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Gocator 2000 & 2300 Series

1. Source Software y Gate using External Input Gate using External Input Units us Time E Behavior Bi directional y Resotuton 0 031 mmc Spacing 1 mm After specifying a trigger source the Trigger panel will show the parameters that can be configured Parameter Trigger Source Description Trigger All Selects the trigger source Time Encoder External Input or Software Max Frame Rate All Reports the maximum frame rate which is a function of the current Active Area Exposure and Resolution settings Frame Rate Time The Frame Rate setting can be used to control the frame rate Select the Max check box 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 using Time Encoder External input can be used to enable or disable profiling in a sensor When this Gocator Web Interface Setup and Calibration 69 Parameter Trigger Source Description External Input Travel Speed Encoder Behavior Encoder Resolution Spacing Units Trigger Delay Time Encoder Encoder Encoder External Input Software External Input option is enabled the sensor will respond to time or encoder triggers only when the external input is asserted See Digital Inputs on pages 352 and 359 for more information on connecting external input to Gocator sensors Travel Speed
2. 75 65 La 61 5 p Specifications Gocator 2000 Series 329 Envelope 90 2 9 10 6 q 84 3 99 7 Gocator 2040 Field of View Measurement Range i T 3 Y o g 295 105 0 Y 105 97 97 Specifications e Gocator 2000 Series 330 Dimensions Envelope MOUNTING HOLES 1 x 4X M5X0 8 y 10 53 l 197 61 5 FA pa 210 X 190 aL tay i q 1 mr A A 141 3 j 155 7 _ 33 i a Specifications e Gocator 2000 Series 331 Gocator 2050 Field of View Measurement Range R J 2 500 200 182 5 182 5 Dimensions MOUNTING HOLES y 10 4X M5X0 8 Y m 75 65 1 To Of 260 272 e 52 pa
3. 002 265 Get Upgrade Log 2 2 2 266 Control Commands 2 0 eee eee eee 266 Get Protocol Version 2 266 Get System Info 12 2 cle eee eee cece eee 267 Log InJOut giiir hee eee ee edeedieee teense 268 Change Password 2 02 00eeeeees 269 Change Buddy nie tet eee 269 Get File List consorte 269 Copy File oocococcccccccccnccocnono 270 Read File uni iris 270 Write File cti dos 271 Delete File vor ii sica wees 271 Get Default File 2 222 2 2 2222 22 272 Set Default File 2 272 Get Loaded File 273 GetModessorcarcancclerasiala dadas 273 Set Mode A 273 Get TIME sprna r tcc atecee cee 274 Get Encoder 00 0 0 c cece cece eee 274 A eodeg 275 Scheduled Start 2 2 2 2222 275 SOD 22 6 S245 5cmee css aieeme eebeeacee asses 275 TIES Ol eso Sn A E 276 Scheduled Digital Output 276 Scheduled Analog Output 277 PINS esistaaiia ia dt 277 Reset alias e acto cas 278 BackUp a a 278 Restore nt sight bbe athe oe 278 6 Restore Factory 2 20 tiei teit 279 Get Connection Type 279 Set Connection Type 2c eee eee 280 Clear Calibration 2 2 2 2 2 222 280 DataiReSults unto bib 281 A A ies 281 A A enue 282 Profile Intensity lt s2esss ceeceecsecsecees 282 Pant Profile caia heey eke cede 283 Part Int
4. Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x1006 fileNamer64 char File name null terminated fileSize 64s File size in bytes file fileSize byte File content Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status Delete File The Delete File command removes a file from the connected sensor Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x1008 fileNamer64 char File name null terminated Protocols Gocator Protocol 271 Field Type Description Field Type Description fileSize 64s File size in bytes file fileSize byte File content Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status Get Default File The Get Default File command gets the name of a default file that will be loaded at boot time Default files can be defined for configuration profile templates and calibration with different extensions Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x4100 extension 64 char Null terminated file extension cfg Configuration files rec Record Playback data files prof Profile template files Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier statu
5. Specifications e Gocator 2000 Series 337 Gocator 2300 Series The Gocator 2300 series consists of the sensor models defined below MODEL Data Points Profile Linearity Z of MR Resolution Z mm Resolution X mm Clearance Distance CD mm Measurement Range MR mm Field of View FOV mm Recommended Laser Class Other Laser Classes Dimensions mm Weight kg 2330 1280 0 01 0 006 0 014 0 044 0 075 90 80 47 85 2M 3R 3B 49x75x142 0 74 2340 1280 0 01 0 013 0 037 0 095 0 170 190 210 96 194 3R 3B 49x75x197 0 94 2350 1280 0 01 0 019 0 060 0 150 0 300 300 400 158 365 3R 3B 49x75x272 1 3 2370 1280 0 04 0 055 0 200 0 275 0 550 400 500 308 687 3B 49x75x272 1 3 2380 1280 0 04 0 092 0 488 0 375 1 100 350 800 390 1260 3B 49x75x272 1 3 Optical models laser classes and packages can 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 ALL 2300 SERIES MODELS Scan Rate Interface Inputs Outputs Input Voltage Power Housing Operating Temp Storage Temp Gigabit Ethernet Approx 170Hz to 5000 Hz Differential Encoder Laser Safety Enable Trigger 2x Digital output RS 485 S
6. Gocator Web Interface Measurement 118 Parameters Parameter Decision Region Output Line Description See Decisions page 101 See Regions page 102 See Output Filters page 103 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 Line Standard Deviation 7 gt Link Disabled v 1057 Parameters gt Region R Reset gt Output Decision Min 0 mm Max 0 mm Remove Measurements Measurement Illustration Standard Deviation Finds the best fitted line and measures the standard deviation of the laser points from the best fitted line Line Error Min Finds the best fitted line and measures the minimum error from the best fitted line Standard Deviation Line Error Min Gocator Web Interface Measurement 119 Measurement Line Error Max Finds the best fitted line and measures the maximum error from the best fitted line Line Percentile Finds the best fitted line and measures the range in Z that covers a percentage of points around the best fitted line Illustration Line Error Moa Line Percentile Covers 50 of Spots Parameters Parameter Description Decision See Decisions page 101 Region See Regions page 102 Output See Output Filters page 103
7. 30 6 Specifications Gocator 2300 Series 341 Envelope 39 210 k 190 La E a 145 60 fa 160 4 Gocator 2350 Field of View Measurement Range 182 5 182 5 Specifications Gocator 2300 Series 342 Dimensions MOUNTING HOLES 4X M5X0 8 y 10 1 263 a 272 40 61 5 pe Specifications e Gocator 2300 Series 343 Envelope Es Gocator 2370 Field of View Measurement Range 250 250 343 5 343 5 Specifications Gocator 2300 Series 344 Dimensions MOUNTING HOLES 4X M5X0 8 Vy 10 o 75 _ i i 263 272 1 1 61 5 Specifications e Gocator 2300 Series 345 Envelope 1 7 4 11 8 217 9 m 2383 Specifications e Gocator 2300 Series 346 Gocator 2380 Field of View Measurement Range 33 1 39 a wn o a 400 0 1 400 o 630 630
8. CONNECT I O AS REQUIRED BY APPLICATION IN ENCODER TRIGGER SAFETY USERIPE OUT SERIAL ANALOG DIGITAL 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 Getting Started System Overview 18 GOCATOR 2300 SERIES MAIN GOCATOR BUDDY GOCATOR POWER LASER SAFETY TRIGGER INPUTS ENCODER MASTER 400 800 1200 2400 GOCATOR I O CORDSET GOCATOR POWER AND ETHERNET j CORDSET GIGABIT ETHERNET SWITCH Multi Sensor System Master 400 800 1200 2400 networking hardware can be used to connect two or more sensors into a multi sensor system Gocator Master cordsets are used to connect the sensors to a Master The Master provides a single point of connection for power safety encoder and digital inputs A Master 400 800 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 recommendea Unlike the Master 200 Master 400 800 1200 2400 networking hardware does not support digital serial or analog output Getting Started System Overview 19 POWER LASER SAFETY TRIGGER INPUTS ENCODER GOCATOR 2000 SERIES GOCATOR ETHERNET CORDSET GOCATOR MASTER CORDSET POWER LASER SAFETY GOCATOR 2300 SERIES TRIGGER INPUTS E
9. Go2System SetTriggerSource system GO2 TRIGGER SOURCE TIME Send the system a Start command Go2System Start system Fr the system object Go2System Destroy system Close the Go2 library Go2Api Terminate Gocator 2000 amp 2300 Series 313 For more information about programming with the Gocator SDK refer to the documentation and sample programs included in the Gocator SDK Limiting Flash Memory Write Operations Several operations and Gocator SDK functions write to the Gocator s flash memory The lifetime of the flash memory is limited by the number of write cycles Therefore it is important to avoid frequent write operation to the Gocator s flash memory when you design your system with the Gocator SDK D Power loss during flash memory write operation will also cause Gocators to enter rescue mode D This topic applies to all Gocator sensors Gocator SDK Write Operation Functions Name Description Go2System_Restore Go2System_RestoreDefaults Go2System_CopyFile Go2System_DeleteFile Go2System_SetDefaultFile Go2System_ClearRegisteredTemplate Go2System_UploadFile Go2System_Upgrade Global calibration performed with Go2System_Start Go2System_SetConnectionType Go2System_SetAddress Go2System_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 i
10. 187 Measurements CenterX 188 Measurements CenterZ 189 easurements AngleX 000 190 easurements IntersectX 190 Gocator 2000 amp 2300 Series Measurements IntersectZ 191 Measurements IntersectAngle 192 Measurements IntersectArea 193 Measurements BoxArea 193 Measurements Difference Area 194 Measurements Difference Peak 195 Measurements Circle Radius 196 Measurements Circle X _ 196 Measurements Circle Z 2 4 197 Measurements Line Standard Deviation 198 Measurements Line Error Min 198 Measurements Line Error Max 199 Measurements Line Percentile 200 Measurements Gap 201 Measurements Flush 06 202 Measurements Groove Width 203 Measurements Groove X 2 200 204 Measurements Groove Z _ 205 Measurements Groove Depth 206 Measurements Strip X _ 207 Measurements Strip Z 220 209 Measurements Strip Width 210 Measurements Strip Height 212 Measurements Script 213 Pall anta veta 214 Detection couroocioiiosato tilda deco biids 214 PartReglON ausionicninarcasnitarta dies 215 PartReglon3D
