class is the top level class in Gocator 4 x Multiple sensors can be enabled and connected in one GoSystem Only one GoSystem object is required for multi sensor control Protocol and data selection Protocol and data selection Protocol and data selection Refer to the How To Use The Open Source SDK To Fully Control A Gocator Multi sensor System how to guide on http Imi3d com resources gocator for details on how to control and operate a multi sensor system using the SDK D All objects that are explicitly created by the user or passed via callbacks should be destroyed by using the GoDestroy function Gocator 2300 amp 2880 Series Software Development Kit 303 GoSensor represents a physical sensor If the physical sensor is the Main sensor in a dual sensor setup it can be used to configure settings that are common to both sensors The GoSetup class represents a device s configuration The class provides functions to get or set all of the settings available in the Gocator web interface GoSetup is included inside GoSensor It encapsulates scanning parameters
259. ng Anchor Z String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring BaseType 32s Setting for the strip type 0 None 1 Flat LeftEdge Bitmask Setting of the left edge conditions 1 Raising 2 Falling 4 Data End 8 Void RightEdge Bitmask Setting of the right edge conditions 1 Raising 2 Falling 4 Data End 8 Void TiltEnabled Boolean Setting for tilt compensation Gocator 2300 amp 2880 Series Gocator Device Files Job Files 216 Element Type Description 0 Disabled 1 Enabled SupportWidth 64f Support width of edge mm TransitionWidth 64f Transition width of edge mm MinWidth 64f Minimum strip width mm MinHeight 64f Minimum strip height mm MaxVoidWidth 64f Void max mm Region Measurements X Measurements Z Measurements Width Measurements Height StripMeasurement Element id attribute Name Enabled HoldEnabled SmoothingEnabled SmoothingWindow Scale Offset DecisionMin DecisionMax SelectType Selectindex Location Gocator 2300 amp 2880 Series ProfileRegion2d StripMeasurement StripMeasurement StripMeasurement StripMeasurement Type 32s String Boolean Boolean Boolean 32s 64f 64f 64f 64f 32s 32s 32s Region containing the strip X measurement Z measurement Width measurement Width measurement Description Measurement ID Optional measurem
260. ng It can also detect a slot that only partially appears in the data The shape of the opening is defined by its type and its nominal width length and radius The orientation defines the rotation around the normal of the alignment plane Gocator 2300 amp 2880 Series Ne 7 4x Opening Orientation Rounded Corner Slot Rectangular Slot P Rectangle Opening VA IPS v a7 N Opening Width YO Opening orientation Ss SS Opening Length Gocator Web Interface Measurement 158 3D View 2D View Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 159 Width Length Angle Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 160 Measurement Panel Measurements Measurement X Determines the X position of the opening s center Y Determines the Y position of the opening s center Z Determines the Z position of the opening s center Width Determines the width of the opening Length Determines the length of the opening Angle Determines the angle rotation around the normal of the alignment plane Illustration X Y orZ Width Length Angle Parameters Parameter Description Type Rounded Slot Rectangle Nominal Width Nominal width of the opening Nominal length Nominal Angle along the X axis Gocator 2300 amp 2880 Series Nominal length of the opening Nominal angle
261. ng and Loading Settings When you change sensor settings using the Gocator web interface some changes are saved automatically while other changes are temporary until you save them manually The following table lists the types of information that can be saved in a sensor Gocator 2300 amp 2880 Series Gocator Web Interface User Interface Overview 43 Setting Type Behavior Network Address Network address changes are saved when you click the Save button in Networking on the Manage page The sensor must be reset before changes take effect Job Most of the settings that can be changed in the Gocator s web interface such as the ones in the Manage Measure and Output pages are temporary until saved in a job file Each sensor can have multiple job files If there is a job file that is designated as the default it will be loaded automatically when the sensor is reset Alignment Alignment can either be fixed or dynamic as controlled by the Alignment Reference setting in Motion and Alignment in the Manage page Alignment is saved automatically at the end of the alignment procedure when Alignment Reference is set to Fixed When Alignment Reference is set to Dynamic however you must manually save the job to save alignment The job drop down list shows the list of jobs stored in the sensor The job that is currently active is listed at the top The job name will be marked with unsaved to indicate any unsaved changes new a m J
262. ng edge in the region of interest Falling Edge Finds a falling edge in the region of interest Any Edge Finds a rising or falling edge in the region of interest Median Determines the median location of points in the region of interest Examples e e Bottom Corner e e e Right Corner o r Rising Edge Q Falling Edge Q Edge o Edge e s Os s Median Some measurements involve estimating lines in order to measure angles or intersection points A fit line can be calculated using data from either one or two fit areas Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 121 LINE LINE AREAA AREA A AREA B Aline can be defined using one or two areas Two areas can be used to bypass discontinuity in a line segment Area The Area tool determines the cross sectional area within a region The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 110 for instructions on how to add measurement tools E metal Anchoring Source Top Type Object Baseline X Axis Region 9 Area pat 110 Id Output Filters Decision Min 930 mm Max 950 mm Areas are positive in regions where the profile is above the X axis In contrast areas are negative i
263. nning role 32s 48 Sensor role 0 Main 1 Buddy buddyld 32s 52 Serial number of paired device main or buddy 0 if unpaired The Get System Info command a list of useful system states Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4525 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4525 status 32s 6 Reply status count 32u 10 Number of state variables sensorState 32s 14 Sensor state 1 Conflict 0 Ready 1 Running loginState 32s 18 Device login state 0 No user 1 Administrator 2 Technician alignmentReference 32s 22 Alignment reference 0 Fixed 1 Dynamic alignmentState 32s 26 Alignment state 0 Unaligned 1 Aligned recordingEnabled 32s 30 Whether or not recording is enabled 0 Disabled 1 Enabled playbackSource 32s 34 Playback source 0 Live data Gocator 2300 amp 2880 Series Protocols Gocator Protocol 247 Field Type Offset Description 1 Recorded data uptimeSec 32s 38 Uptime whole seconds component uptimeMicrosec 32s 42 Uptime remaining microseconds component playbackPos 32s 46 Playback position playbackCount 32s 50 Playback frame count autoStartEnabled 32s 54 Auto start enable boolean Log In Out The Log In Out command is used to log in or out of a sensor Command Field Type Offset Description length 32u 0 Com
264. ns page 115 See Regions page 114 See Filters page 117 The Position tool reports the X Y or Z position of a part The feature type must be specified and is one of the following Average the mean X Y and Z of the data points Median median X Y and Z of the data points Centroid the centroid of the data considered as a volume with respect to the z 0 plane Min X Max X Min Y Max Y Min Z or Max Z The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 110 for instructions on howto add measurement tools Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 166 2D View 3D View Source Top Feature Max Z 9 O O ld Filters Decision Min 5 mm Max 5 mm Measurement Panel Measurements Measurement Illustration X Determines the X position of the selected feature type X Y orZ Y Determines the Y position of the selected feature type pA Z Determines the Z position of the selected feature type Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 167 Parameters Parameter Feature Type Decision Region Output Stud The Stud tool measures the location and radius of astud See Adding and Removing Tools page 110 for instructions on how to add measurement tools The tool uses a complex feature locating algorithm to find a hold and then
265. nsor Inthe Measure page the view of the display is set to the profile source of the selected measurement tool When the Gocator is in Surface scan mode the data viewer can display height maps and intensity images You can select the data to display from the View drop down Clicking on the 3D button displays Surface data in the 3D viewer The 3D model is overlaid with the information that corresponds to the selected View option Surface View RST re wean E Top En Y mo s e Surface Grayscale Surface Uniform Surface Intensity Profile View Option Information Profile Plots the last collected profile Only available in 2D view Surface Heightmap In 2D view displays the pseudo color height map In 3D view overlays the 2D pseudo color height map on the 3D model Surface Grayscale In 2D view displays the grayscale height map In 3D view overlays the grayscale height map on the 3D model Surface Uniform Overlays a uniform shaded surface on the 3D model Only available in 3D view Surface Intensity In 2D view displays the intensity In 3D view overlays the intensity map on the 3D model Acquire Intensity must be checked in the Scan Mode panel Choosing the Profile view option will switch the data viewer out of the 3D viewer and display the profile plot Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 103 2D viewer with grayscale over
266. nt ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state Gocator 2300 amp 2880 Series 0 Disable Gocator Device Files Job Files 223 Element Type Description 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold SurfaceOpening A SurfaceOpening element defines settings for a surface opening tool and one or more of its measurements SurfaceOpening Child Elements Element Name Source AnchonX AnchorW options Anchor y Anchor W options Anchor MZ Anchor Z options Type NominalWidth NominalLength NominalAngle NominalRadius WidthTolerance LengthTolerance AngleTolerance PartialDetectionEnabled RegionEnabled Gocator 2300 amp 2880 Series Type String 32s String CSV String CSV String CSV String CSV String CSV String CSV 32s 64f 64f 64f 64f 64f 64f 64f Boolean Boolean Description Setting for measurement name Setting for source The X measurements IDs used for anchoring The X measurements IDs available for anchoring The Y measurements IDs used for anchoring The Y measurements IDs available for an
267. nt Sets the output value and decision on Output index 0 Only the last decision output value decision in a script run is kept and passed to the Gocator output To output an invalid value the constant INVALID VALUE can be used e g Output SetAt 0 INVALID VALUE 0 Parameters Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 175 Function Description void Output_SetAt unsigned int index double value int decision void Output Setld int id double value int decision Memory Functions Function value value output by the script decision decision value output by the script Can only beO or 1 Sets the output value and decision at the specified output index To output an invalid value the constant INVALID VALUE can be used e g Output SetAt 0 INVALID VALUE 0 Parameters index Script output index value value output by the script decision decision value output by the script Can only beO or 1 Sets the output value and decision at the specified script output ID To output an invalid value the constant INVALID VALUE can be used e g Output Setld 0 INVALID VALUE 0 Parameters id Script output ID Description void Memory Set64s int id long long value long long Memory Get64s int id void Memory Set64u int id unsigned long long value Stores a 64 bit signed integer in persistent memory Parameters id ID of the value value Value to store Loa
268. nt list uncheck the box of the measurement you want to disable The measurement will be disabled and the Output tab and the Parameters tab if it was available will be hidden Gocator 2300 amp 2880 Series Gocator Web Interface e Measurement 112 Editing a Tool or Measurement Name You can assign a name to each tool and measurement This allows multiple instances of tools and measurements of the same type to be more easily distinguished in the Gocator web interface The measurement name is also referenced by the Script tool To edit a tool name 1 Goto the Scan page by clicking on the Scan icon 2 Choose Profile or Surface mode in the Scan Mode panel If one of these modes is not selected tools will not be available in the Measure panel 3 Gotothe Measure page by clicking on the Measure icon 4 Inthe tool list double click on the tool name you want to change 5 Type a new name in the ID field 6 Pressthe Tab or Enter key or click outside the name edit field The name will be changed To change a measurement name 1 Goto the Scan page by clicking on the Scan icon 2 Choose Profile or Surface mode in the Scan Mode panel If is not selected tools will not be available in the Measure panel 3 Gotothe Measure page by clicking on the Measure icon 4 Inthe measurement list double click on the measurement name you want to change 5 Type a new name in the ID field 6 Pressthe Tab or Enter key or Click outside of the nam
269. ntensity values Intensity output is enabled by checking the Acquire Intensity checkbox in the Scan Mode panel Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 107 Surface View Surface Intensity Top En Y mo FR Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 108 Measurement The following sections describe the Gocator s tools and measurements Measure Page Overview Measurement tools are added and configured using the Measure page The content of the Tools panel in the Measure page depends on the current scan mode In Profile mode the Measure page displays tools for profile measurement In Surface mode the Measure page displays tools for surface measurement In Video mode tools are not accessible E CPU 0 x uw Me a x T m Speed 0 Hz Manage Scan COTTE Output Dashboard i a Job6 default unsaved 22m Replay me e Profile Profile Dimension Width Tools 1 View Profile Top t mo 5 ProfleiAnon Top 350 us Profile Dimension Feature 1 Feature 2 Width Parameters Output Filters Decision Min Max Element Description 1 Tools panel Used to add manage and configure tools and measurements see next page and to choose anchors see page 118 2 Data Viewer Displays profile or surface data sets up tools and displays result calipers related to the selected measuremen
270. nts shown here correspond to measurements that have been programmed using the Measurements page 5 Specify Data Scale values The values specified here determine how measurement values are scaled to the minimum and maximum current output The Data Scale values are specified in millimeters for dimensional measurements such as distance square millimeters for areas cubic millimeters for volumes and degrees for angle results 6 Specify Current Range and Invalid current values The values specified here determine the minimum and maximum current values in milliamperes If Invalid is checked the current value specified with the slider is used when a measurement value is not valid If Invalid is not checked the output holds the last value when a measurement value is not valid 7 Specify if the output is immediate or scheduled An analog output can become active immediately or scheduled Check the Scheduled option if the output needs to be scheduled A scheduled output becomes active after a specified delay from the start of Gocator exposure A scheduled output can be used to track the decisions for multiple objects as these objects travel from the sensor to the eject gates The delay specifies the distance from the sensor to the eject gates An Immediate output becomes active as soon as the measurement results are available The output activates after the Gocator finishes processing the data As a result the time between the start of Gocator exposure
271. o convert exported CSV into different formats 1 Select the CSV file to convert 2 If intensity information is required check the Intensity box and select the intensity bitmap Intensity information is only used when converting to ASCII or GenTL format If intensity is not selected the ASCII format will only contain the point coordinates XYZ 3 Select the output format The converted file will reside in the same directory as the CSV file It will also have the same name but with a different file extension The converted file name is displayed in the Output File field 4 Press the Convert button Gocator 2300 amp 2880 Series Tools and Native Drivers e CSV Converter Tool 319 Troubleshooting Review the guidance in this chapter if you are experiencing difficulty with a Gocator sensor system See Return Policy page 359 for further assistance if the problem that you are experiencing is not described in this section Mechanical Environmental The sensor is warm Itis normal for a sensor to be warm when powered on A Gocator sensor is typically 15 C warmer than the ambient temperature Connection When attempting to connect to the sensor with a web browser the sensor is not found page does not load Verify that the sensor is powered on and connected to the client computer network The Power Indicator LED should illuminate when the sensor is powered Check that the client computer s network settings are properly confi
272. o the GenTL x86 directory If the system environment variable already exists click Edit 5 For 64 bit systems click New to create a system environment variable GENICAM_GENTL64_PATH and point it to the GenTL x64 directory If the system environment variable already exists click Edit r 3 Environment Variables User variables for cng Variable Value MOZ PLUGIN P C Program Files Foxit Software Foxit R TEMP USERPROFILE AppData Local Temp TMP USERPROFILE AppData Local Temp Z New Edit Delete System variables Variable Value E GENICAM_CACHE_V2_1 C ProgramDatalGenICamixmlcadt GENICAM_GENTL32_PATH C Go2_Integration GenTL x86 GENICAM_LOG_CONFIG C Program Files GenICam_v2_1 jo 7 Edit System Variable 4 n ncs Edi Delete Variable name GENICAM_GENTL32_PATH Variable value Ca Ce L 4 To work with the Gocator GenTL driver the Gocator must operate in Surface mode with its part output enabled in the Ethernet Output Panel Check Acquire Intensity and enable intensity output in the Ethernet panel in the Output page if intensity data is required Gocator 2300 amp 2880 Series Tools and Native Drivers GenTL Driver 313 Refer to the documentations in the GenTL directory for instructions on how to interface to various third party software Gocator GenTL driver packs the part output intensity and stamps e g time stamp encoder ind
273. ob drop down Save To save a job 1 Selecta job in the job drop down list e f you are creating a new job choose New in the job drop down list and enter a name for the job e Ifyou are saving changes to an existing job choose the job in the job drop down list 2 Press the Enter key or click the Save button pm The job will be saved to sensor storage using the name you provided Saving a job automatically sets it as the default that is the job loaded when then sensor is restarted To activate an existing job 1 Select an existing file name in the job drop down list The job will be activated from sensor storage If there are any unsaved changes to the current job you will be asked whether you want to discard those changes Detailed management of jobs is handled in the Jobs panel in the Manage page See Jobs page 57 for more information Managing Multiple Settings A Gocator can store several hundred jobs Being able to switch between different jobs is useful when a Gocator is used with different constraints during separate production runs for example width decision constraints might be loose during one production run and tight during another depending on the desired grade of the part Gocator 2300 amp 2880 Series Gocator Web Interface User Interface Overview 44 Switching active jobs can be done manually through the web interface as described under To activate an existing job in Saving and Loading Settings on page 43
274. ocator 2300 amp 2880 Series Gocator Device Files Job Files e 206 ProfileArea Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source Anchor X String CSV The X measurements IDs used for anchoring AnchorW options Anchor VZ Anchor Z options Type Type used Baseline Baseline used String CSV String CSV String CSV Boolean Boolean Boolean Boolean The X measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Area to measure 0 Object convex shape above the baseline 1 Clearance concave shape below the baseline Whether or not field is used Baseline type 0 X axis 1 Line Whether or not field is used Gocator 2300 amp 2880 Series Region ProfileRegion2d Measurement region Line ProfileLine Baseline definition when baseline type is set to Line Measurements Area AreaMeasuerment Area measurement Measurements CentroidX AreaMeasurement CentroidX measurement Measurements CentroidZ AreaMeasurement CentroidZ measurement AreaMeasurement Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Sm
275. of the opening The default orientation is the length of the opening Gocator Web Interface Measurement 161 Parameter Nominal Radius Width Tolerance Length Tolerance Orientation Tolerance Reference Regions Gocator 2300 amp 2880 Series Description Orientation 0 degrees Orientation 90degrees Y Y A A X gt Xx b The diagram above illustrates the case where the surface is not tilted When the surface is tilted the orientation is defined with respect to the normal of the surface not with respect to the X Y plane Nominal radius of the opening ends If the opening type is set to rectangular the radius setting is disabled The opening has an oval shape if the radius is equal to of the width The opening is a rounded rectangle when the radius is less than of the width Radius 1 2 width Radius gt width s Radius lt width mtt Ta P u ri A Width Width Length Length Length The maximum variation from the nominal width from the nominal value The maximum variation from the nominal length from the nominal value The maximum variation from the nominal orientation from the nominal value The algorithm uses reference regions to calculate the Z position of the hole Reference regions are relative to the center location of the feature This option is typically used in cases where the surface around the opening is not flat
276. olPort 32u Control service port number HealthPort 32u Health service port number DataPort 32u Data service port number Delimiter String Field delimiter Terminator String Line terminator InvalidValue String String for invalid output CustomDataFormat String Custom data format CustomFormatEnabled Bool Enables custom data format EIP EIP Child Elements Element Type Description BufferEnabled Bool Enables EIP output buffering EndianOutputType 32s Endian Output Type Gocator 2300 amp 2880 Series Gocator Device Files Job Files 234 Element Type Description 0 Big endian 1 Little endian ImplicitOutputEnabled Bool Enables Implict I O Messaging Modbus Modbus Child Elements Element Type Description BufferEnabled Bool Enables Modbus output buffering Digital and Digital1 The Digital and Digital1 elements defines settings for the Gocator s two digital outputs DigitalO and Digital Child Elements Element Type Description Event 32s Triggering event 0 None disabled 1 Measurements 2 Software 3 Alignment state 3 Alignment state SignalType 32s Signal type 0 Pulse 1 Continuous ScheduleEnabled Bool Enables scheduling PulseWidth 64f Pulse width us PulseWidth min 64f Minimum pulse width us PulseWidth max 64f Maximum pulse width us PassMode 32s Measurement pass condition 0 AND of measurements is true 1 AND of measurements is false 2 Always assert Delay 64f Output delay us o
277. ommand identifier 0x3012 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x3012 status 32s 6 Reply status dhcpEnabled byte 10 0 DHCP not used 1 DHCP used address 4 byte 11 IP address most significant byte first subnetMask 4 byte 15 Subnet mask gateway 4 byte 19 Gateway address Set Address The Set Address command modifies the network configuration of a Gocator sensor On receiving the command the Gocator will perform a reset You should wait 30 seconds before re connecting to the Gocator Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x3013 dhcpEnabled byte 6 0 DHCP not used 1 DHCP used address 4 byte 7 IP address most significant byte first subnetMask 4 byte 11 Subnet mask gateway 4 byte 15 Gateway address Gocator 2300 amp 2880 Series Protocols Gocator Protocol 245 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x3013 status 32s 8 Reply status The Get System Info command reports information for sensors that are visible in the system Firmware version refers to the version of the Gocator s firmware installed on each individual sensor The client can upgrade the Gocator s firmware by sending the Start Upgrade command see page 268 Firmware upgrade files
278. on Min 14 mm Max 15 mm The tool s measurements require two feature points See Feature Points page 120 for information on point types and how to configure them Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 125 Measurements Measurement Width Determines the difference along the X axis between two feature points The difference can be calculated as an absolute or signed result The difference is calculated by Width Feature 2 Feature 1 X position X position Height Determines the difference along the Z axis between two feature points The difference can be expressed as an absolute or signed result The difference is calculated by Height Feature 2 Feature 1 Z position Z position Distance Determines the Euclidean distance between two feature points Center X Finds the average location of two features and measures the X axis position of the average location Center Z Finds the average location of two features and measures the Z axis position of the average location Illustration Width Height t Distanc Center X Center Z Parameters Parameter Description Absolute Determines if the result will be expressed as an Width and Height measurements only Decision Region Output Gocator 2300 amp 2880 Series absolute or a signed value See Decisions
279. on Protocol a function code and a data payload Transaction Protocol Unit Func identifier identifier conc ID Code Bataraaviced m q MBAP Header MBAP Data The MBAP header contains the following fields Modbus Application Protocol Header Field Length Bytes Description Transaction ID 2 Used for transaction pairing The Modbus Client sets the value and the Server Gocator copies the value into its responses Protocol ID 1 Always set to 0 Gocator 2300 amp 2880 Series Protocols e Modbus TCP Protocol 280 Field Length Bytes Description Length 1 Byte count of the rest of the message including the Unit identifier and data fields Unit ID 1 Used for intra system routing purpose The Modbus Client sets the value and the Server Gocator copies the value into its responses Modbus Application Protocol Specification describes the standard function codes in detail Gocator supports the following function codes Modbus Function Code Function Code Name Data Size bits Description 3 Read Holding 16 Read multiple data values from the sensor Registers 4 Read Input Registers 16 Read multiple data values from the sensor 6 Write Single Register 16 Send a command or parameter to the sensor 16 Write Multiple 16 Send a command and parameters to the sensor Registers The data payload contains the registers that can be accessed by Modbus TCP messages If a message accesses registers that a
280. on the sensor Ranges are reported in X Z coordinate pairs This frees up processing resources in the Gocator but usually requires more complicated processing on the client side All built in measurement tools in the Gocator operate on profiles with uniform spacing in both Profile and Surface mode Gocator 2300 amp 2880 Series Theory of Operation Profile Output 41 Gocator Web Interface The following sections describe the Gocator web interface User Interface Overview Gocator sensors are configured by connecting to a Main sensor with a web browser The Gocator web interface is illustrated below 1 2 3 4 5 x Te x Manage Measure Output Dashboard 8 Job3 default E A Replay em e 2B 9 10 mop enum Video uisi su Option FA Acquire Intensi EA Uniform Spacing Alignment Filters 11 Element Description 1 Manage page Contains settings for sensor system layout network motion and 2 Scan page 3 Measure page Gocator 2300 amp 2880 Series alignment handling jobs and sensor maintenance See System Management and Maintenance page 50 Contains settings for scan mode trigger source detailed sensor configuration and performing alignment See Scan Setup and Alignment page 64 Contains built in measurement tools and their settings See Measurement page 109 42 Element Description 4 Output page Contains settings for configuring output protocols us
281. oothing enable state 0 Disable 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Gocator Device Files Job Files 207 ProfileCircle A ProfileCircle element defines settings for a profile circle tool and one or more of its measurements ProfileCircle Child Elements Element Name Type Description Setting for measurement name Source AnchonX AnchorW options Anchor Z Anchor Z options Region Measurements X Measurements Z Measurements Radius String 32s String CSV String CSV String CSV String CSV ProfileRegion2d CircleMeasurement CircleMeasurement CircleMeasurement Setting for profile source The X measurements IDs used for anchoring The X measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Measurement region X measurement Z measurement Radius measurement CircleMeasurement Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not Set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32s Smoothing win