11. 61 5 m Specifications Gocator 2000 Series 332 Envelope 3 2 7 pa 214 9 2292 gt Specifications e Gocator 2000 Series 333 Gocator 2070 Field of View Measurement Range a a Ni o 650 250 0 Y 250 0 n o n m m a a Dimensions MOUNTING HOLES 4X M5X0 8 Y 10 75 65 l 260 272 Specifications Gocator 2000 Series 334 Envelope 11 Specifications e Gocator 2000 Series 335 Gocator 2080 Field of View Measurement Range 400 400 Dimensions 630 MOUNTING HOLES 4X M5X0 8 y 10 o i 75 272 65 L y la 33 po e __2 pp 188 SN 00000 20 45 Specifications e Gocator 2000 Series 336 Envelope Ti
12. ES gt RECORD START SNAPSHOT DATA SOURCE ENCODER 2300 Wi oo 5 l TTT Getting Started e Network Setup 40 19 Press the Stop button The laser should turn off RECORD STOP SNAPSHOT DATA SOURCE 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 Connection and Maintenance page 55 Sets up the sensor connections networking and performs maintenance tasks Setup and Calibration page 63 Fine tunes laser profiling for an application Measurement page 95 Programs measurements on sensors that are equipped with measurement tools Output page 163 Profile data measurements and Pass Fail results can be transmitted to external devices for process control or data analysis Dashboard page 174 Provides real time monitoring of its health and measurement results Toolbar page 48 Controls system operation record and playback data and manages sensor configurations Getting Started Next Steps 41 Theory of Operation The following sections describe the theory of operation of Gocator sen
13. 2 306 Gocator 2000 amp 2300 Series S eer ean oo 306 STOP menisco ee La eS 306 Trigger Looe eee cee cee cee eee eee eee 307 Load Configuration _ 307 Stamp ando ias 308 Alignment Calibration 308 Travel Calibration 02 00e eee ee 309 Clear Calibration 0 222000202222 222 309 Data Commands 2 02c eee eee eee 309 Get Result 0 00 22 c eee eee eee ee 310 Get Value oo lee eee eee eee 310 Get DECISION wi 4 eos beeen otek es 311 Health Commands 0 cceeee eee eee 312 Get Health 00 2 eee eee ee eee 312 Software Development Kit 313 Limiting Flash Memory Write Operations 314 Tools and Native Drivers 316 Sensor Recovery Tool 2 2 316 GenTL DAVE 22 22 ccc 22 seid aecnned cede ceciece denies 318 16 DIERGB Image noted ds 319 16 bit Grey Scale Image oooococccocnonooo 320 Regist fS 222 222s2 c ne ordededsedieeredcaces 321 XML Settings File ooooooooocommmm o 323 CSV Converter Tool J02 cscs talar 323 Troubleshooting 0 202 ce eee eee 325 Specifications _ 2 2 2 2 2 22222 327 Gocator 2000 Series 0 222 e eee eee eee 327 GOCAtOF 2020 noo je oe oo ein cee ees chee 328 Gocator 2030 2 stews iria nents 329 Gocator 2040 _ 2 222222 22222 ee eee 330 Gocator 2050
14. 3 When you are prompted specify a location for the backup The backup is saved to the specified location on the client computer Backups are saved as a single archive that contains all of the files from the sensor To restore from a backup 1 Navigate to the Maintenance panel 2 Click the Restore Sensor button 3 When you are prompted select a backup file to restore The backup file is uploaded and then used to restore the sensor Any files that were on the sensor before the restore operation will be lost To restore a sensor to its factory default settings 1 Navigate to the Maintenance panel 2 Consider making a backup Before proceeding you should perform a backup Restoring factory defaults cannot be undone 3 Click the Restore to Factory button 4 Reset the sensor Gocator Web Interface Connection and Maintenance 60 After restoring factory defaults you must reset the sensor before the changes will take effect Use the Reset Sensor button or cycle the power to reset the sensor 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 Help Gocator 2030 312030 2M 01 5 5 2 53 You have the latest firmware version Firmware User Man
15. DC_ 24 to 48V GND_OVDC Safety Safety Encoder Port 1 Only Pins BR WN Function Pin Encoder_A Encoder_A Encoder_B Encoder_B Encoder_0V Encoder_5V n wu KF W N Specifications Master 200 366 Encoder Port 1 amp 2 Pins Function Pin Encoder_A NN MON WY OO Encoder_A Encoder_B Encoder_B Encoder_0V Encoder_5V Imensions Master 200 D 170 j Master 200 wi Specifications e Master 200 367 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 MASTER 400 FRONT ji A Master EA i gt SENSOR PORTS 5 8 SENSOR PORTS 1 4 LED INDICATORS MASTER 800 FRONT MASTER 400 800 REAR POWER AND SAFETY ENCODER INPUT Power and Safety 6 pin connector Function Pin 48VDC 1 48VDC GND 48VDC GND 48VDC Safety Control
16. Gap and Flush This section describes the Gap and Flush tools which share many parameters Gap The Gap tool measures the distance between the edges of two surfaces The measurement value can be compared with minimum and maximum constraints to yield a decision Gocator Web Interface Measurement 120 lo Gapes 5 Link Disabled v ID 8 Parameters Gap Width Max Infinite mm Reference Side Left v Measurement Axis Edge y v Left Void Width Max mm Minimum Depth mm Surface Width mm Surface Offset mm Nominal Radius mm OJ NIINI M oj o Edge Angle 9 Edge Type Corner X Region L Reset gt Right gt Output Decision Min 2 mm Max 5 mm Remove 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 Measurements Measurement Illustration Gap Measures the distance between two surfaces The Gap surface edges can be curved or sharp Gap Gocator Web Interface e Measurement 121 The Data Viewer displays the gap measurement in real time It also displays the results from the intermediate steps in the algorihtm
17. lt Sensor role 0 gt Sensors Sensor Profiling Profiling Child Elements Element Type Description ExposureMode 32u Setting for exposure mode 0 Single exposure 1 Multiple exposures for Gocator 2000 and 2300 series only 2 Dynamic exposure ExposureDelay 32u Setting for an optional delay us between triggering event and the actual start of the exposure This is used for time multiplexing the sensors in a multi sensor system ExposureStep Collection Collection of exposure steps ExposureStep Step 64f Setting for exposure steps us Exposure 64f Setting for exposure us IntensityStepIndex 32u Setting for the exposure step to use for intensity acquisition Only applicable when multiple exposure mode is selected DynamicExposureMax 64f Setting for maximum exposure for dynamic exposure DynamicExposureMin 64f Setting for minimum exposure for dynamic exposure ActiveAreaX 64f Setting for active area X position mm ActiveAreaZ 64f Setting for active area clearance distance mm ActiveAreaWidth 64f Setting for active area field of view mm ActiveAreaHeight 64f Setting for active area measurement range mm XSubsampling 32u Setting for X resolution divider ZSubsampling 32u Setting for Z resolution divider ExposureMin 64f Constraint for minimum exposure us ExposureMax 64f Constraint for maximum exposure us ActiveAreaX Min 64f Constraint for minimum X field of view boundary mm ActiveAreaX Max 64f Constraint fo
18. 8190 8190 8190 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 305 for an explanation of the standard result mode Select Custom to customize the output result A data format box will appear in which users can type the format string See Custom Result Format page 305 for the supported format string syntax Set the Special Characters Select the delimiter termination and invalid value characters Special characters are used in commands and standard format data results Gocator Web Interface Output 173 Dashboard The following sections describe the dashboard Dashboard Page Overview The Dashboard page summarizes logged events sensor health information and measurement statistics 2 z f Connection Setup Measurement eee State ts alue Si i Circle Radius 0 Invalid Firmware Version 1 az Version Up Time Encoder Value Encoder Frequency CPU Usage Memory Usage Memory Capacity Storage Usage Storage Capacity Temperature Ethernet Traffic Recording Frame Index Recording Frame Count Trigger Drops Camera Drops Processing Drops Ethernet Drops Digital Output 0 Drops Element Description 1 State and Health Information Displays sensor state and health information See State and Health Information below 2 Measurement Statistics Di
19. Gocator Device Files e Configuration Files 215 Feature Child Elements Element Type Description Type 32s Setting to determine how the feature is detected within the area 0 Centroid 2d 1 Centroid 3d 2 X Min 3 X Max 4 Y Min 5 Y Max 6 ZMin 7 Z Max RegionEnabled 32u Setting to enable disable region 0 Disable 1 Enable Region PartRegion3 Element for feature detection volume d A PartArea element defines settings for an area measurement Part Area Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm2 DecisionMax 64f Setting for decision threshold maximum mm2 RegionEnabled 32u Setting to enable disable region O Disable 1 Enable Region PartRegion3 Measurement region d LinkEnabled 32u Setting to enable disable linking O Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable Gocator Device Files e Configuration Files 216 Element Type Description 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum fram
20. If the system environment variable already exists click Edit a Environment Variables x User variables for cng Variable Value MOZ_PLUGIN_P C Program Files Foxit Software Foxit R TEMP USERPROFILE AppData Local Temp 3 TMP USERPROFILE AppDatalLocal Temp Z New Edit Delete System variables Variable Value e GENICAM_CACHE_V2_1 C ProgramData GenICam xml cact __ GENICAM_GENTL32_PATH C Go2_Integration GenTL x86 GENICAM_LOG CONFIG C Program Files GenICam_v2_1 o 7 Edit System Variable lt 4 m r Edit Delete Variable name GENICAM_GENTL32_PATH Variable value o canca k a To work with the Gocator GenTL driver the Gocator must operate in Whole Part 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 Tools and Native Drivers GenTL Driver 318 Refer to the documentations in the GenTL directory for instructions on how to interface to various third party software Gocator GenTL driver packs the part output intensity and stamps e g time stamp encoder index etc into either a 16 bit RGB image or a 16 bit grey scale image 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 column