282. op down will display a combination of the following See Dual Sensor System Layout page 51 for more information on layouts Setting Description Top Refers to the Main sensor in a standalone or dual sensor system the Main sensor in Opposite layout or the combined data from both Main and Buddy sensors Bottom Refers to a Buddy sensor in a dual sensor system position in Opposite layout Top Left Refers to a Main sensor in Wide layout or to a Buddy sensor in Reverse layout in a dual sensor system position Top Right Refers to a Buddy sensor in Wide layout or to a Main sensor in Reverse layout in a dual sensor system position To select the source 1 Gotothe Scan page 2 Choose Profile or Surface mode in the Scan Mode panel If one of these modes is not selected tools will not be available in the Measure panel 3 Gotothe Measure page by clicking on the Measure icon 4 Inthe Tools panel click on a tool in the tool list 5 Click on the Parameter tab in the tool configuration area 6 Selectthe profile source in the Source drop down list Regions The Region parameter is used by tools to limit the region in which a measurement will occur See the individual tools for details on the best way to use this parameter with each tool Gocator 2300 amp 2880 Series Gocator Web Interface e Measurement 114 The parameter can be configured graphically using the mouse in the data viewer when the Measure page is active Some measure
283. ory Restore Reset Reset the sensor Interface will reload in 30 seconds Reset Sensor Backups and Factory Reset You can create sensor backups restore from a backup and restore to factory defaults in the Maintenance category Backup files contain all of the information stored on a sensor including jobs and alignment An Administrator should create a backup file in the unlikely event that a sensor fails and a D replacement sensor is needed If this happens the new sensor can be restored with the backup file Backup and Restore Backup and restore all saved jobs and recorded data Restore Backup To create a backup 1 Goto the Manage page and click on the Maintenance category 2 Click the Backup button under Backup and Restore 3 When you are prompted save the backup Backups are saved as a single archive that contains all of the files from the sensor Gocator 2300 amp 2880 Series Gocator Web Interface System Management and Maintenance 61 Factory Restore Restore sensor to factory settings This will erase all saved jobs and settings Factory Restore To restore from a backup 1 Goto the Manage page and click on the Maintenance category 2 Click the Restore button under Backup and Restore 3 When you are prompted select a backup file to restore The backup file is uploaded and then used to restore the sensor Any files that were on the sensor before the restore op
284. ower I O cordset Gocator sensors have been designed to provide adequate grounding through the use of M5 x 0 8 pitch mounting screws Always check grounding with a multi meter to ensure electrical continuity between the mounting frame and the Gocator s connectors D The frame or electrical cabinet that the Gocator is mounted to must be connected to earth ground Recommended Grounding Practices Cordsets If you need to minimize interference with other equipment you can ground the Power amp Ethernet or the Power amp Ethernet to Master cordset depending on which cordset you are using by terminating the shield of the cordset before the split The most effective grounding method is to use a 360 degree clamp CORDSET POWER 8 ETHERNET Xm CORDSET GOCATOR POWER amp ETHERNET TO MASTER Xm Attach the 360 degree clamp before the split To terminate the cordset s shield 1 Expose the cordset s braided shield by cutting the plastic jacket before the point where the cordset splits Gocator 2300 8 2880 Series Getting Started Installation 25 2 Install a 360 degree ground clamp Grounding Master 400 800 1200 2400 The mounting brackets of all Masters have been designed to provide adequate grounding through the use of star washers Always check grounding with a multi meter by ensuring electrical continuity between the mounting frame and RJ45 connectors on the front The frame or electrical cabinet that
285. owing default network configuration Setting Default DHCP 0 disabled IP Address 192 168 1 10 Subnet Mask 255 255 255 0 Gateway 0 0 0 0 disabled The Get Address and Set Address discovery commands can be used to modify a sensor s network configuration Discovery commands are UDP broadcast messages Destination Address Destination Port 255 255 255 255 3220 When a sensor accepts a discovery command it will send a UDP broadcast response Destination Address Destination Port 255 255 255 255 Port of command sender The use of UDP broadcasts for discovery enables a client computer to locate a sensor when the senor and client are configured for different subnets All you need to know is the serial number of the sensor in order to locate it on an IP network Get Address The Get Address command is used to discover Gocator sensors across subnets Gocator 2300 amp 2880 Series Protocols Gocator Protocol 242 Command Field Type Offset Description length 64u 0 Command length type 64s 8 Command type 0x1 signature 64u 16 Message signature 0x0000504455494DAC deviceld 64u 24 Serial number of the device whose address information is queried 0 selects all devices Reply Field Type Offset Description length 64u 0 Reply length type 64s 8 Reply type 0x1001 status 64s 16 Operation status signature 64u 24 Message signature 0x0000504455494DAC deviceld 64u 32 Serial number dhcpEnab
286. page 115 See Regions page 114 See Filters page 117 Gocator Web Interface Measurement 126 Groove The Groove tool provides measurements of V shape U shape or open shape grooves The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 110 for instructions on how to add measurement tools Em Anchoring urce Top Shape U Shape Min Depth 0 mm Min Width 0 mm Max Width 0 mm Region v Width Add 00 width 15 36 Id Em T Output Select Type Max Depth Index The Groove tool uses a complex feature locating algorithm to find a groove and then return measurements See Groove Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel The Groove tool lets you add multiple measurements of the same type to receive measurements and set decisions for multiple grooves Multiple measurements are added by using the drop down above the list of measurements and clicking on the Add button For example if a target has three grooves by adding two measurements choosing Index From The Left in the Select Type setting of those measurements and providing values of 0 and 2 in the Index setting of the measurements respectively the Groove tool will return measurements and decisions for the first and third grooves
287. pand the Alignment panel by clicking on the panel header or the button 4 Clickthe Clear Alignment button The alignment will be erased and sensors will revert to using sensor coordinates Filters are used to post process data along the X or Y axis to remove noise or clean it up before it is output or is used by measurement tools The following types of filters are supported Filter Description Gap Filling Fills in missing data caused by occlusions using information from the nearest neighbors Gap filling also fills gaps where no data is detected which can be due to the surface reflectivity for example dark or specular surface areas or to actual gaps in the surface Median Substitutes the value of a data point with the median within a specified window around the data point Smoothing Applies moving window averaging to reduce random noise Decimation Reduces the number of data points Filters are applied in the order displayed in the table above The filters are configured in the Filters panel on the Scan page Gap filling works by filling in missing data points using either the lowest values from the nearest neighbors or linear interpolation between neighboring values depending on the Z difference between neighboring values in a specified window The sensor can fill gaps along both the X axis and the Y axis X gap filling works by filling in the gaps within the same profile Y gap filling works by filling in gaps in the dire
288. panel If one of these modes is not selected you will not be able to configure the active area 3 Expand the Sensor panel by clicking on the panel header or the button Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 71 4 Click the button corresponding to the sensor you want to configure The button is labeled Top Bottom Top Left or Top Right depending on the system Active area is specified separately for each sensor 5 Click on the Active Area tab 6 Clickthe Select button 7 Clickthe Acquire button to see a scan while setting the active area 8 Setthe active area Enter the active area values in the edit boxes or adjust the active area graphically in the data viewer 9 Clickthe Save button in the Sensor panel Click the Cancel button to cancel setting the active area 10 Save the job in the Toolbar by clicking the Save button m Laser profiling devices are usually more accurate at the near end of their measurement range If your application requires a measurement range that is small compared to the maximum measurement range of the sensor mount the sensor so that the active area can be defined at the near end of the measurement range Tracking Window The Gocator can track a relatively flat object in real time to achieve very high scan rates This feature tracks the object height using a small window that moves dynamically to cover a larger measurement range You can balance t
289. parameters above for more information Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 95 Part scans sometimes contain noise around the edges of the target This noise is usually caused by the sensor s light being reflected off almost vertical sides rounded corners etc Edge filtering helps reduce edge noise in order to produce more accurate and repeatable volume and area measurements as well as to improve positioning of relative measurement regions Optionally the Preserve Interior Feature setting can be used to limit filtering to the outside edges of the target Edge Filtering enabled reflection noise eliminated or reduced Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 96 Edge Filtering enabled Preserve Interior Feature enabled FA Edge Filtering Preserve Interior Feature m Width 1mm Length 1 mm To configure edge filtering Ts Go to the Scan page and choose Surface in the Scan Mode panel If this mode is not selected you will not be able to configure part detection Expand the Part Detection panel by clicking on the panel header or the button and enable part detection if necessary Part detection can be enabled and disabled when Type in the Surface Generation panel is set to Fixed Length Variable Length or Rotational Part detection is automatically enabled when Type is set to Continuous Check the Edge Filtering checkbox to enab
290. ption Delimiter String Field delimiter Terminator String Line terminator InvalidValue String String for invalid output CustomDataFormat String Custom data format CustomFormatEnabled Bool Enables custom data format Gocator 2300 8 2880 Series Gocator Device Files Job Files 237 Transformation File The transformation file contains information about the physical system setup that is used to e Transform data from sensor coordinate system to another coordinate system e g world e Define encoder resolution for encoder based triggering e Define the travel offset Y offset between sensors for staggered operation The transformation file exists as a separate file when Alignment Reference page 56 is set to Fixed When Alignment Reference is set to Dynamic transformation information is included in each job file see page 193 under the Transform element Use the Read File and Write File commands to modify the transformation file See the following sections for the elements contained in the transformation file Alignment Example lt xml version 1 0 encoding UTF 8 lt Transform version 100 gt lt EncoderResolution gt 1 lt EncoderResolution gt lt Speed gt 100 lt Speed gt lt Devices gt lt Device role 0 gt lt X gt 2 3650924829 lt X gt lt Y gt 0 0 lt Y gt lt Z gt 123 4966803469 lt Z gt lt XAngle gt 5 7478302588 lt XAngle gt lt YAngle gt 3 7078302555 lt XAngle gt lt
291. r 2300 and 2880 sensors use two types of cordsets The Power amp Ethernet cordset provides power laser safety interlock to the sensor It is also used for sensor communication via 1000 Mbit s Ethernet with a standard RJ45 connector The Master version of the Power amp Ethernet cordset provides direct connection between the sensor and a Master 400 800 1200 2400 The Gocator I O cordset provides digital I O connections an encoder interface RS 485 serial connection and an analog output Gocator 2300 amp 2880 Series Getting Started e Hardware Overview 20 CORDSET GOCATOR 1 0 Xm a M16 I O CONNECTOR 19 PIN MALE PIGTAILED LEADS CORDSET GOCATOR POWER amp ETHERNET TO MASTER Xm CORDSET POWER amp ETHERNET Xm CP RJ45 8 PIN JACK M16 CONNECTOR 14 PIN FEMALE M16 CONNECTOR 14 PIN FEMALE The maximum cordset length is 60 m See Gocator 2300 amp 2880 I O Connector page 344 and for pinout details See Parts and Accessories page 357 for cordset lengths and part numbers Contact LMI for information on creating cordsets with customized lengths and connector orientations Master 100 The Master 100 is used by the Gocator 2300 series for standalone system setup Master Ethernet Port ETHERNET Master Power Port z 27 Master W QOO w zs im Master Host Port 48V 48V Power Supply Pin 1 Wii Encoder
292. r mm depending on delay domain defined below DelayDomain 32s Output delay domain 0 Time us 1 Encoder mm Measurements 32u CSV Selected measurement sources Measurements options 32u CSV List of available measurement sources Analog The Analog element defines settings for Analog output Gocator 2300 amp 2880 Series Gocator Device Files Job Files 235 The range of valid measurement values DataScaleMin DataScaleMax is scaled linearly to the specified current range CurrentMin Current Max Only one Value or Decision source can be selected at a time Analog Child Elements Element Type Description Event 32s Triggering event 0 None disabled 1 Measurements 2 Software ScheduleEnabled Bool Enables scheduling CurrentMin 64f Minimum current mA CurrentMin min 64f Minimum value of minimum current mA CurrentMin max 64f Maximum value of minimum current mA CurrentMax 64f Maximum current mA CurrentMax min 64f Minimum value of maximum current mA CurrentMax max 64f Maximum value of maximum current mA CurrentInvalidEnabled Bool Enables special current value for invalid measurement value Currentinvalid 64f Current value for invalid measurement value mA Currentinvalid min 64f Minimum value for invalid current mA Currentinvalid max 64f Maximum value for invalid current mA DataScaleMin 64f Measurement value corresponding to minimum current DataScaleMax 64f Measurement value corresponding