21. List of data blocks The formats of the data blocks contributed from specific data sources are described in the following sections Video Attributes Field Type Description dataType 64s Data type 0x00 source 64s Video source camera index 64s Camera index O Front 1 Back exposure index 64s Exposure step index exposure 64s Exposure us reserved N 64s A variable number of additional attributes may be included Video Data Field Type Description pixels height width Byte Image pixels dimensions and data type given by block descriptor Protocols Gocator Protocol 281 Profile Attributes Field Type Description dataType 64s Data type 0x01 Resampled profile 0x02 Raw profile source 64s Profile source xResolution 64s X resolution nm zResolution 64s Z resolution nm xOffset 64s X offset nm zOffset 64s Z offset nm exposure 64s Exposure ns Set to zero if multiple exposure mode is used reserved N 64s A variable number of additional attributes may be included Profile Data resampled Field Type ranges rangeCount 16s Profile Data raw Description Range values unit is Z resolution 0x8000 represents null range Dimensions and data type given by block descriptor Z system coordinate zOffset zResolution ranges index X system coordinate xOffset xResolution index Field Type Description ranges rangeCount 2 16s X values and range values units are X
22. Safety Control D The 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected D The Safety Control requires a voltage differential 12VDC to 48VDC across the pin to enable the laser Digital Input 16 pin connector Function Pin Input 1 1 Input 1 GND 2 Reserved 3 Specifications e Master 1200 2400 371 Function Pin Reserved Reserved Reserved Reserved Reserved Oo ON D WH Ff Reserved Reserved 10 Reserved 11 Reserved 12 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 O WwW A WU 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 Specifications Master 1200 2400 372 D The 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected The Power Draw specification is based on a Master with no sensors attached Every sensor has D its ow
23. 0 Disable 1 Enable Gocator Device Files e Configuration Files e 202 Element Type Description SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linkids 32u List of linkable measurements Side Child Elements Element Type Description DepthMin 64f Setting for minimum depth mm VoidWidthMax 64f Setting for maximum void width mm SurfaceWidth 64f Setting for surface width mm SurfaceOffset 64f Setting for surface offset mm NominalRadius 64f Setting for nominal radius mm EdgeAngle 64f Setting for edge angle EdgeType 32s Setting for type of edge 0 Tangent 1 Corner Area Area Element for measurement area A Groove width element defines settings for a profile groove width measurement GrooveWidth Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Area Area Element for measurement area Shape 32s Setting for shape of the groove 0 V shaped 1 U shaped 2 Open shaped SelectType 32s Setting for selecting a groove out of multiple grooves 0 Maximum depth 1 O based index from left to right 2 0 based index from right to left Se
24. 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements Gocator Device Files e Configuration Files 189 Measurements AngleX An Anglex element defines settings for a profile angle x measurement AngleX Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum degrees DecisionMax 64f Setting for decision threshold maximum degrees AbsoluteResult 32u Setting for selecting absolute or signed result 0 Signed result 1 Absolute result Line Line Element for fit line LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window m
25. 2 Edit the script code 3 Choose the number of desired script outputs using the and buttons For each script output that is added an index will be added to the Output drop down and a unique ID will be generated 4 Click the Save button to save the script code If there is a mistake in the script syntax the result will be shown as a invalid with a red border in the data viewer when you run the sensor Outputs from multiple measurement tools can be used as inputs to the script A typical script would Gocator Web Interface Measurement e 157 take results from other measurement tools using the value and decision function and output the result using the output function Stamp information such as time and encoder stamps are available in the script whereas the actual profile data is not The script engine is not powerful enough to process the profile data itself Only one script can be created Script Measurement A Script measurement can be used to program a custom measurement using a simplified C based syntax Similar to other measurement tools a script measurement can produce multiple measurement values and decisions for the output The following elements of the C language are supported Supported 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 o
26. 312330A 2M 00 312330A 3R 00 312330A 3B 00 312340A 3R 00 312340A 3B 00 312350A 3R 00 312350A 3B 00 312370A 3B 00 312380A 3B 00 31XXXXX YY 00 31XXXXX YY 01 374 Masters Description Part Number Master 100 for single sensor development only 30705 Master 200 for networking up to 2 sensors 30704 Master 400 for networking up to 4 sensors 30680 Master 800 for networking up to 8 sensors 30681 Master 1200 for networking up to 12 sensors 30649 Master 2400 for networking up to 24 sensors 30650 Cordsets Description Part Number 2m I O cordset open wire end 5m I O cordset open wire end 10m I O cordset open wire end 15m I O cordset open wire end 20m I O cordset open wire end 25m I O cordset open wire end 2m Power and Ethernet cordset 1x open wire end 1x RJ45 end 5m Power and Ethernet cordset 1x open wire end 1x RJ45 end 10m Power and Ethernet cordset 1x open wire end 1x RJ45 end 15m Power and Ethernet cordset 1x open wire end 1x RJ45 end 20m Power and Ethernet cordset 1x open wire end 1x RJ45 end 25m Power and Ethernet cordset 1x open wire end 1x RJ45 end 2m Power and Ethernet to Master cordset 2x RJ45 ends 5m Power and Ethernet to Master cordset 2x RJ45 ends 10m Power and Ethernet to Master cordset 2x RJ45 ends 15m Power and Ethernet to Master cordset 2x RJ45 ends 20m Power and Ethernet to Master cordset 2x RJ45 ends 25m Power and Ethernet to Master cordset 2x RJ45 ends 5m
27. Data End 3 Void SelectType 32s Setting for selecting a strip out of multiple strips O Best 1 O based index from left to right 2 0 based index from right to left SelectN 32u Index when SelectType is set to 1 or 2 TiltEnabled 32u Setting for tilt compensation 0 Disabled 1 Enabled EdgeHeightMin 64f Setting for minimum edge height width mm EdgeTransitionWidth 64f Setting for edge transition width mm EdgeSupportWidth 64f Setting for edge support width mm VoidMax 64f Setting for maximum void mm WidthMin 64f Setting for minimum strip width mm EdgeTransitionWidthMax 64f Constraint for edge transition width maximum mm VoidMaxLimitMax 64f Constraint for maximum void mm LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value Gocator Device Files e Configuration Files 211 Element Type Description SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u C
28. Gocator 2000 amp 2300 Series USER MANUAL Document revision D Copyright Copyright 2014 by LMI Technologies Inc All rights reserved Proprietary This document submitted in confidence contains proprietary information which shall not be reproduced or transferred to other documents or disclosed to others or used for manufacturing or any other purpose without prior written permission of LMI Technologies Inc No part of this publication may be copied photocopied reproduced transmitted transcribed or reduced to any electronic medium or machine readable form without prior written consent of LMI Technologies Inc Trademarks and Restrictions Gocator is a registered trademark of LMI Technologies Inc Any other company or product names mentioned herein may be trademarks of their respective owners Information contained within this manual is subject to change This product is designated for use solely as 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 2000 amp 2300 Series Table of Co nte nts Theory of Operation vin tics 42 3D ACQUISICION 2 22 20 2 een cialis 42 Principle of 3D Acquisition 4
29. O un KR U N Safety Control D The 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected D The Safety Control requires a voltage differential 12VDC to 48VDC across the pin to enable the laser Digital Input 16 pin connector Function Pin Input 1 1 Input 1 GND 2 Reserved 3 Specifications e Master 400 800 368 Function Pin Reserved 4 Reserved 5 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 DOD WH A U N 5VDC Master 400 800 Electrical Specifications Electrical Specifications for Master 400 800 Master 400 800 Power Supply Voltage 48VDC Power Supply current Max 10A Power Draw Min 15W Safety Voltage 12 to 48VDC Encoder signal voltage range RS485 Differential Digital input voltage range Logical LOW 0 VDC to 0 1VDC Logical HIGH 11 VDC to 22 5VDC Specifications e Master 400 800 369 A When using a Master 400 800 its chassis must be well grounded D The 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected The Power Draw specification is based on a Master with no sensors att
30. PEAK POWER 5 mw EMITTED WAVELENGTH 660 nm This product is designated for use solely as a component and as such it does not fully comply with the standards relating to laser products specified in U S FDA CFR Title 21 part 1040 and IEC 60825 1 LASER RADIATION AVOID EXPOSURE TO THE BEAM CLASS 3B LASER PRODUCT PEAK POWER 130 mw EMITTED WAVELENGTH 660 nm This product is designated for use solely as a component and as such it does not fully comply 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 with the standards relating to laser products specified in U S FDA CFR Title 21 part 1040 and IEC 60825 1 D Labels reprinted here are examples only For accurate specifications refer to the label on your sensor Safety and Maintenance Laser Safety 11 Precautions and Responsibilities Precautions specified in IEC 60825 1 and FDA CFR Title 21 Part 1040 are as follows Requirement Class 2M Class 3R Class 3B Remote interlock Key control Power on delays Beam attenuator Emission indicator Warning signs Beam path Specular reflection Eye protection Laser safety officer Training Not required Not required Not