293. re invalid a reply with an exception is returned Modbus Application Protocol Specification defines the exceptions and describes the data payload format for each function code The Gocator data includes 16 bit 32 bit and 64 bit data All data are sent in big endian format with the 32 bit and 64 bit data spread out into two and four consecutive registers 32 bit Data Format Register Name Bit Position 0 32 bit Word 1 31 16 1 32 bit Word 0 15 0 64 bit Data Format Register Name Bit Position 0 64 bit Word 3 63 48 1 64 bit Word 2 47 32 2 64 bit Word 1 31 16 a 64 bit Word O 15 0 Modbus registers are 16 bits wide and are either control registers or output registers Control registers are used to control the sensor states e g start stop or calibrate a sensor Gocator 2300 8 2880 Series Protocols e Modbus TCP Protocol 281 The output registers report the sensor states stamps and measurement values and decisions You can read multiple output registers using a single Read Holding Registers or a single Read Input Registers command Likewise you can control the state of the sensor using a single Write Multiple Register command Control registers are write only and output registers are read only Register Map Overview Register Address Name Read Write Description 0 124 Control Registers WO Registers for Modbus commands See Control Registers below for detailed descriptions 300 371 Sensor Sta
294. re output from the Gocator sensors Filter Description Scale and Offset The Scale and Offset settings are applied to the measurement value according to the following formula Scale Value Offset Scale and Offset can be used to transform the output without the need to write a script For example to convert the measurement value from millimeters to thousands of an inch set Scale to 39 37 Hold Last Valid Holds the last valid value when the measurement is invalid Measurement is invalid if there is no valid value Smoothing Applies moving window averaging to reduce random noise in a measurement output The averaging window is configured in number of frames If Hold Last Valid is enabled smoothing uses the output of the Hold Last Valid filter Filters Scale 1 Offset 0 Hold Last Valid F2 smoothing 1 Samples To configure the filters 1 Goto the Scan page by clicking on the Scan icon 2 Choose Profile or Surface mode in the Scan Mode panel If one of these modes is not selected tools will not be available in the Measure panel 3 Gotothe Measure page by clicking on the Measure icon 4 Inthe Tools panel click on a tool in the tool list 5 nthe measurement list select a measurement To select a measurement it must be enabled See Enabling and Disabling Measurements page 111 for instructions on how to enable a measurement Gocator 2300 amp 2880 Series Gocator Web Interface Measure
295. rement value in um 0x80000000 if invalid 84 Decision 0 8u Measurement decision A bit mask where Bit 0 1 Pass 0 Fail Bits 1 7 0 Measurement value OK 1 Invalid value 2 Invalid anchor 85 88 Measurement 1 89 Decision 1 375 378 Measurement 59 379 Decision 59 Gocator 2300 amp 2880 Series Protocols EtherNet IP Protocol 290 Measurement results are reported in pairs of values and decisions Measurement values are 32 bits wide and decisions are 8 bits wide The measurement ID defines the byte position of each pair within the state information The position of the first word can be calculated as 80 5 ID For example a measurement with ID set to 4 can be read from byte 100 high word to 103 low word and the decision at 104 In Profile mode the measurement results are updated after each profile is processed In Surface mode the measurement results are updated after each discrete part has been processed If buffering is enabled in the Ethernet Output panel reading the Extended Sample State Assembly Object automatically advances the buffer See See Ethernet Output page 180 for information on the Output panel Gocator 2300 amp 2880 Series Protocols EtherNet IP Protocol 291 ASCII Protocol This section describes the ASCII protocol available over the Ethernet and serial outputs The protocol communicates using ASCII strings The output result format from the sensor is user configurable Ethernet Communica
296. return measurements See Stud Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel The measurement value can be compared with minimum and maximum constraints to yield a decision The location of the stud is defined at either the stud tip or the stud base The tip is the intersection of the stud axis and the top of the stud the base is the intersection of the stud axis and the surrounding plane The stud shape is defined by the tip height and base height The base and tip heights specify where the shaft with the nominal radius begins and ends Gocator 2300 amp 2880 Series Description One of the following Average Centroid Min X Max X Min Y Max Y Min Z Max Z Median See Decisions page 115 See Regions page 114 See Filters page 117 Sensor Stud Bottom Coordinate system based x on alignment plane A Tip Height Radius Stud Height Base veo M Gocator Web Interface Measurement 168 3D View 2D View cuse Advanced Anchoring Source Top t Stud Radius 5 mm Stud Height 20 mm Base Height 0 mm Tip Height 0 mm FA Region 9 X l 25 mm E 25 mm zz 50 mm Width 50 mm Length 50 mm Height 100 mm Radius a Ww Ecua Output Radius Offset 0 mm Gocator 2
297. ries 2005 2006 2007 2009 2034 2043 2024 2102 2217 2201 2501 2601 2701 20000 20001 20002 20003 20004 20005 20020 20021 20023 20024 20600 Instance Output Index Output Index Output Index Value Amount of non volatile storage used bytes Total amount of non volatile storage available bytes CPU usage percentage of maximum Total available outbound network throughput bytes s Current Ethernet link status Gocator synchronization source 1 FireSync Master device 2 Sensor Current digital input status one bit per input Total number of events triggered Number of search states Only important when tracking is enabled Number of dropped triggers Number of dropped outputs Number of dropped outputs Number of dropped outputs Gocator sensor state 1 Conflict 0 Ready 1 Running Current sensor speed Hz The sensor s maximum speed Number of found spots in the last profile Maximum number of spots that can be found Number of surfaces detected from a top device Indicates whether laser overheat has occurred 0 Has not overheated 1 Has overheated Only available on certain 3B laser devices The length of time in which the laser overheating state occurred Only available on certain 3B laser devices The current replay playback position The number of frames present in the replay The FireSync version used by the Gocator build Protocols
298. rofile tools The Distance measurement is provided in all sensors to demonstrate the measurement capability Enabling and Disabling Measurements All of the measurements available in a tool are listed in the measurement list in the Tools panel after a tool has been added To configure a measurement you must enable it Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 111 Tools Profile Area Add Profile Dimension Source Top Feature 1 Bottom gt SH Feature 2 Top 2 3 Width 167 960 Id 0 Parameters Filters Decision Min 167 mm Max 168 mm d To enable a measurement im 2 Go to the Scan page by clicking on the Scan icon Choose Profile or Surface mode in the Scan Mode panel If one of these modes is not selected tools will not be available in the Measure panel Go to the Measure page by clicking on the Measure icon In the measurements list check the box of the measurement you want to enable The measurement will be enabled and selected The Output tab which contains output settings will be displayed below the measurements list For some measurements a Parameters tab which contains measurement specific parameters will also be displayed To disable a measurement IM 2 Go to the Scan page by clicking on the Scan icon Choose Profile or Surface mode in the Scan Mode panel Go to the Measure page by clicking on the Measure icon In the measureme
299. rom a recording f Press Play to begin simulation Replay E yee cy Replay Step on forward Step back Play Gocator 2300 2880 Series Gocator Web Interface User Interface Overview 45 Recording and playback controls when replay is on To replay recorded data 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background will turn blue and a Replay Mode Enabled message will be displayed 2 Usethe Replay slider or the Step Forward Step Back or Play buttons to review data The Step Forward and Step Back buttons move and the current replay location backward and forward by a single frame respectively The Play button advances the replay location continuously animating the playback The Stop button replaces the Play button while playing can be used to pause the replay at a particular location The Replay slider or Replay Position box can be used to go to a specific replay frame To simulate measurements on recorded data 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background will turn blue and a Replay Mode Enabled message will be displayed 2 Goto the Measure page Modify settings for existing measurements add new measurement tools or delete measurement tools as desired 3 Usethe Replay Slider Step Forward Step Back or Play button to simulate measurements Step or play through recorded data to execute the measuremen
300. rotocol and measurement selection nb patada Pie EIP Command in Progress 1 8 bit Buffering should be enabled when part detection is used and Calibration State 2 8 bit if multiple objects may be detected within a time frame Encoder Position 3 64 bit shorter than the polling rate of the PLC z Time 11 64 bit Configuration Name Length 19 8 bit Configuration Name 20 var Stamp Inputs 0 16 bit Z Encoder 2 64 bit Exposure 10 32 bit Temperature 14 32 bit M lt a i gt To receive commands and send results using EtherNet IP messages 1 Goto the Output page 2 Click on Ethernet in the Output panel 3 Select EtherNet IP in the Protocol option Unlike using the Gocator Protocol you don t select which measurement items to output The Ethernet panel will list the register addresses that are used for EtherNet IP messages communication The EtherNet IP protocol can be used to operate a sensor EtherNet IP only supports a subset of the tasks that can be accomplished in the web interface A sensor can only process EtherNet IP commands when the EtherNet IP is selected in the Protocol option 4 Check the Buffering checkbox if needed Buffering is needed for example in Surface mode if multiple objects are detected within a time frame shorter than the polling rate of the PLC If buffering is enabled with the EtherNet IP protocol the buffer is automatically advanced when the Sample State Assembly Object see page 289 is read Gocator 2300
301. rotocols Gocator Protocol 255 Start Alignment The Start Alignment command is used to start the alignment procedure on a sensor Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4600 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4600 status 32s 6 Reply status opid 32s 10 Operation ID Start Exposure Auto set The Start Exposure Auto set command is used to start the exposure auto set procedure on a sensor Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4601 role 32s 6 Role of sensors to auto set 0 Main 1 Buddy Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4601 status 32s 6 Reply status opid 32s 10 Operation ID Software Trigger The Software Trigger command causes the sensor to take a snapshot while in software mode and in the Running state Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4510 Gocator 2300 amp 2880 Series Protocols Gocator Protocol 256 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4510 s
302. rrent 40 Surface length rows Surface width columns X scale nm Y scale nm Z scale nm X offset um Y offset um Z offset um Source 0 Top 1 Bottom 2 Top Left 3 Top Right Exposure ns Rotation microdegrees Reserved Surface ranges Surface Intensity Field size control attributeSize length L width W xScale Gocator 2300 amp 2880 Series Type 32u 16u 16u 32u 32u 32u Offset 0 4 12 16 Description Count of bytes in message including this field Bit 15 Last message flag Bits 0 14 Message type identifier Size of attributes in bytes min 32 current 32 Surface length rows Surface width columns X scale nm Protocols Gocator Protocol 273 Field yScale xOffset yOffset source exposure reserved 3 intensities H W Type 32u 20 32s 24 32s 28 8u 32 32u 33 8u 37 8u 40 Offset Description Y scale nm X offset um Y offset um Source 0 Top 1 Bottom 2 Top Left 3 Top Right Exposure ns Surface intensities Measurement Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier count C 32u 6 Count of measurements in this message reserved 2 8u 10 Reserved id 16u 12 Measurement identifier measurements C Measurement 16 Array of measurement
303. s Partial Detection Enable if only part of the hole is within the measurement region If disabled the hole must be completely in the region of interest for results to be valid Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 156 Description Parameter Decision See Decisions page 115 Region See Regions page 114 Output See Filters page 117 Measurement Region The center of the hole must be inside the measurement region even if the Partial Detection option is enabled Measurement Region Measurement Region Hole Hole Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 157 Opening The Opening tool locates rounded rectangular and rounded corner openings The opening can be ona surface at an angle to the sensor See Adding and Removing Tools page 110 for instructions on how to add measurement tools The tool uses a complex feature locating algorithm to find a hold and then return measurements See Opening Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel The measurement value can be compared with minimum and maximum constraints to yield a decision You can select the measurement region in which the opening is expected to appear The algorithm can separate out background information that appears inside the openi