31. This tool is considered the master tool whose settings will be used by the linked tools 3 Inthe Link drop down list select the master tool This will cause the tool to use all settings of the master tool and the CPU will only be loaded with one instance of the tool Repeat this step for any other tools you want to link to the master tool Common Measurement Parameters All measurements provide the following parameters Decision Region and Output Many measurements also have tool specific parameters or measurement specific parameters see page 95 For dual sensor systems measurements must specify a profile source for tools The profile source determines which sensor provides data for the measurement The following options are available Profile Source Description Main Data is provided by the Main sensor This is the only option for standalone systems Buddy Data is provided by the Buddy sensor Both Data is provided by the Main and the Buddy sensor To select the source 1 Select a measurement Click on the ina measurement panel to expand it 2 Select the source The source drop down list will not appear if Main is the only option Results from a measurement tool 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 Otherwi
32. z Password Language English z m Configuration 7 Connection Setup Measurement Connect To Master 400 Type Manual IP 192 168 1 10 Subnet Mask 255 255 255 0 Gateway 0 0 0 0 Save Available Sensors Info Model Gocator 2030 Version 3 0 2 44 Serial 4422 Available Sensors a Getting Started e Network Setup 39 13 14 15 16 17 18 Select the Buddy sensor 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 61 to upgrade the sensors Ensure that the Data Source selector is showing LIVE Ensure that the Laser Safety Switch is enabled or the Laser Safety input is high Select the Setup page Press the Start button to start the sensors The Start button is used to run sensors continuously while the Snapshot button is used to trigger a single profile 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 325
33. Edge Region Surface Region 7 7 Flush The Flush tool measures the flushness between the edges of two surfaces The measurement value can be compared with minimum and maximum constraints to yield a decision O Flush 9 Link Disabled v D 9 Parameters Gap Width Max Infinite mm Reference Side Left X w Left Void Width Max 0 mm Minimum Depth 0 mm Surface Width 5 mm Surface Offset 2 mm Nominal Radius 2 mm Edge Angle 90 Edge Type Tangent y gt Region L Reset gt Right gt Output Decision Min 0 mm Max 0 mm Remove 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 Gocator Web Interface Measurement 122 Measurements Measurement Illustration Flush Measures the flushness between two surfaces The surface edges can be curved or sharp D Flush Direction Surface Region E Surface Point The Data Viewer displays the flush measurement in real time It also displays the results from the intermediate steps in the algorithm Groove The Groove tool provides measurements of V shape U shap
34. Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements Measurements Line Error Min A LineErrorMin element defines settings for a profile line error min measurement LineErrorMin Child Elements Element Type Description Name String Setting for measurement name Gocator Device Files e Configuration Files 198 Element Type Description Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Area Area Element for measurement area LinkEnabled 32u Setting to enable disable linking O Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32
35. Filters Panel The Filters panel can be used to post process a profile before it is output or is used by measurement tools The following types of filters are supported Filter Description X Resampling Interval Configures resampling interval size to balance between CPU loading output data rate and X resolution Smoothing Applies moving window averaging to reduce random noise in a profile Gap Filling Fills in missing data caused by occlusions using information from the nearest neighbors Smoothing works by substituting a profile result with the average value of itself and its nearest neighbors 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 Gocator Web Interface Setup and Calibration 84 To configure X smoothing 1 Select Profile or Part mode 2 Navigate to the Filters panel Click the arrow next to Smoothing to expand the panel 3 Enable X Smoothing and select the window value The window value represents the averaging window size along the X axis 4 Check that the laser profiling is satisfactory To configure Y smoothing 1 Select Profile or Part mode 2 Navigate to the Filters panel Click the arrow next to Sm
36. 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 604636 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 2000 amp 2300 Series 384 Contact North America LMI Technologies Inc 1673 Cliveden Avenue Delta BC V3M 6V5 Canada Phone 1 604 636 1011 Fax 1 604 516 8368 Gocator 2000 amp 2300 Series Europe LMI Technologies BV Valkenburgerweg 223 NL 6419AT Heerlen The Netherlands Phone 31 45 850 7000 Fax 31 45 574 2500 385
37. Use Profile mode to inspect calibration results Laser profiles from all sensors should now be aligned to the calibration target surface The base of the calibration target or target surface provides the origin for the system Z axis Alignment calibration does not automatically calibrate the resolution of the encoder if present D or the travel speed However these values can be manually entered if desired See Trigger Panel page 65 for more information When using a calibration bar there can be at most one hole in each sensor s field of view Travel Calibration Travel calibration can be used to achieve alignment calibration and motion calibration in a single procedure Calibration JU 91877113 Source Global v Type Alignment v Target Flat Surface X Calibrate To perform travel calibration 1 Place the calibration target before the laser plane Remove other objects from the transport system so that the calibration target is the only object that is scanned 2 Navigate to the Layout panel and select Global or Current Configuration as the Source Click the arrow button next to Calibration to expand the panel 3 Select Travel Calibration as the Type 4 Selecta calibration Target Select one of the Disk options to use a standard disk target or Bar to use a custom made calibration bar If using a calibration bar specify the bar dimensions and reference hole layout See Calibration Targets page 26 for
38. laser data on the left and right sides of the groove See Regions page 102 Sides of the Groove See Output Filters page 103 The Strip tool measures the width of a strip The measurement value can be compared with minimum and maximum constraints to yield a decision Gocator Web Interface Measurement 126 Strip Width 11 link Disabled Parameters Base Type None Left Edge Right Edge Select Type Best Index Tit Enabled Y Edge Support Width Edge Transition Width Minimum Strip Width Minimum Edge Height Maximum Void Region R Reset gt Output Decision Min 0 mm Max 5 mm 0 mm 0 mm 2 mm 0 mm 0 mm Remove 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 Measurements Measurement Illustration Strip Width dd Measures the width of a strip Strip Height Measures the height of a strip Height Height Height Gocator Web Interface Measurement 127 Measurement Illustration Strip X Measures the X position of a strip X Z J X Z Strip Z Measures the Z position of a strip J X Z d Pa
39. 1 Ensure that all sensors have a clear view of the target surface Remove any irregular objects from the sensor s field of view that might interfere with alignment calibration If using a calibration bar for a dual sensor system ensure that the lasers illuminate a reference hole on the calibration bar 2 Navigate to the Layout panel and select Global or Current Configuration as the Source Click the arrow button next to Calibration to expand the panel See Transformation Sources previous page for details on transformation sources 3 Select Alignment Calibration as the Type 4 Clear the previous calibration if present Press the Clear Calibration button to remove an existing calibration 5 Selecta calibration Target Select Flat Surface to use the conveyor surface or other flat surface as the calibration reference or Bar to use a custom calibration bar If using a calibration bar specify the bar dimensions and reference hole layout See Calibration Targets page 26 for details 6 Place the target under the sensor 7 Press the Calibrate button Gocator Web Interface Setup and Calibration 82 The sensors will start and the alignment calibration process will take place Calibration is performed simultaneously for all sensors If the sensors do not calibrate check and adjust the exposure settings D Alignment calibration uses the exposure defined for the single exposure mode regardless of the current exposure mode 8
40. 131 132 132 134 135 137 138 140 143 144 Measurement Region 146 OPCNING obec ee res 147 Measurement Region 152 AAA A cee 152 POSICION Zara reia 154 TOXIC re ge cotas ete notes aa 155 SCDE 2 euog e eE 157 Script Measurement 158 Built in Functions 00e0ee 158 OUTPUE di cca collie coh lec iee dee eee leutt 163 Output Page Overview 0 02 0000e 163 Ethienmet Output coirrsoscio ni ed eects 164 Digital Outputs coccion dorada 167 Analog Output 2 2 2 22 2 2 170 Serial OUTPUT anaconda 172 Dashboard loci ad 174 Dashboard Page Overview 174 State and Health Information 174 Measurement Statistics o oooocococo 175 Gocator Device Files 177 Configuration Files ccc cccaewecexsceveccsedeenes 177 SGUUP oi422 6222s A SN 177 TSS Ol whet Ce et eee skh daciaee 178 Layout Jolla tasa 179 Calibration cuina caia 179 SA ehldededuse 180 Sensors Sensor Locccccccccncnncnnnnn 181 Sensors Sensor Profiling 181 Profiles ccchecet rotenceaceuccnsseeemetmeceee 182 A ste atee eE 183 Feature 2 adi cds 183 A IN 183 ANMCOOE iii 183 easurements Width 184 Measurements Height 185 Measurements Distance 186 easurements PositionX 187 easurements PositionZ
41. 2 8 bit signed integer 16u 3 16 bit unsigned integer 16s 4 16 bit signed integer 32u 5 32 bit unsigned integer 32s 6 32 bit signed integer 64u 7 64 bit unsigned integer 64s 8 64 bit signed integer byte 9 1 Byte char 10 8 bit ASCll encoded character 64f 11 64 bit floating point value 32f 12 32 bit floating point value 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 Profile Sources Profile data is always associated with a profile source The profile source identifies the scope and nature of the laser profile information Profile Sources Profile Source Id Description Main 0 Data from the Main sensor Buddy 1 Data from the Buddy sensor Combined 100 Combined data from the Main and Buddy sensor for wide orientation Protocols Gocator Protocol 261 Status Codes Each reply on the Discovery Control and Upgrade channels contains 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 su
42. 225 02 eet c act becuse eames 215 SurfaceCircleRegion 0 02ee eee 215 SurfaceFeature3d 2 2 2222 215 Measurements PartArea 216 Measurements PartVolume 217 Measurements PartHeight 217 Measurements PartEllipseMajor 218 Measurements PartEllipseMinor 219 Measurements PartEllipseAngle 220 Measurements PartEllipseRatio 221 Measurements PartBoundingBoxX 221 Measurements PartBoundingBoxY 222 Measurements PartBoundingBoxWidth 223 Measurements PartBoundingBoxLength 224 Measurements PartHoleX 225 5 Measurements PartHoleY 226 easurements PartHoleZ _ 227 easurements PartHoleRadius 228 Measurements PartOpeningX 229 easurements PartOpeningY 231 easurements PartOpeningZ 232 easurements PartOpeningLength 234 Measurements PartOpeningAngle 235 Measurements PartStudTipX 236 easurements PartStudTipY 237 easurements PartStudTipZ 239 easurements PartStudBaseX 240 Measurements PartStudBaseY 241 easurements PartStudBaseZ 242 Measurements PartStudBaseRadius 243 easurements SurfacePlaneXAngle 244 easurements SurfacePlaneYAngle 245 easurements
43. 64f Setting for minimum depth mm Gocator Device Files e Configuration Files 201 Element Type Description VoidWidthMax 64f Setting for maximum void width mm SurfaceWidth 64f Setting for surface width mm SurfaceOffset 64f Setting for surface offset mm NominalRadius 64f Setting for nominal radius mm EdgeAngle 64f Setting for edge angle deg EdgeType 32s Setting for type of edge 0 Tangent 1 Corner Area Area Element for measurement area A Flush element defines settings for a profile flush measurement Flush Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm ReferenceSide 32s Setting for reference Side O Left 1 Right GapWidthMax 64f Setting for maximum gap width mm LeftSide Side Element for left side configuration RightSide Side Element for right side configuration LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter
44. 64f Setting for the stud base height mm TipHeight 64f Setting for the stud tip height mm RegionEnabled 32u Setting to enable disable region 0 Disable 1 Enable Gocator Device Files e Configuration Files e 242 Element Type Description Region PartRegion3 Measurement region d RefRegions Collection Reference regions contains 1 or 2 RefRegion elements AutoRefRegionEnabled 32u Setting to enable disable reference region 0 Disable 1 Enable RefRegions RefRegion PartRegion Reference region AutoTiltCorrectionEnabled 32u 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 LinkEnabled 32u Setting to enable disable linking O Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Part Stud Base Radius element defines settings for a Part
45. 9 Link Disabled v ID 9 Parameters E Regions 1 Region v Reset gt Output Decision Min 16 Max o e Remove Measurement Panel Measurements Measurement Illustration Plane Angle X Determines the X angle of the surface with respect to X Y or Z the alignment target Plane Angle Y Determines the Y angle of the surface with respect to Z the alignment target Angle Z Angle X Plane Offset Z Determines the z offset of the surface with respect to X f Angle Y the alignment target Y Parameters Parameter Description Decision See Decisions page 101 Region See Regions page 102 Output See Output Filters page 103 Gocator Web Interface Measurement 153 Position The Position tool reports the X Y or Z position of a part The feature type must be specified and is one of the following Centroid 2D Centroid 3D Min X Max X Min Y Max Y Min Z or Max Z The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Measurements page 96 for instructions on adding measurements 2D View 3D View Position X 10 EEN Link Disabled v 1D 10 Parameters v Feature Max Z v Region R gt Output Decision Min 5 mm Max 6 mm Remove Measurement Panel Gocator Web Interface Measurement 154 Measurements Measurement Position X Determines the X position of the selected featu
46. Disable 1 Enable Region PartRegion3 Measurement region d AutoRefRegionEnabled 32u Setting to enable disable reference region 0 Disable 1 Enable RefRegions Collection Reference regions contains 1 or 2 RefRegion elements RefRegions RefRegion PartRegion Reference region AutoTiltCorrectionEnabled 32u 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 Gocator Device Files e Configuration Files 225 Element Type Description LinkEnabled 32u Setting to enable disable linking O Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A PartHoleY element defines settings for a Hole Y measurement Part Hole Y Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision thresho
47. Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Area Area Element for measurement area Shape 32s Setting for shape of the groove 0 V shaped 1 U shaped SelectType 32s Setting for selecting a groove out of multiple grooves 0 Maximum depth Gocator Device Files e Configuration Files 205 Element Type Description 1 O based index from left to right 2 0 based index from right to left SelectN 32u Index when SelectType is set to 1 or 2 WidthMin 64f Setting for minimum groove width mm WidthMax 64f Setting for maximum groove width mm DepthMin 64f Setting for minimum groove depth mm Location 32s Setting for groove location to return from 0 Bottom 1 Left corner 2 Right corner LinkEnabled 32u Setting to enable disable linking O Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited
48. Ignore Reverse 2 Bi directional EncoderPeriod 64f Setting for encoder period mm Applicable for encoder based triggering TriggerDelay 64f Setting for trigger delay us or mm GateEnable 32u Setting to disable or enable the use of digital input to gate the time or encoder trigger source 0 Disable 1 Enable BatchCount 32u Number of frames to batch into one bundle FrameRateMin 64f Constraint for minimum frame rate Hz FrameRateMax 64f Constraint for maximum frame rate Hz FrameRateMaxSource 32s Source of maximum frame rate constraint 0 Imager 1 Whole part memory usage EncoderPeriodMin 64f Constraint for minimum encoder period ticks EncoderPeriodMax 64f Constraint for maximum encoder period ticks EncoderPeriodMinSource 32s Source of minimum encoder period constraint 0 Encoder resolution 1 Whole part memory usage TriggerDelayMin 64f Constraint for minimum trigger delay us or ticks Gocator Device Files e Configuration Files 178 Element Type Description TriggerDelayMax 64f Constraint for maximum trigger delay us or ticks BatchCountMin 32u Minimum batch count frames BatchCountMax 32u Maximum batch count frames The Layout element contains settings related to the layout orientation of the system Layout Child Elements Element Type Description Orientation 32s Setting for orientation type O Isolated 1 Wide 3 Opposite Overlap 32s Setting for overlap O No overlap 1 Overlap Budd
49. Interface User Interface Overview 51 To simulate measurements on recorded data 1 Toggle the Data Source to Replay 2 Goto the Measurement page Modify settings for existing measurements add new measurement tools or delete measurement tools as desired 3 Use the Replay Slider Step Forward Step Back or Play button to simulate measurements Step or play through recorded data to execute the measurement tools on the recording Individual measurement values can be viewed directly in the data viewer Statistics on measurement results across the entire recording can be viewed in the Dashboard page see Dashboard page 174 To clear recorded data 1 Toggle the Data Source to Replay 2 Press the Clear Replay button 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 Exported data can be either range data in CSV format or intensity data in BMP format Recorded data is 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 along with other files when you use the Save or Load commands in the Gocator s toolbar pan 7 gt D UPLOAD EXPORT DOWNLOAD CLEAR REPLAY DATA SOURCE To download recorded data 1 Toggle the Data Source to Replay 2 Press the Download
50. Measurement Illustration Opening X Determines the X position of the opening s center X Y or Z Opening Y Determines the Y position of the opening s center Opening Z Determines the Z position of the opening s center Gocator Web Interface Measurement 148 Measurement Illustration Opening Width Determines the width of the opening lt gt Width Opening Length Determines the length of the opening Length Opening Angle Determines the angle rotation around the normal of the alignment plane Angle Parameters Parameter Description Type Rounded Slot Rectangle Nominal Width Nominal width of the opening Nominal length Nominal length of the opening Nominal Angle Nominal angle of the opening The default orientation is the length of the opening along the X axis Gocator Web Interface Measurement 149 Parameter Nominal Radius Width Tolerance Length Tolerance Orientation Tolerance Reference Regions Description Orientation 0 degrees Orientation 90degrees Y Y A A X X gt 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 Y of the widt
51. 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 327 for more inform ation The exposure setting may be too low See Exposure page 73 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 Trigger Panel page 65 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 2000 amp 2300 Series 325 e Verify that the measurement target is within the sensor s field of view and measurement range See Spe cifications page 327 to review the measurement specifications for your sensor model e Check that the exposure time is set to a reasonable level See Exposure page 73 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 Trigger Panel page 65 for information on reducing the speed If you are using an external
52. Specifications Gocator 2300 Series 347 Dimensions MOUNTING HOLES 4X M5X0 8 y 10 75 263 A 272 40 61 5 x 2 49 g J 2 E Specifications e Gocator 2300 Series 348 Envelope oa i 800 Y i 350 17 217 9 238 3 11 8 Specifications e Gocator 2300 Series 349 Gocator 2000 I O Connector The Gocator 20x0 I O connector is a 19 pin M16 style connector that provides power input laser safety input digital input digital output serial output and analog output signals This section defines the electrical specifications for Gocator I O Connector pins organized by function Gocator I O Connector Pins Lead Color on Function Pin Cordset DC_24 48V 1 White Green Analog out 6 amp Black and Analog_out1 15 16 Unused Green Black Safety_in i Safety_in Serial_out 2 White Trigger_in Trigger_in Out_1 17 Out 2 Serial_out 3 Brown Serial_out __3 O o 9 Encoder_B Trigger_in 4 Grey Out_1 g Saf m 5 Blue Black Serial_out afety_in ue Blac DC 24 48V Analog_out 6 Yellow amp Encoder_A Maroon White i ae View Looking into the connector on the sensor Safety_i