304. s History Scan Count Trigger Drop Analog Output Drop Element Description 1 System Displays sensor state and health information See System Panel below 2 Measurements Displays measurement statistics See Measurements next page System Panel The following state and health information is available in the System panel on the Dashboard page Dashboard General System Values Name Description Sensor State Application Version Master Connection Uptime CPU Usage Gocator 2300 amp 2880 Series Current sensor state Ready or Running Gocator firmware version Whether Master is connected Length of time since the sensor was power cycled or reset Sensor CPU utilization Gocator Web Interface Dashboard 190 Name Description Encoder Value Encoder Frequency Memory Usage Storage Usage Temperature Ethernet Traffic Internal Temperature Processing Latency Processing Latency Peak Dashboard History Values Current encoder value ticks Current encoder frequency Hz Sensor memory utilization MB used MB total available Sensor flash storage utilization MB used MB total available Sensor internal temperature C Network output utilization MB sec Internal sensor temperature Last delay from camera exposure to when results can be scheduled to Peak latency delay from camera exposure to when results can be scheduled to Rich I O Reset on start Name Description
305. s see below Measurement Field Type Offset Description value 32s 0 Measurement value decision 8u 4 Measurement decision bitmask Bit 0 1 Pass O Fail Bits 1 7 0 Measurement value OK 1 Invalid value 2 Invalid anchor reserved 3 8u 5 Reserved Gocator 2300 amp 2880 Series Protocols Gocator Protocol 274 Alignment Result Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier attributesSize 16u 6 Size of attributes in bytes min 8 current 8 opid 32u 8 Operation ID status 32s 12 Operation status Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier attributesSize 16u 6 Size of attributes in bytes min 12 current 12 opld 32u 8 Operation ID status 32s 12 Operation status exposure 32s 16 Exposure result ns Health Results A client can receive data messages from a Gocator sensor by connecting to the Data or Health TCP channels Result Channels Channel Port Description Data 3196 Sensor sends data messages Health 3194 Sensor sends health messages The ports above can be connected simultaneously and the sensor will also accept multiple connections on each port Messages that are received on the Data and Health channels use a common structure call
306. s 2M laser components Class 2M laser components would not cause PP LOO EAM permanent damage to the eye under E dl le reasonably foreseeable conditions of operation a MN provided that any exposure can be terminated case ran PIDE by the blink reflex assumed to take 0 25 IEC 60825 1 2007 with ho standards relating fo laser prod Y seconds Because classification assumes the c MN blink reflex the wavelength of light must be in the visible range 400 nm to 700 nm The Maximum Permissible Exposure MPE for visible radiation for 0 25 seconds is 25 watts per square meter which is equivalent to 1 mW entering an aperture of 7 mm diameter the assumed size of the pupil Class 3R laser components Class 3R laser products emit radiation where LASER RADIATION i i i i i i AVOID DIRECT EYE EXPOSURE direct intrabeam viewing is potentially ee ee hazardous but the risk is lower with 3R lasers PEAK POWER 5 mw than for 3B lasers Fewer manufacturing EMITTED WAVELENGTH 660 nm This product is designated for use solely as a requirements and control measures for 3R laser IEC 60825 1 2007 SEDE canis rdc le pda specified in U S FDA CFR Title 21 part 1040 users apply than for 3B lasers and EC fonde Class 3B laser components Class 3B components are unsafe for eye LASER RADIATION i i AVOID EXPOSURE TO THE BEAM exposure Usually only ocular protection will be E required Diffuse reflections are safe if viewed PEAK POWER 130 mw for less t
307. s a mistake in the script syntax the result will be shown as a Invalid with a red border in the data viewer when you run the sensor Outputs from multiple measurement tools can be used as inputs to the script A typical script would take results from other measurement tools using the value and decision function and output the result using the output function Stamp information such as time and encoder stamps are available in the script whereas the actual profile data is not The script engine is not powerful enough to process the data itself Only one script can be created Script Measurement A Script measurement can be used to program a custom measurement using a simplified C based syntax Similar to other measurement tools a script measurement can produce multiple measurement values and decisions for the output The following elements of the C language are supported Supported Elements Elements Supported Control Operators if while do for switch and return Data Types char int unsigned int float double long long 64 bit integer Arithmetic and Logical Standard C arithmetic operators except ternary operator i e condition trueValue Operator falseValue Explicit casting e g int a int a float is not supported Function Declarations Standard C function declarations with argument passed by values Pointers are not supported Measurement Functions Function Description int Measurement Exists int id Test
308. s describe how to set up the sensor connections and networking how to calibrate encoders and choose alignment reference and how to perform maintenance tasks Manage Page Overview Gocator s system and maintenance tasks are performed on the Manage page no i se Manage Scan Measure Output ia g Job5 default Manage tamo Replay SRI Ee f Sensor System Main Layout and Buddy assignment Networking IP address settings Motion and Alignment Encoder resolution and travel speed Jobs Download upload and set default Security Admin and Technician passwords Maintenance Upgrade backup restore reset Element 1 Sensor System 2 Networking 3 Motion and Alignment 4 Jobs 5 Security 6 Maintenance Gocator 2300 amp 2880 Series Normal Buddy Model 2340 Status rm Serial 15776 Version Serial BB Autostart Master Visible Sensors Serial Version Main sensor Description Contains settings for configuring sensor system and layout and boot up See Sensor System next page Contains settings for configuring the network See Networking page 54 Contains settings to configure the encoder See Motion and Alignment page 55 Lets you manage jobs stored on the sensor See Jobs page 57 Lets you change passwords See Security page 59 Lets you upgrade firmware create restore backups and reset sensors See Maintenance page 60 Gocator Web
309. s for the existence of a measurement by ID Parameters id Measurement ID Returns 0 measurement does not exist 1 measurement exists Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 174 Function Description int Measurement Valid int id double Measurement Value int id int Measurement Decision int id int Measurement NamekExists char toolName char measurementName int Measurement Id char toolName char Determines if a measurement value is valid by its ID Parameters id Measurement ID Returns 0 Measurement is invalid 1 Measurement is valid Gets the value of a measurement by its ID Parameters id Measurement ID Returns Value of the measurement 0 if measurement does not exist 1 if measurement exists Gets the decision of a measurement by its ID Parameters ID Measurement ID Returns Decision of the measurement 0 if measurement decision is false 1 If measurement decision is true Determines if a measurement exist by name Parameter toolName Tool name measurementName Measurement name Returns 0 measurement does not exist 1 measurement exists Gets the measurement ID by the measurement name measurementName Parameters toolName Tool name measurementName Measurement name Returns 1 measurement does not exist Other value Measurement ID Output Functions Function Description void Output Set double value i
310. s not clock or encoder Gocator 2300 amp 2880 Series 0 Time 1 Encoder Gocator Device Files Job Files 203 Element Type Description FrameRate 64f Frame rate for time trigger Hz FrameRate min 64f Minimum frame rate Hz FrameRate max 64f Maximum frame rate Hz FrameRate maxSource 32s Source of maximum frame rate limit 0 Imager 1 Surface generation MaxFrameRateEnabled Bool Enables maximum frame rate ignores FrameRate EncoderSpacing 64f Encoder spacing for encoder trigger mm EncoderSpacing min 64f Minimum encoder spacing mm EncoderSpacing max 64f Maximum encoder spacing mm EncoderSpacing minSource 32s Source of minimum encoder spacing 0 Resolution 1 Surface generation EncoderTriggerMode 32s Encoder triggering mode 0 Tracking backward 1 Bidirectional 2 Ignore backward Delay 64f Trigger delay us or mm Delay min 64f Minimum trigger delay us or mm Delay max 64f Maximum trigger delay us or mm GateEnabled Bool Enables digital input gating GateEnabled used Bool True if this parameter can be configured GateEnabled value Bool Actual value if the parameter cannot be configured The Tools element contains measurement tools The following sections describe each tool and its available measurements Tools Child Elements Element Type Description options String CSV A list of the tools available in the currently selected scan mode lt ToolType gt Sectio
311. sed for anchoring AnchorW options String CSV The X measurements IDs available for anchoring Anchor Z String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring Feature ProfileFeature Element for feature detection Measurements WX PositionMeasurement X measurement Measurements VZ PositionMeasurement Zmeasurement PositionMeasurement Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Gocator 2300 amp 2880 Series Gocator Device Files Job Files 215 Element Type Description Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold ProfileStrip A ProfileStrip element defines settings for a profile strip tool and one or more of its measurements ProfileStrip Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source Anchor X String CSV The X measurements IDs used for anchoring AnchorW options String CSV The X measurements IDs available for anchori
312. sed in cases where the surface around the hole is not flat Gocator Web Interface Measurement 150 Parameter Description Same Z level Detected Hole Same Z level When this option is set to Autoset the algorithm automatically determines the reference region When the option is not set to Autoset the user manually specifies the reference region The location of the reference region is relative to the detected center of the hole and positioned on the nominal surface plane When the Reference Regions option is disabled the tool measures the hole s Z position using all the data in the measurement region except for a bounding rectangular region around the hole Tilt Correction Tilt of the target with respect to the alignment plane When this option is set to Autoset the tool automatically detects the tilt Otherwise the user must enter the angles manually Autoset requires the measurement region to cover more areas on the surface plane than other planes The results from the Plane X and Y tool can be used for angles X and Y parameters Partial Detection Enable if only part of the hole is within the measurement region If disabled the hole must be completely in the region of interest for results to be valid Decision See Decisions page 115 Region See Regions page 114 Output See Filters page 117 Ellipse The Ellipse tool provides measurements for the major and minor axis lengths of an ellipse fitted to the
313. sensors are mounted such that the camera from one sensor can detect the laser from the other sensor the Exposure Multiplexing option can be used to eliminate laser interference This setting creates a time offset for laser exposures and ensures that interfering lasers are not strobed at the same time Using the Exposure Multiplexing option may reduce the maximum frame rate Layout Wide ss Main sensor Exposure Multiplexing To enable disable exposure multiplexing 1 Goto the Manage page and click on the Sensor System category 2 Inthe Layout section check uncheck the Exposure Multiplexing option This option is only displayed if a buddy is assigned Networking The Networking category on the Manage page provides network settings Settings must be configured to match the network to which the Gocator sensors are connected Gocator 2300 amp 2880 Series Gocator Web Interface System Management and Maintenance 54 Manage lt Sensor System Networking Layout and Buddy assignment N king Type Manual IP address settings IP Motion and Alignment Subnet Mask Enc er resolution and travel spe Jobs Download upload and set default Security Admin and Technician passwords Maintenance Upgrade backup restore reset To configure the network settings 1 Goto the Manage page 2 Inthe Networking category specify the Type IP Subnet Mask and Gateway settings T
314. sing drops detected CPU at 100 CPU warning message The Speed bar displays the frame rate of the sensor A warning symbol 4 will appear next to it if triggers external input or encoder are dropped because the external rate exceeds the maximum frame rate In both cases a warning message will be temporarily displayed in the lower right corner of the web interface Click on the warning symbol to redisplay the warning message Open the log for details on the warning See Log above for more information Gocator 2300 amp 2880 Series Gocator Web Interface User Interface Overview 48 The data viewer is displayed in both the Scan and the Measure pages but displays different information depending on which page is active When the Scan page is active the data viewer displays sensor data and can be used to adjust regions of interest Depending on the selected operation mode page 65 the data viewer can display video images 3D profiles or 3D surfaces For details see Data Viewer page 97 When the Measure page is active the data viewer displays sensor data onto which representations of measurement tools and their measurements are superimposed For details see Data Viewer page 110 D Because Gocator 2880 has two cameras two profiles are displayed in the Gocator web interface Gocator 2300 amp 2880 Series Gocator Web Interface User Interface Overview 49 System Management and Maintenance The following section
315. stration X Determines the X position of the center of the smallest rectangle that encapsulates the part The value returned is relative to the part Y Determines the Y position of the center of the smallest rectangle that encapsulates the part The value returned is relative to the part Z Determines the Z position of the center of the smallest rectangle that encapsulates the part The value returned is relative to the part Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 144 Measurement Illustration Width Width Determines the width of the smallest rectangle box dac that encapsulates the part The width reports the dimension of the box in the direction of the minor axis When rotation is enabled the bounding box is rotated by the angle of an ellipse fitted to the part data Length Determines the length of the smallest rectangle box that encapsulates the part The length reports the dimension of the box in the direction of the major axis When rotation is enabled the bounding box is rotated ee Length by the angle of an ellipse fitted to the part data Height Determines the height thickness of the smallest rectangle box that encapsulates the part Height Z Angle Determines the rotation about the Z axis and the angle of the bounding box relative to the X axis O Z Angle Z Global X ES Determines the X position of the center of the smallest N rectangle that e