53. Stud Base Radius measurement Part Stud Base Radius Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm NominalRadius 64f Setting for nominal radius mm RadiusOffset 64f Setting for the radius offset mm Gocator Device Files e Configuration Files 243 Element Type Description StudHeight 64f Setting for the stud height mm BaseHeight 64f Setting for the stud base height mm TipHeight 64f Setting for the stud tip height mm RegionEnabled 32u Setting to enable disable region 0 Disable 1 Enable Region PartRegion3 Measurement region d RefRegions Collection Reference regions contains 1 or 2 RefRegion elements AutoRefRegionEnabled 32u Setting to enable disable reference region 0 Disable 1 Enable RefRegions RefRegion PartRegion Reference region AutoTiltCorrectionEnabled 32u 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 LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing fi
54. SurfacePlaneZOffset 246 easurements PartPositionX 247 Measurements PartPositionY 248 easurements PartPositionZ 248 easurements SurfaceTextureRoughness 249 easurements SurfaceTexturelnvalidCount 250 easurements Script 251 OUTPUTS 202226405 Sone aa Ju en ERES 251 Ethernet occ 251 A II OEE 252 AA A 253 DigitalOUtpUt 10 254 Calibration File ooooococcccocncnono 256 SA naeieestee RE 256 ENTES us ck a S 257 Protocols occiso ist 258 Gocator Protocol 2 2 2 222 2 22 0 258 COnGeptsS aci Back ee ewes 258 DISCOVON ccc ados 258 Command Channels 2 0 255 259 Result Channels 2 259 Modes Lo ooccccccccccncnonocncno ron 259 Buddy Communication Channels 260 SEates coronaria carl 260 Gocator 2000 amp 2300 Series Versions and Upgrades 260 Data Types cesiones cata dios 261 Profile SOUTCES 1 1 2 0 e eee ee eee eee eee eens 261 Status CodeS AA ee eee 262 Command and Reply Formats 262 Result Format 2 2 22 2 262 Discovery Commands 02 eee eee 263 Get Address seacte sstiededsaccecedousansa 263 Set Address ohne a eara 264 Upgrade Commands 265 Get Protocol Version 2 02200005 265 Start Upgrade _ 02 2 2 2 2 202 265 Get Upgrade Status
55. V shaped 1 U shaped 2 Open shaped SelectType 32s Setting for selecting a groove out of multiple grooves 0 Maximum depth 1 0 based index from left to right 2 0 based index from right to left SelectN 32u Index when SelectType is set to 1 or 2 WidthMin 64f Setting for minimum groove width mm Gocator Device Files e Configuration Files e 204 Element Type Description WidthMax 64f Setting for maximum groove width mm DepthMin 64f Setting for minimum groove depth mm Location 32s Setting for groove location to return from 0 Bottom 1 Left corner 2 Right corner LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Groove Z element defines settings for a profile groove Z measurement Groove Z Child Elements
56. Write register command Control Register Map Register sola Name Read Write Description Address 0 Command Register WO Command register See the Command Register Values table below for more information 1 21 Configuration or Calibration WO Null terminated filename Filename Each 16 bit register holds a single character Only used for Load Configuration Command Specifies the complete filename including the file extension cfg or set e g test cfg must be null terminated If you specify a file ending with the cfg extension only a configuration will be loaded unless you are switching from a configuration whose calibration was performed with Source set to Current Configuration in the Layout panel see page 81 for more details to a configuration that uses global transformations In the latter case global transformations will also be loaded If you specify a file ending with the set extension a configuration the transformations that were Protocols e Modbus TCP Protocol 292 Register Name Read Write Description Address associated with it by performing calibration using Current Configuration and a template if in profile mode and a template has been registered will be loaded 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 s
57. always reported relative to the encoder zero position or relative to time 0 in case of time triggered Whole Part acquisition Volume The Volume tool determines the volume of a part The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Measurements page 96 for instructions on adding measurements Gocator Web Interface Measurement 132 2D View 3D View O Volume 3 6457 792 Link Dis v 1D 3 Parameters Y Region R Reset X 14 196 mm Width 11 847 mm Ne 6 121 mm Length 20 693 mm Z 21 471 mm Height 14 326 mm gt Output Decision Min 6450 mm3 Max 6460 mm3 Remove Measurement Panel Measurements Measurement Illustration Volume Measures volume in XYZ space Gocator Web Interface Measurement 133 Parameters Parameter Description Decision See Decisions page 101 Region See Regions page 102 Output See Output Filters page 103 Area The Area tool provides a measurement of the area of an object s surface in the XY plane The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Measurements page 96 for instructions on adding measurements 2D View 3D View O Areas 2986 090 Link Disabled 1 4 Parameters Region R gt Output Decision Min 2986 mm2 Max 2987 mm2 Remove Measu
58. and Sharing Center then click Change Adapter Settings b Right click the desired network connection and then click Properties c Onthe Networking tab click Internet Protocol Version 4 TCP IPv4 and then click Properties d Selectthe Use the following IP address option e Enter IP Address 192 168 1 5 and Subnet Mask 255 255 255 0 then click OK 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 Apply General IP address Subnet mask Default gateway ain DNS server 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 Obtain an IP address automatically Use the following IP address Use the following DNS server addresses 192 168 1 5 255 255 255 0 Preferred DNS server Alternate DNS server Advanced Ca Cms e00 Network aje Show A 1 D Location Automatic 1 Ethernet Self Assigned IP Status Connected Ethernet has a self assigned IP address and o AirPort A may not be able to connect e Parallel dapter lt gt e Baral dapter guy Configure Manually Z IP Address 192 168 1 5 Subnet Mask 255 255 255 0 Bluetooth 0 o Kot Connected Router DNS Server Sea
59. array in an assembly object are stored in the big endian format The command assembly object is used to start stop calibrate and switch configuration on the sensor Command Assembly Information Value Class 0x4 Instance 0x310 Number of Attributes 3 Length 32 bytes Supported Service 0x10 Write Single Attribute Attributes 1 and 2 are not implemented as they are not required for the static assembly object Attribute 3 Attribute Name Type Value Description Access 3 Command Byte See Below Commands parameters Get Set Array Byte 0 Command See table below for specification of the values Byte 1 31 Used for load configuration command 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 Alignment Calibrate Start the calibration process Byte 1 of the Sensor State Assembly will be set to 1 busy until the calibration process is complete then back to zero 3 Travel Calibrate Start the travel calibration process Byte 1 of the Sensor State Assembly will be set to 1 busy until the calibration process is complete then back to zero 4 Clear Calibration Clear the calibration 5 Load Configuration Load a configuration file Bytes 1 31 for the filename one ASCII character per byte File name must be NULL terminated The extension cfg or set should be included If
60. be scheduled A scheduled output becomes active after a specified delay from the start of Gocator exposure A scheduled output can be used to track the decisions for multiple objects as these objects travel from the sensor to the eject gates The delay specifies the distance from the sensor to the eject gates An Immediate output becomes active as soon as the measurement results are available The output activates after the Gocator finishes processing the data As a result the time between the start of Gocator exposure and output activates depends on the processing latency The latency is reported in the dashboard and in the health messages 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 Trigger Panel page 65 for details D The analog output takes about 75 us to reach 90 of the target value for a maximum change then another 40 us to settle completely To respond to software scheduled commands 1 2 w Navigate to the Analog panel Set Event to Software Specify if the output is Immediate or Scheduled An analog output value becomes active immediately or scheduled Imm
61. 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 intensity values Part Gocator Web Interface Setup and Calibration 94 Measurement The following sections describe the Gocator s tools and measurements Measurement Page Overview Tools and their measurements are added and configured using the Measurement page The content of the Measurement page is controlled by the current operation mode In Profile mode the Measurement page displays tools for profile measurement In Part Mode the Measurement page displays tools for part measurement The Measurement page is disabled in Video and Raw mode Metrics Ww is my a en CPU Load Connection Setup Measurement Output Dashboard Current Speed test Mi Profile Distance 0 Measurements Fixturing 50 1 Add Measurements Distance O a Distance 0 gg Dj 2 Decision Min 60 mm gt Feature 1 F1 Top Feature 2 F2 Top Output Element Description 1 Tools Panel Use the Tools panel to add new measurements or to configure fixturing See Tools Panel next page 2 Measurement Panel For each measurement that is added a configuration area will appear below the Measurements panel Use this area to adjust settings for the measurement 3 Data Viewer Display
62. configuration that uses global transformations In the latter case global transformations will also be loaded If you specify a file ending with the set extension a configuration the transformations that were associated with it by performing calibration using Current Configuration and a template if in profile mode and a template has been registered will be loaded Reply OK or ERROR lt Error Message gt Examples LoadConfig test cfg Protocols ASCII Protocol 307 OK test cfg loaded successfully LoadConfig OK test cfg LoadConfig wrongname cfg ERROR failed to load wrongname cfg OK The Stamp command retrieves the current time encoder and or the last frame count Formats Message Format Command Stamp time encoder frame If no parameters are given time encoder and frame will be returned There could be more than one selection Reply If no arguments are specified OK time 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 cfg LoadConfig wrongname cfg Alignment Calibration The Alignment Calibration command performs an alignment calibration based on the calibration settings in the sensor s live configuration A reply to the command is sent when the calibration has completed or