316. sure in the Exposure tab in the Sensor panel see page 74 If the Multiple option is selected in the Exposure tab and multiple exposures have been set a drop down is displayed at the top of the data viewer This drop down lists the exposures that have been added Choosing an exposure changes the view of the data viewer to that exposure If the Single or Dynamic option is selected in the Exposure tab the exposure drop down will not be shown and only one exposure will be displayed Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 98 ooo 1 Mo ba Y pixels 600 700 800 900 1000 1100 1200 X pixels To select the exposure view of the display 1 Goto the Scan page and choose Video mode in the Scan Mode panel 2 Select the camera view in the data viewer Select Main or Buddy from the first drop down list next to View at the top of the data viewer 3 Select the exposure Select the exposure from the second drop down list next to View at the top of the data viewer This drop down is only be visible if the Multiple option has been selected To display a color exposure overlay on the video image to help set the correct exposure check Exposure Indication at the top of the data viewer Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 99 Configure Exposure Show Spots m Show Dropouts f Video ae View Video Top Exposure1 Mo
317. t Parts are displayed using a height map which is a top down view of the XY plane where color represents height See Data Viewer next page Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 109 Element Description 3 Feature Area Configurable region of interest from which feature points are detected These feature points are used to calculate the measurements The number of feature areas displayed depends on which measurement tool is currently selected Regions such as active area or measurement regions can be graphically set up using the data viewer When the Measure page is active the data viewer can be used to graphically configure measurement regions Measurement regions can also be configured manually in measurements by entering values into the provided fields see page 114 For instructions on how to set up measurement regions graphically see page 106 Tools Panel The Tools panel lets you add configure and manage tools Tools contain related measurements For example the Dimension tool provides Height Width and other measurements Some settings apply to tools and therefore to all measurements whereas some settings apply to specific measurements See Profile Measurement page 119 and Surface Measurement on page 142 for information on the measurement tools and their settings Tool names in the user interface include the scan mode but not in the manual So for example D you will see Profile
318. t A data format box will appear in which you can type the Gocator 2300 amp 2880 Series Gocator Web Interface Output 188 format string See Custom Result Format page 294 for the supported format string syntax 5 Select the measurments to send Select measurements by placing a check in the corresponding check box 6 Setthe Special Characters Select the delimiter termination and invalid value characters Special characters are used in commands and standard format data results Gocator 2300 amp 2880 Series Gocator Web Interface Output 189 Dashboard The following sections describe the Dashboard page Dashboard Page Overview The Dashboard page summarizes sensor health information and measurement statistics x um Mo T Y O Speed OHz Manage Scan Measure Output EI IZIT Inew m ttam ey a SAA SALAS 1 System Measurements Reset Stats 2 Name Measurements i Invalid General Profile Dimension Width a1 E yc S Sensor State Ready Profile Dimension Height 2i 1 267 Application Version 4 0 9 71 Profile Dimension Center X 1 175 Master Connection Main Disconnected Profile Panel Gap yi 0 000 Master Connection Buddy N A Uptime 0D 0H 7M 50S CPU Usage 0 Current Speed 0 199 Hz Encoder Value 0 Encoder Frequency 0Hz Memory Usage 120 55 256 00 MB Storage Usage 6 97 39 88 MB Ethernet Traffic 0 00 119 21 MB s Internal Temperature 48 C Processing Latency 7481 us Processing Latency Peak 7521 u
319. t Number Gocator 2880 with Class 3B laser 2880 3B Masters Description 312880A 3B 00 Part Number Master 100 for single sensor development only Master 400 for networking up to 4 sensors Gocator 2300 amp 2880 Series 30705 30680 357 Description Part Number Master 800 for networking up to 8 sensors 30681 Master 1200 for networking up to 12 sensors 30649 Master 2400 for networking up to 24 sensors 30650 Cordsets Description Part Number 2m I O cordset open wire end 30864 2m 5m I O cordset open wire end 30862 10m I O cordset open wire end 30863 15m I O cordset open wire end 30864 15m 20m I O cordset open wire end 30864 20m 25m I O cordset open wire end 30864 25m 2m Power and Ethernet cordset 1x open wire end 1x RJ45 end 30861 2m 5m Power and Ethernet cordset 1x open wire end 1x RJ45 end 30859 10m Power and Ethernet cordset 1x open wire end 1x RJ45 end 30860 15m Power and Ethernet cordset 1x open wire end 1x RJ45 end 30861 15m 20m Power and Ethernet cordset 1x open wire end 1x RJ45 end 30861 20m 25m Power and Ethernet cordset 1x open wire end 1x RJ45 end 30861 25m 2m Power and Ethernet to Master cordset 2x RJ45 ends 30858 2m 5m Power and Ethernet to Master cordset 2x RJ45 ends 30856 10m Power and Ethernet to Master cordset 2x RJ45 ends 30857 15m Power and Ethernet to Master cordset 2x RJ45 ends 30858 15m 20m Power and Ethernet to Master cordset 2x RJ45 ends 30858 20m 2
320. t tools on the recording Individual measurement values can be viewed directly in the data viewer Statistics on the measurements that have been simulated can be viewed in the Dashboard page see Dashboard page 190 To clear recorded data 1 Stopthe sensor if itis running by clicking on the Stop button 2 Click on the Clear Replay Data button IM Downloading Exporting and Uploading Recorded Data Recorded data can be downloaded or exported to the client computer or uploaded to the Gocator Export is often used for processing the recorded data using third party tools Recorded data can also be downloaded in a binary format which is used to back up the data for reviewing in the future D Recorded data is not saved or loaded when you save or activate jobs in the toolbar Replay Mode Enabled A Export Data displayed is simulated from a recording f Press Play to begin simulation Jobi tvm 3 321 l 321 Replay EY E aA MET ee S Download Clear replay Replay Upload on Gocator 2300 amp 2880 Series Gocator Web Interface User Interface Overview 46 To download recorded data 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background will turn blue and a Replay Mode Enabled message will be displayed 2 Click the Download button Y To upload recorded data 1 Toggle Replay mode on by setting the slider to the left in the Toolbar The slider s background will turn blue
321. t values and decisions for the output See Adding and Removing Tools page 110 for instructions on howto add measurement tools Top 250 uS Code E fa double DimensionDistance Measurement Value 2 if Measurement Valid 2 Output Set DimensionDistance 10000 1 se Output SetAt 0 0 S to apply change Add Output 0 10117 077 Id See Script Measurement page 174 for more information on the script syntax To create or edit a Script measurement 1 Adda new Script tool or select an existing Script measurement 2 Editthe script code 3 Add script outputs using the Add button For each script output that is added an index will be added to the Output drop down and a unique ID will be generated Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 141 To remove a Script output click on the o button next to it 4 Click the Save button m to save the script code If there is a mistake in the script syntax the result will be shown as a Invalid with a red border in the data viewer when you run the sensor Outputs from multiple measurement tools can be used as inputs to the script A typical script would take results from other measurement tools using the value and decision function and output the result using the output function Stamp information such as time and encoder stamps are available in the script whereas the actual profile data is not The script engine is not powerful enough
322. tal system power requirements Master 1200 2400 Dimensions The dimensions of Master 1200 and Master 2400 are the same 482 6 448 6 mE mE OOO06900000000000000009066860606000009098600090090900900006086660606000060060660600000 Y Y O 44 Master pen 1200 Pee a Pil 36 3E 3E 3E 3 C J 64 Gocator 2300 amp 2880 Series Specifications e Master 1200 2400 356 Parts and Accessories Gocator Part Number Legend Model 31 XXXXX YY ZZ Ls tools 00 Standard Series Laser class 01 Profile Tools 2M or 3R or 3B Gocator 2300 Sensors Description Part Number Gocator 2320 with Class 2M laser 2320 2M with Class 3R laser 2320 3R Gocator 2330 with Class 2M laser 2330 2M with Class 3R laser 2330 3R with Class 3B laser 2330 3B Gocator 2340 with Class 3R laser 2340 3R with Class 3B laser 2340 3B Gocator 2350 with Class 3R laser 2350 3R with Class 3B laser 2350 3B Gocator 2370 with Class 3B laser 2370 3B Gocator 2375 with Class 3B laser 2375 3B Gocator 2380 with Class 3B laser 2380 3B Standard tools Measurement tools Gocator 2880 Sensor 312320A 2M 00 312320A 3R 00 312330A 2M 00 312330A 3R 00 312330A 3B 00 312340A 3R 00 312340A 3B 00 312350A 3R 00 312350A 3B 00 312370A 3B 00 312375A 3B 00 312380A 3B 00 31XXXXX YY 00 31XXXXX YY 01 Description Par
323. tatus 32s 6 Reply status Schedule Digital Output The Schedule Digital Output command schedules a digital output event The digital output must be configured to accept software scheduled commands and be in the Running state See Digital Output page 183 for information on setting up the digital output Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4518 index 16u 6 Index of the output starts from 0 target 64s 8 Specifies the time clock ticks or position um of when the event should happen The target value is ignored if the Signal setting in Digital in the Output panel is not set to Scheduled The output will be triggered immediately See Digital Output page 183 for information on setting Signal value 8u 16 Specifies the target state 0 Set to low continuous 1 Set to high continuous Ignored if output type is pulsed Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4518 status 32s 6 Reply status Schedule Analog Output The Schedule Analog Output command schedules an analog output event The analog output must be configured to accept software scheduled commands and be in the Running state See Analog Output page 186 for information on setting up the analog output Command Field Type Offset Description length 32u 0 Command size including this
324. ters Parameter Base Type Location Strip Height Strip X and Strip Z measurements only Left Edge Right Edge Select Type Description Affects detection of rising and falling edges Base Type Flat Base Type None When Base Type is set to Flat both strip raised area and base support regions are needed When set to None only a point that deviates from a smooth strip support region is needed to find a rising or falling edge Specifies the strip position from which the measurements are performed Left Left edge of the strip Right Right edge of the strip Center Center of the strip Specifies the features that will be considered as the strip s left edge You can select more than one condition Rising Rising edge detected based on the strip edge parameters Falling Falling edge detected based on the strip edge parameters Data end First valid profile data point in the measurement region Void Gap in the data that is larger than the maximum void threshold Gaps connected to the measurement region s boundary are not considered as a void See Strip Start and Terminate Conditions in the Gocator Measurement Tool Technical Manudl for the definitions of these conditions Specifies the features that will be considered as the strip s right edge You can select more than one condition Rising Rising edge detected based on the strip edge parameters Falling Falling edge detected
325. tes RO Report sensor states See State next page for detailed descriptions 900 999 Stamps RO Return stamps associated with each profile or surface See State next page for detailed descriptions 1000 1060 Measurements amp RO 20 measurement and decision pairs See Decisions Measurement Registers page 284 for detailed descriptions Control registers are used to operate the sensor Register 0 stores the command to be executed Registers 1 to 21 contain parameters for the commands The Gocator executes a command when the value in Register 0 is changed To set the parameters before a command is executed you should set up the parameters and the command using a single Multiple Write register command Control Register Map Register aT Name Read Write Description Address 0 Command Register WO Command register See the Command Register Values table below for more information 1 21 Job Filename WO Null terminated filename Each 16 bit register holds a single character Only used for Load Job Command Specifies the complete filename including the file extension job The values used for the Command Register are described below Command Register Values Value Name Description 0 Stop running Stop the sensor No effect if sensor is already stopped 1 Start Running Start the sensor No effect if sensor is already started 2 Align stationary target Start the alignment process State register 301 will be set to 1 busy
326. teterat etes cee 296 Stationary Alignment L 297 Moving Alignment 2 297 Clear Alignment LLuuuu 298 Data Commands 2 298 Get Result 1 0 0 0 cece eee cece ee eee eee 298 Get Value o3 ure cele ecw EE 299 GetIDEGISION 2 sagen uote iia 300 Health Commands 300 Get Healt scsi suus eie rx DE uet DUX 300 Software Development Kit 302 Setup and Locations LuLuueue 302 Class Reference 302 Gocator 2300 amp 2880 Series Examples ai cee cede d Ee eee 302 Sample Project Environment Variable 303 Header Files 1 0 0 eee cece cece eee eee eee 303 Class Hierarchy cicer ID ex Ue tcu 303 GOSYSTEM TTE 303 GOSSISOl osses a i eee lo Aaa Lu iore 304 GOSetUp acce nents il 304 GOL AVOUT cese sees canoe a ae aie 304 GONGOIS uL tle r en t DE 304 GoTransform 2 2 2 2 22222222 eee eee 304 GoOutput csleeeelee ee 304 Data TYPES ciutat iaa citas 304 Value Types coneccion aos 304 Output Types 2 2222222 22222222 2 305 GoDataSet Type iris 305 Measurement Values and Decisions 306 Operation Workflow seeeeeeeeeee 306 Initialize GoSdk API Object 307 Discover Sensors 2 cece eee eee eee eee 308 Connect Sensors cit oe ee 308 Configure Sensors cece eee cece eee 308 Enable Data