63. correction angle Y Type 32u Opening type O Slot 1 Rectangle LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Gocator Device Files e Configuration Files e 234 Element Type Description Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Part Opening Angle element defines settings for a Part Opening Angle measurement Part Opening Angle Child Elements Element Name Type Description Setting for measurement name DecisionMin DecisionMax NominalWidth WidthTolerance NominalLength LengthTolerance NominalAngle AngleTolerance NominalRadius PartialDetectionEnabled RegionEnabled Region RefRegions AutoRefRegionEnabled String 64f 64f 64f 64f 64f 64f 64f 64f 64f 32u 32u PartRegion3 d Collection 32u Setting for decision threshold minimum mm Setting for decision threshold maximum mm Setting for the nominal wid
64. delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements Gocator Device Files e Configuration Files 195 Measurements Circle Radius A CircleRadius element defines settings for a profile circle radius measurement CircleRadius Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Area Area Element for measurement area LinkEnabled 32u Setting to enable disable linking O Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements Measurements Circle X A Ci
65. directory and file name to store on the client computer Press OK The Metrics panel displays two important performance statistics in real time CPU load and current frame rate speed The CPU Load bar in the Metrics panel at the top of the interface displays how much of the CPU is being utilized A warning symbol will appear if the sensor drops profiles because CPU is over utilized Metrics CPU Load THEM Current Speed Gocator Web Interface User Interface Overview 53 The Speed bar displays the frame rate of the sensor Awarning symbol will appear if triggers external input or encoder are dropped because the external rate exceeds the maximum frame rate Metrics CPU Load 1 Current Speed DHz A Click on a warning symbol to reveal notifications that display more detailed information F Trigger Drops Detected The data viewer is displayed in both the Setup and the Measurement pages but displays different information depending on which page is active When the Setup 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 or whole part views For details see Data Viewer page 88 When the Measurement page is active the data viewer displays sensor data onto which representations of measurement tools and their measurements are superimposed For details see Data V
66. encoders photocells or PLCs POWER 24 48VDC 13W LASER SAFETY 24 48VDC TO ENABLE WIRE RICH 1 0 GOCATOR AS REQUIRED BY APPLICATION IN ENCODER TRIGGER OUT SERIAL ANALOG DIGITAL 24 Le gt i y Vine ele GOD ON LI IU IF JO N SEL EA Y GOCATOR SEEGER LER tap ae N h 1 0 CORDSET EGG EIS LTS A Q 0 X Q l AN Hen IN USER PC can be disconnected 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 as the Buddy sensor Gocator s software recognizes three installation orientations None isolated Opposite and Wide Gocator 2000 amp 2300 Series 17 For the Gocator 2000 series sensors the Master 200 must be used to connect two sensors in a dual sensor system Gocator 20x0 I O cordsets are used to connect sensors to the Master 200 The Master 200 provides a single point of connection for system I O and power The Master 200 ensures that the scan timing is precisely synchronized across sensors Sensors and client computers typically communicate via an Ethernet switch minimum 100 Mbit s GOCATOR 2000 SERIES MAIN GOCATOR ETHERNET SWITCH NOT SUPPLIED 0 GOCATOR 1 0 CORDSET ETHERNET CORDSET Ld 2 A f Ta Te Pr
67. exposure level For each exposure the sensor will perform a complete scan at the current frame rate making the effective frame rate slower For example if two exposures are selected then the speed will be half of the single exposure frame rate The sensor will perform a complete multi exposure scan for each external input 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 Active Area Exposure Single Dynamic Multiple Exposure 1 a auto Set amsa Exposure 800 us I Intensity Exposure 1 z b Resolution Transformations 3 D You must make sure that the exposure steps set for composite exposure are the same between the Main and Buddy sensors in dual sensor mode To enable multiple exposures 1 Select Profile Part or Raw mode 2 Navigate to the Sensor panel Click the arrow next to Exposure to expand the panel Click the Main or Buddy sensor button to select the sensor 3 Select Multiple 4 Press the button to add an exposure step Up to a maximum of five exposure settings can be added 5 Setthe exposure level to make the Gocator s camera less or more sensitive as required If Acquire Intensity is enabled select the exposure
68. failed The command is timed out if there has been no progress after one minute Formats Message Format Command AlignCalibrate Reply If no arguments are specified OK or ERROR lt Error Message gt Protocols ASCII Protocol 308 Examples AlignCalibrate OK AlignCalibrate ERROR ALIGNMENT CALIBRATION FAILED Travel Calibration The Travel Calibration command performs a travel calibration based on the calibration settings in the sensor s live configuration A reply to the command is sent when the calibration has completed or failed The command is timed out if there has been no progress after one minute Formats Message Format Command TravelCalibrate Reply If no arguments are specified OK or ERROR lt Error Message gt Examples TravelCalibrate OK TravelCalibrate ERROR TRAVEL CALIBRATION FAILED Clear Calibration The Clear Calibration command clears the calibration record generated by alignment or travel calibration Formats Message Format Command ClearCalibration Reply OK or ERROR lt Error Message gt Examples ClearCalibration OK 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 Protocols ASCII Protocol 309 The Get Result command retrieves measurement values and decisions Formats Message Format Command Result measurement I
69. 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 3 Click Assign The Buddy sensor will be assigned to the Main sensor and its status will be updated in the System panel Gocator Web Interface Connection and Maintenance 57 Buddy assigned successfully Security Panel Gocator sensors can be secured with passwords to prevent unauthorized access Each sensor has two accounts Administrator and Technician Security Administrator Password Password again Save gt Technician Gocator Account Types Account Description Administrator The Administrator account has privileges to view and edit all settings and to perform setup procedures such as sensor calibration Technician The Technician account has privileges to view the Dashboard Page and to Start or Stop the sensor The Administrator and Technician accounts can be assigned unique passwords By default passwords are blank empty To set or change the password for the Administrator account 1 Navigate to the Security panel Click the arrow next to Administrator to expand the panel 2 Enter the new Administrator account password and password confirmation 3 Click Save The new password will be required the next time that an administrator logs in to the sensor To set or change the password for the Technician accoun
70. 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 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 281 for an explanation of the stamp information The following table shows how the stamp information is packed into the blue channel A stamp is a 64 bit value packed into four consecutive 16 bit blue pixels with the first byte position storing the most significant byte Tools and Native Drivers GenTL Driver 319 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 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 l
71. 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 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 ire e Examples e ee e Right e e ete O Average e e O Corner e Yo ary LAA Top Corner e eco e e e e Bottom Corner Left Corner Gocator Web Interface Measurement 105 Point Type Examples Right Corner Finds the right most corner in the region of interest pe where corner is defined as a change in profile shape 7 Phe S e Seo right Corner a Rising Edge Finds a rising edge in the region of interest Rising Edge e A Falling Edge Finds a falling edge in the region of interest A Falling Edge e 20000000000 Any Edge Finds a rising or falling edge in the region of interest K E Edge AS o O Edge ceseccest Median Determ
72. logic for sorting profiles into discrete objects See Detection Panel page 86 7 Data Viewer Use the data viewer to display sensor data and adjust regions of interest Depending on the current operation mode the data viewer can display video images profile plots or part views See Data Viewer page 88 The following table provides quick references for specific goals that you can achieve from the panels in the Setup page Goal Reference 1 Select a trigger source that is appropriate for the application Trigger Panel next page 2 Ensure that camera exposure is appropriate for laser profiling Exposure page 73 3 Find the right balance between profile quality speed and CPU utilization Active Area page 70 Exposure page 73 Gocator Device Files page 177 4 Specify mounting orientations for dual sensor systems Dual Sensor System Layout page 79 5 Calibrate the system so that laser profile data can be aligned to a common reference and values can Alignment be correctly scaled in the axis of motion Calibratio n page 82 Travel Calibratio n page 284 6 Specify smoothing gap filling and resampling parameters to remove effects of occlusions Filters Panel Gocator Web Interface Setup and Calibration 64 Goal Reference page 84 Detection Panel page 86 Operation Mode Panel The Gocator web interface supports four operation modes Video Profile Raw and Whole Part The o