327. the EtherNet IP messages and data formats EtherNet IP communication enables the client to e Switch to a different active job e Align and run sensors e Receive sensor states stamps and measurement results EtherNet IP is enabled in the Output panel For more information see Ethernet Output page 180 To EtherNet IP enabled devices on the network the sensor information is seen as a collection of objects which have attributes that can be queried For example an assembly object is a type of object with a data attribute that can be accessed with the GetAttribute and SetAttribute commands The Gocator uses assembly objects to take commands and provide sensor state and measurement values The PLC sends a command to start a Gocator The PLC then periodically queries the attributes of the assembly objects for its latest measurement results In EtherNet IP terminology the PLC is a scanner and the Gocator is an adapter The Gocator supports unconnected or connected explicit messaging with TCP Implicit I O messaging is not supported The default EtherNet IP ports are used Port 44818 is used for TCP connections and UDP queries e g list Identity requests Port 2222 for UDP I O Messaging is not supported Basic Object Attribute Name Type Value Description Access 1 Vendor ID UINT 1256 ODVA Provided Vendor ID Get 2 Device Type UINT 43 Device Type Get 3 Product Code UINT 2000 Product Code Get 4 Revision USINT xx Byte 0 Major
328. the Master is mounted to must be connected to earth ground D Sensors should be mounted using four or six depending on the model M5 x 0 8 pitch screws of suitable length The recommended thread engagement into the housing is 8 10 mm Proper care should be taken in order to ensure that the internal threads are not damaged from cross threading or improper insertion of screws With the exception of Gocator 2880 sensors should not be installed near objects that might occlude a camera s view of the laser Gocator 2880 is specifically designed to compensate for occlusions l Sensors should not be installed near surfaces that might create unanticipated laser reflections Gocator 2300 amp 2880 Series Getting Started Installation 26 The sensor must be heat sunk through the frame it is mounted to When a sensor is properly heat sunk the difference between ambient temperature and the temperature reported in the sensor s health channel is less than 15 C Gocator sensors are high accuracy devices The temperature of all of its components must be in equilibrium When the sensor is powered up a warm up time of at least one hour is required to reach a consistent spread of temperature within the sensor Orientations The examples below illustrate the possible mounting orientations for standalone and dual
329. therwise the server would close the connection The timer is reset and updated with every command The Reset command reboots the Main sensor and any Buddy sensors All sensors will automatically reset 3 seconds after the reply to this command is transmitted Gocator 2300 amp 2880 Series Protocols Gocator Protocol 258 Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4300 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4300 status 32s 6 Reply status The Backup command creates a backup of all files stored on the connected sensor and downloads the backup to the client Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x1013 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1013 status 32s 6 Reply status length 32u 10 Data length data length byte 14 Data content Restore The Restore command uploads a backup file to the connected sensor and then restores all sensor files from the backup D The sensor must be reset or power cycled before the restore operation can be completed Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u
330. tion Gocator s Ethernet communication is bidirectional Measurement results are sent on the Ethernet output in one of two modes Polling or Asynchronous The ASCII protocol over Ethernet enables the dient to e Switch to a different job e Align run and trigger sensors e Receive sensor states health indicators stamps and measurement results As with the Gocator Protocol see page 240 there are separate channels for Control Data and Health messages The Control channel is used for commands The Data channel is used to receive and poll for measurement results The Health channel is used to receive health indicators The port number used for each channel is configurable Each port can accept multiple connections up to atotal of 16 connections for all ports Channels can share the same port or operate on individual ports The default port number is 8190 for all channels The following port numbers are reserved for Gocator internal use 80 843 2000 2100 2500 2600 3100 3250 On the Ethernet output the Data channel can operate asynchronously or by polling Under asynchronous operation measurement results are automatically sent on the Data channel when the sensor is in the running state and results become available The result is sent on all connected data channels Under polling operation when the sensor receives a Get Result command it will send the latest measurement results on the same data channel that the request is received
331. tion Gets the frame index of the current frame Gets the time stamp of the current frame Gets the encoder position of the current frame Gets the encoder index position of the current frame Gets the digital input state of the current frame Description float sqrt float x float sin float x float cos float x float tan float x float asin float x float acos float x float atan float x float pow float x float y float fabs float x Example Accumulated Volume Calculates square root of x Calculates sin x x in radians Calculates cos x x in radians Calculates tan x x in radians Calculates asin x x in radians Calculates acos x x in radians Calculates atan x x in radians Calculates the exponential value x is the base y is the exponent Calculates the absolute value of x The following example shows how to create a custom measurement that is based on the values from other measurements and persistent values The example calculates the volume of the target using a series of box area measurement values Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 177 Calculate the volume of an object by accumulating the boxArea measurements Encoder Resolution is 0 5mm BoxArea Measurement ID is set to 1 long long encoder res 500 long long Volume Memory Get64s 0 Memory Set64s 0 Volume if Volume 1000000 Output_Set Volume 1 e
332. tion One of the following maximum height minimum Thickness measurement only height average height median height the height at the 2D centroid in the XY plane or the height at the 3D centroid in XYZ space Decision See Decisions page 115 Region See Regions page 114 Output See Filters page 117 Script A Script measurement can be used to program a custom measurement using a simplified C based syntax A script measurement can produce multiple measurement values and decisions for the output See Adding and Removing Tools page 110 for instructions on howto add measurement tools Top 250 uS Code E fa double DimensionDistance Measurement Value 2 if Measurement Valid 2 Output Set DimensionDistance 10000 1 se Output SetAt 0 0 utton or Ctri S to apply change exit full screen Output Add Output 0 10117 077 Id See Script Measurement next page for more information on the script syntax Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 173 To create or edit a Script measurement ds 2 Add a new Script tool or select an existing Script measurement Edit the script code Add script outputs using the Add button For each script output that is added an index will be added to the Output drop down and a unique ID will be generated To remove a script output click on the o button next to it Click the Save button pm to save the script code If there i
333. to a file using the GoSensor CopyFile function Fixed alignment should be used as a means to attach previously conducted alignment results to a job file eliminating the need to perform a new alignment Gocator 2300 amp 2880 Series Software Development Kit 310 Tools and Native Drivers The following sections describe the tools and native drivers you can use with a Gocator Sensor Recovery Tool If asensor s network address or administrator password is forgotten the sensor can be discovered on the network and or restored to factory defaults by using a special software tool called the Sensor Discovery tool This software tool can be obtained from the downloads area of the LMI Technologies website http www lmi3D com After downloading the tool package 14405 x x x x SOFTWARE GO Tools zip unzip the file and run the Sensor Discovery Tool bin win32 kDiscovery exe Sensor Discovery Tool Devices Configuration 4683 O Default Custom Address 192 168 62 10 Mask 255 255 0 0 Gateway 0 0 0 0 use DHCP Set Address Refresh Factory Restore Any sensors that are discovered on the network will be displayed in the Devices list To change the network address of a sensor 1 Tochange the network address of a sensor 2 Selectthe Custom option 3 Enter the new network address information 4 Pressthe Set Address button To restore a sensor to factory defaults 1 Selectthe sensor serial number
334. to maximum current Delay 64f Output delay us or mm depending on delay domain defined below DelayDomain 32s Output delay domain 0 Time us 1 Encoder mm Measurement 32u Selected measurement source Measurement options 32u CSV List of available measurement sources D The delay specifies the time or position at which the analog output activates Upon activation there is an additional delay before the analog output settles at the correct value Serial The Serial element defines settings for Serial output Serial Child Elements Element Type Description Protocol 32s Serial protocol 0 ASCII 1 Selcom Gocator 2300 amp 2880 Series Gocator Device Files Job Files 236 Element Type Description Protocol options 32s CSV List of available protocols Selcom Section Described below Ascii Section Described below Measurements 32u CSV Selected measurement sources Measurements options 32u CSV List of available measurement sources Selcom Selcom Child Elements Element Type Description Rate 32u Output bit rate Rate options 32u CSV List of available rates Format 32s Output format 0 12 bit 1 12 bit with search 2 14 bit 3 14 bit with search Format options 32s CSV List of available formats DataScaleMin 64f Measurement value corresponding to minimum word value DataScaleMax 64f Measurement value corresponding to maximum word value ASCII ASCII Child Elements Element Type Descri
335. uces CPU usage and potentially increases the maximum frame rate A larger interval also reduces the data output rate For more information on resampled data see Resampled and Uniform Spacing Profile Format page 41 D The Uniform Spacing option must be checked in the Scan Mode panel for the Spacing Interval option to be displayed Gocator 2300 2880 Series Gocator Web Interface Scan Setup and Alignment 80 Active Area Exposure Material Sub Sampling x 010120 144 z 010 12 Spacing Interval X n e o 044 om Resolution Balanced Speed To configure the spacing interval ils 2 Go to the Scan page Choose Profile or Surface mode in the Scan Mode panel If one of these modes is not selected you will not be able to configure the spacing interval Expand the Sensor panel by clicking on the panel header or the 5 button Click the button corresponding to the sensor you want to configure The button is labeled Top Bottom Top Left or Top Right depending on the system Spacing is specified separately for each sensor Click on the Spacing tab Select a spacing interval level Speed Uses the lowest X resolution within the active area as the spacing interval This setting minimizes CPU usage and data output rate but the profile has the lowest X resolution i e least detail Balanced Uses the X resolution at the middle of the active area as the spacing interval This sett
336. uired that illuminates warning indicators for a short period of time before supplying power to the lasers Beam Attenuators Apermanently attached method of preventing human access to laser radiation other than switches power connectors or key control must be employed On some LMI laser sensors the beam attenuator is Gocator 2300 amp 2880 Series Safety and Maintenance Laser Safety 12 supplied with the sensor as an integrated mechanical shutter Emission Indicator It is required that the controls that operate the sensors incorporate a visible or audible indicator when power is applied and the lasers are operating If the distance between the sensor and controls is more than 2 meters or mounting of sensors intervenes with observation of these indicators then a second power on indicator should be mounted at some readily observable position When mounting the warning indicators it is important not to mount them in a location that would require human exposure to the laser emissions User must ensure that the emission indicator if supplied by OEM is visible when viewed through protective eyewear Warning Signs Laser warning signs must be located in the vicinity of the sensor such that they will be readily observed Examples of laser warning signs are as follows CAUTION INVISIBLE AND OR VISIBLE LASER RADIATION AVOID DIRECT EXPOSURE TO BEAM CLASS 3B LASER LIGHT AVOID EXPOSURE TO THE BEAM PEAK POWER 100mW IEC 60825 1 2007
337. ular objects from the sensor s field of view that might interfere with alignment If using a bar for a dual sensor system ensure that the lasers illuminate a reference hole on the bar To perform alignment for stationary targets 1 Inthe Alignment panel select Stationary as the Type 2 Clearthe previous alignment if present Press the Clear Alignment button to remove an existing alignment 3 Selectan alignment Target e Select Flat Surface to use the conveyor surface or other flat surface as the alignment reference e Select Bar to use a custom calibration bar If using a calibration bar specify the bar dimensions and reference hole layout See Calibration Targets page 23 for details Configure the characteristics of the target Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 85 4 5 E f Alignment UNALIGNED Type Stationary E Target Bar gt Height 10 mm Width 100 mm Hole Count 1 Hole Diameter 5 mm Hole Distance mm Align Place the target under the sensor Click the Align button The sensors will start and the alignment process will take place Alignment is performed simultaneously for all sensors If the sensors do not align check and adjust the exposure settings page 74 Alignment uses the exposure defined for single exposure mode regardless of the current exposure mode Use Profile mode to inspect alignment res
338. ult job file that will be loaded at boot time Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4100 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4100 status 32s 6 Reply status name 64 char 10 File name null terminated Gocator 2300 amp 2880 Series Protocols Gocator Protocol 251 Set Default Job The Set Default Job command sets the name of a default job file that will be loaded at boot time Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4101 fileName 64 char 6 File name null terminated Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4101 status 32s 6 Reply status Get Loaded Job The Get Loaded Job command returns the currently loaded i e live file name and modified status for a file type Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4512 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4512 status 32s 6 Reply status fileName 64 char 10 Name of the currently loaded file changed 8u 74 Whether
339. ults Laser profiles from all sensors should now be aligned to the alignment target surface The base of the alignment target or target surface provides the origin for the system Z axis To perform alignment for moving targets 1 Do one of the following if you have not already done so e If the system uses an encoder configure encoder resolution See Encoder Resolution page 56 for more information e If the system does not use an encoder configure travel speed See Travel Speed page 57 for more information In the Alignment panel select Moving as the Type Clear the previous alignment if present Press the Clear Alignment button to remove an existing alignment Select an alignment Target e Select one of the disk Disk options to use a disk as the alignment reference e Select Bar to use a custom calibration bar If using a calibration bar specify the bar dimensions and reference hole layout See Calibration Targets page 23 for details Configure the characteristics of the target Gocator 2300 amp 2880 Series Gocator Web Interface Scan Setup and Alignment 86 Alignment UNALIGNED O Type Moving E Target Bar H Height 10 mm Width i 1 00 mm Hole Count 1 Hole Diameter 5 mm Hole Distance mm Advanced Encoder Calibration m Align Clear Alignment 5 Place the target under the sensor 6 Ifthe system uses an encoder and you want to calibrate it check the Encoder Calibration checkbox
340. urce Top Reference Side Left Max Gap Width 0 mm Left Max Void Width 0 mm Min Depth 0 mm Surface Width 5 mm Surface Offset 2 mm Nominal Radius 2 mm Edge Angle Edge Type Tangent Region 5 Right Gap CE Id ETE output Measurement Axis Edge The Gap tool uses a complex feature locating algorithm to find the gap and then return measurements The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel See Gap and Flush Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm and the parameters Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 134 Measurements Measurement Illustration Gap Gap Measures the distance between two surfaces The surface edges can be curved or sharp Gap The Data Viewer displays the gap measurement in real time It also displays the results from the intermediate steps in the algorihtm Edge Region Surface Region Edge Points Irection Flush The Flush measurement provides the flushness between the edges of two surfaces The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 110 for instructions on how to add measurement tools Gocator 2300 amp 2880 Series Gocator Web Interface Measurement 135 Reference Side Max Gap Width
341. ure to determine the correct system wide coordinates for laser profiling and measurements See Coordinate Systems page 40 for more information on sensor and system coordinates Gocator 2300 amp 2880 Series Gocator Web Interface System Management and Maintenance 51 Supported Layouts Orientation Standalone The sensor operates as an isolated device Wide Sensors are mounted in Left Main and Right Buddy positions for a larger combined field of view Sensors may be angled to avoid occlusions Reverse Sensors are mounted in a left right layout as with the Wide layout but the Buddy sensor is mounted such that it is rotated 180 degrees around the Z axis to prevent occlusion along the Y axis Opposite Sensors are mounted in Top Main and Bottom Buddy positions for a larger combined measurement range and the ability to perform Top Bottom differential measurements To specify the layout 1 Goto the Manage page and click on the Sensor System category 2 Select an assigned Buddy sensor in the Visible Sensors list Main Buddy See Buddy Assignment next page for information on assigning a Buddy Sensor 3 Select a layout by clicking on one of the Layout buttons See the table above for information on layouts Gocator 2300 amp 2880 Series Gocator Web Interface System Management and Maintenance 52 Buddy Assignment In a dual sensor system the Main sensor assumes control o
342. ut The Ethernet panel will list the register addresses that are used for Modbus TCP communication The Modbus TCP protocol can be used to operate a sensor Modbus TCP only supports a subset of the tasks that can be performed in the web interface A sensor can only process Modbus TCP commands when Modbus is selected in the Protocol drop down 4 Checkthe Buffering checkbox if needed Buffering is needed for example in Surface mode if multiple objects are detected within a time frame shorter than the polling rate of the PLC If buffering is enabled with the Modbus protocol the PLC must read the Advance register to advance the queue before reading the measurement results Gocator 2300 amp 2880 Series Gocator Web Interface Output 181 Output Ethernet Protocol EtherNet IP Protocol and measurement selectio um Digital 1 Configuration Map Trigger condition and pulse width f Buffering Name Register Type A n ie 2 d d pul dth The EtherNet IP Explicit Messaging over TCP Protocol can be Command rigger condition and pulse widt used to operate a sensor from a PLC Ladder logic must be Command 0 8 bit y Analog created on the PLC to actively poll for measurement results Arguments 1 um Trigger condition and current scaling from the sensor EtherNet IP only supports a subset of the ur tasks that can be accomplished in the web interface Start State eria Y Stop Align and Switch Job and only measurement results Running 0 8 bit P
343. ut 7 ANALOG 500 15n gt aeea RAS d ANALOG Gocator 2300 amp 2880 Series Specifications Gocator 2300 amp 2880 I O Connector 348 Master 100 The Master 100 accepts connections for power safety and encoder and provides digital output epum NU aeter Master Ethernet Port En ww p HOST zx 1 Master Host Port Master Power Port POWER 48V Power Supply EI Pin 1 Encoder Output Port D Contact LMI for information regarding this type of power supply Connect the Master Power port to the Gocator s Power LAN connector using the Gocator Power LAN to Master cordset Connect power RJ45 end of the cordset to the Master Power port The Ethernet RJ45 end of the cordset can be connected directly to the Ethernet switch or connect to the Master Ethernet port If the Master Ethernet port is used connect the Master Host port to the Ethernet switch with a CAT5e Ethernet cable To use encoder and digital output wire the Master s Gocator Sensor I O port to the Gocator IO connector using the Gocator I O cordset Sensor I O Port Pins Gocator I O Pin Master Pin Conductor Color Encoder_A 1 White Brown amp Black Encoder_A 2 Brown Black Encoder_Z 3 White Green amp Black Encoder_Z 4 Green Black Trigger_in 5 Grey Trigger_in 6 Pink Out_1 7 Blue Out_1 8 Red Encoder_B 11 Black Encoder_B 12 Violet The rest of the wires in the
344. ve forward by at least the distance that the target travelled backward plus one encoder spacing to trigger the next scan Gocator Web Interface Scan Setup and Alignment 66 Description Trigger Source Encoder Spacing Position Track Backward A scan is triggered only when the target object moves forward If the target object moves backward it must move forward by at least the distance of one encoder spacing to trigger the next scan Encoder Spacing Position Track Backward Bi directional A scan is triggered when the target object moves forward or backward Position 8 9 3 E m z When triggers are received at a frequency higher than the maximum frame rate some Gocator Web Interface Scan Setup and Alignment 67 Gocator 2300 amp 2880 Series Trigger Source External Input Software Description triggers may not be accepted The Trigger Drops Indicator in the Dashboard can be used to check for this condition The external input can be used to enable or disable the encoder triggers See Encoder Input page 346 for more information on connecting the encoder to Gocator sensors A digital input can provide triggers in response to external events e g photocell When triggers are received at a frequency higher than the maximum frame rate some triggers may not be accepted The Trigger Drops Indicator in the Dashboard page can be used to check for this co
345. ving Type options 32s CSV List of available alignment types StationaryTarget 32s Stationary alignment target 0 None 1 Disk 2 Bar 3 Plate StationaryTarget options 32s CSV List of available stationary alignment targets MovingTarget 32s Moving alignment target 0 None 1 Disk 2 Bar 3 Plate MovingTarget options 32s CSV List of available moving alignment targets EncoderCalibrateEnabled Bool Enables encoder resolution calibration Disk Section See Disk below Bar Section See Bar below Plate Section See Plate next page Disk Disk Child Elements Element Type Description Diameter 64f Disk diameter mm Height 64f Disk height mm Bar Bar Child Elements Element Type Description Width 64f Bar width mm Height 64f Bar height mm HoleCount 32u Number of holes Gocator 2300 amp 2880 Series Gocator Device Files Job Files 197 Element Type Description HoleDistance 64f Distance between holes mm HoleDiameter 64f Diameter of holes mm Plate Plate Child Elements Element Type Description Height 64f Plate height mm HoleCount 32u Number of holes RefHoleDiameter 64f Diameter of reference hole mm SecHoleDiameter 64f Diameter of secondary hole s mm Devices Device Devices Device Child Elements Element Type Description role 32s Sensor role 0 Main 1 Buddy DataSource 32s Data source of device output read only 0 Top 1 Bottom 2 Top Left 3
346. when the external input is asserted This setting is not displayed when Surface Generation is set to Fixed Length Variable Length or Rotational see page 91 See See Digital Inputs page 345 for more information on connecting external input to Gocator sensors Behavior Encoder Specifies how the Gocator sensor is triggered when the target moves Can be Track Backward Ignore Backward or Bi Directional See Triggers page 66 for more information on these behaviors Spacing Encoder Specifies the distance between triggers mm Internally the Gocator sensor rounds the spacing to a multiple of the encoder resolution Units External Input Software Specifies whether the trigger delay output delay and output scheduled command operate in the time or the encoder domain The unit is implicitly set to microseconds with Time trigger source and millimeters with Encoder trigger source Trigger Delay External Input Controls the amount of time or the distance the sensor waits before producing a frame after the external input is activated This is used to compensate for the positional difference between the source of the external input trigger e g photocells and the sensor Trigger delay is only supported in single exposure mode for details see Exposure page 74 D Depending on the surface generation settings some trigger options may not be available To configure the trigger source 1 Goto the Scan page 2 Expand the Tr
347. without restriction including without limitation the rights to use copy modify merge publish distribute sublicense and or sell copies of the Software and to permit persons to whom the Software is furnished to do so subject to the following conditions The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software THE SOFTWARE IS PROVIDED AS IS WITHOUT WARRANTY OF ANY KIND EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY FITNESS FORA PARTICULAR PURPOSE AND NONINFRINGEMENT IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM DAMAGES OR OTHER LIABILITY WHETHER IN AN ACTION OF CONTRACT TORT OR OTHERWISE ARISING FROM OUT OF ORIN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE Closure Library Website http code google com closure library index html License Gocator 2300 amp 2880 Series Software Licenses 362 Copyright 2006 The Closure Library Authors All Rights Reserved Licensed under the Apache License Version 2 0 the License you may not use this file except in compliance with the License You may obtain a copy of the License at http www apache org licenses LICENSE 2 0 Unless required by applicable law or agreed to in writing software distributed under the License is distributed on an AS IS BASIS WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND either expr
348. y status Get Timestamp The Get Timestamp command retrieves the sensor s timestamp in clock ticks All devices in a system are synchronized with the system clock this value can be used for diagnostic purposes or used to synchronize the start time of the system Gocator 2300 amp 2880 Series Protocols Gocator Protocol 253 Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x100A Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1004 status 32s 6 Reply status timestamp 64u Timestamp in clock ticks Get Encoder This command retrieves the current system encoder value Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x101C Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x101C status 32s 6 Reply status encoder 64s 10 Current encoder position in ticks Reset Encoder The Reset Encoder command is used to reset the current encoder value Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x101E Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x101
349. ze in bytes id 16u 4 Command identifier 0x1007 name 64 char 6 Source file name Reply Field Type Offset Description length 32u 0 Reply size in bytes id 16u 4 Reply identifier 0x1007 status 32s 6 Reply status length 32u 10 File length data length byte 14 File contents The Write File command uploads a file to the connected sensor Write to live job to write the make the job file live Except for writing to the live files the file is permanently stored on the sensor Gocator 2300 amp 2880 Series Protocols Gocator Protocol 250 Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x1006 name 64 char 6 Source file name length 32u 70 File length data length byte 74 File contents Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1006 status 32s 6 Reply status Delete File The Delete File command removes a file from the connected sensor Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x1008 name 64 char 6 Source file name Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1008 status 32s 6 Reply status Get Default Job The Get Default Job command gets the name of a defa

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