73. network interface uses DHCP 0 otherwise reserved 4 byte Reserved address 4 byte IP address reserved 4 byte Reserved mask 4 byte Subnet mask reserved 4 byte Reserved gateway 4 byte Gateway reserved 4 byte Reserved reserved 4 byte 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 Description length 64s Command size in bytes id 64s Command identifier 0x0002 signature 64s Magic number 0x0000504455494D4C deviceld 64s Device identifier serial number useDhcp 64s 1 if network interface uses DHCP 0 otherwise reserved 4 byte Reserved Set to 0 address 4 byte IP address reserved 4 byte Reserved Set to 0 mask 4 byte Subnet mask reserved 4 byte Reserved Set to 0 gateway 4 byte Gateway reserved 4 byte Reserved Set to 0 reserved 4 byte Reserved Set to 0 Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier 0x1002 status 64s Reply status signature 64s Magic number 0x0000504455494D4C deviceld 64s Device identifier Protocols Gocator Protocol 264 Upgrade Commands Get Protocol Version The Get Protocol Version command reports the Upgrade protocol version of the connected sensor Command Field Type Description length 64s Command si
74. not be installed near objects that might occlude a camera s view of the laser Getting Started Installation 29 Sensors should not be installed near surfaces that might create unanticipated laser reflections a 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 sensor systems See Dual Sensor System Layout page 79 for more information on orientations Standalone Orientations Getting Started Installation 30 Dual Sensor System Orientations Getting Started Installation 31 Main must be on the left side when looking into the connector of the Buddy Wide Above below for two sided measurement Opposite Main must be on the top with Buddy on the bottom Opposite Getting Started Installation 32 Network Setup The following sections provide procedures for client PC and Gocator ne
75. of measurement statistics and sensor health See Dashboard page 174 Summarizes important performance statistics See Metrics Panel page 53 Provides online help resources including user manual firmware updates and SDK Controls sensor operation manages configurations and replays recorded measurement data See Toolbar below Provides controls to configure profiling and measurement parameters Displays sensor data tool setup controls and measurements See Data Viewer on page 88 for its use when the Setup page is active and on page 98 for its use when the Measurement page is active Common Elements The toolbar is the central place for performing common operations This section explains howto use the toolbar to manage the sensor configurations and to operate the sensor Element 1 Configuration Controls 2 Recorded Data Controls 3 Sensor Operation Replay Control 4 Data Source Saving and Loading Settings Description Use the configuration controls to manage sensor settings Use the recorded data controls to download export and upload recorded data Use the sensor operation controls to start sensors enable recording and control recorded data Use the Data Source button to switch the sensor between live and replay mode When you change sensor settings using the Gocator web interface some changes are saved automatically while other changes are temporary until y
76. 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 Gocator Web Interface Setup and Calibration 70 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 45 for more information on sensor and system coordinates FIELD OF VIEW AZ Ly ACTIVE AREA yx Sensor y Active Area Select Reset Values Min Max X Field of View 100 mm 0 000 100 000 Y Field of View 170 mm 0 000 170 000 Measurement Range 100 mm 0 000 100 000 X Start 50 mm 50 000 50 000 Y Start 85 mm 85 000 85 000 Z Start 50 mm 50 000 50 000 gt Exposure gt Resolution gt Transformations To set the active area 1 Navigate to the Sensor panel Active area is specified separately for each sensor Click the arrow next to Active Area to expand the panel 2 Click the Select button 3 Define the active area Enter the active area in the edit box or adjust it graphically in the data viewer 4 Click the Acquire button to see a scan while setting up the active area 5 Click the Save button Laser profiling devices are usually more accurate at
77. 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 are flammable or corrosive gases e where the unit may be directly subjected to harsh vibration or impact e where water oil or chemicals may splash onto the unit e where static electricity is easily generated Ensure that ambient conditions are within specifications Gocator sensors are suitable for operation between 0 50 C and 25 85 relative humidity non condensing Measurement error due to temperature is limited to 0 015 of full scale per degree C The Master 200 400 800 1200 2400 is similarly rated for operation between 0 50 C The storage temperature is 30 70 C Safety and Maintenance Environment and Lighting 15 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 Sensor Maintenance Keep sensor windows clean Gocator sensors are high precision optical instru
78. perform a new calibration Gocator 2000 amp 2300 Series Software Development Kit 315 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 mi3D com After downloading the tool package 14405 x x x x_SOFTWARE_Go2_Tools zip unzip the file and run the Sensor Discovery Tool bin gt win32 gt kDiscovery exe ES Sensor Discovery Tool Devices Configuration 4683 O Default Custom Address 192 168 62 10 Mask 255 255 0 Gateway De Ms C 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 To change the network address of a sensor 2 Select the Custom option 3 Enter the new network address information 4 Press the Set Address button To restore a sensor to factory defaults 1 Select the sensor serial number in the Devices list 2 Press the Factory Restore button Confirm when prompted Gocator 2000 amp 2300 Series 316 The Sensor Discovery tool uses UDP broadcast messag
79. profile and a template The measurement value can be compared with minimum and maximum constraints to yield a decision O Difference Area 9 Link Disabled 1D 9 Parameters Template Li Sc Absolute Value gt Region R Reset Output Decision Min 0 mm Max 0 mm Remove Area can be calculated as an absolute or signed value Signed results are positive in regions where the live profile is closer to the sensors than the template The illustrations below indicate the region where the results are positive and negative Template Positive Area Live Profile Negative Area The result is the sum of all the areas within the measurement region Gocator Web Interface Measurement 116 When both the Main sensor and the Buddy sensor are selected in Opposite orientation the calculation is applied to the thickness profiles of the live and template data A thickness profile is calculated by subtracting the profile of the bottom sensor i e the Buddy sensor from the profile of the top sensor i e the Main sensor The difference in peak can be calculated as an absolute or signed value A signed difference is positive in regions where the live profile is closer to the sensors than the template The illustrations below indicate the region where the results are positive or negative Template Live Profile Positive Peak Negative Peak The result is the peak with the largest absolut
80. provides proper scaling in the Y axis axis of motion Travel Speed can be calculated automatically by performing Travel Calibration or set manually after clicking on the unlock button Encoder Behavior setting is used to specify how the Gocator sensor is triggered when the target moves Encoder Resolution millimeters per tick provides proper scaling in the Y axis axis of motion The encoder resolution can be calculated automatically by performing Travel Calibration or set manually after clicking on the unlock button Encoder Spacing setting is used to specify the distance between triggers mm Internally the Gocator sensor rounds the spacing to a multiple of the encoder resolution Units specifies whether the trigger delay output delay and output scheduled command operates 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 can be used to control 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 73 Sensor Panel The following sections describe the Sensor panel Active area refers to the region within the sensor s maximum field
81. required Not required Not required Not required Not required Not required Not required Not required Not required Not required Not required Not required Not required Not required Not required Terminate beam at useful length Prevent unintentional reflections Not required Not required Required for operator and maintenance personnel 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 re
82. resolution and Z resolution respectively 0x8000 represents NULL point Dimensions and data type given by block descriptor X system coordinate xOffset xResolution ranges rangeCount 0 Z system coordinate zOffset zResolution ranges rangeCount 1 Profile Intensity Profile Intensity Attributes Field Type dataType 64s source 64s reserved N 64s Profile Intensity Data resampled or raw Description Data type 0x7 Resampled profile intensity values 0x8 Raw profile intensity values Profile source A variable number of additional attributes may be included Field Type Description intensityValues rangeCount 8u Array of profile intensity values Items in the array are arranged in the same order as items in the part profile array A value of 0 indicates no spot Dimensions and data type given by block descriptor Protocols Gocator Protocol 282 Part Profile Part Profile Attributes Field Type Description dataType 64s Data type 0x03 source 64s Profile source xResolution 64s X resolution nm yResolution 64s Y resolution nm zResolution 64s Z resolution nm xOffset 64s X offset nm yOffset 64s Y offset nm zOffset 64s Z offset nm reserved N 64s A variable number of additional attributes may be included Part Profile Data Field Type Description ranges partLength 16s Range values unit is Z resolution 0x8000 represents null range partWidth Dimensio
83. safety to the Gocator Sensor I O Port Connects to the Gocator I O cordset Master Host Port Connects to the host PC s Ethernet port Power Accepts power 48 V Power Switch Toggles sensor power Getting Started e Hardware Overview 23 Item Description Laser Safety Switch Trigger Encoder Digital Output 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 See Master 100 page 363 for pinout details Master 200 The Master 200 supports standalone or dual sensor setup It is only used by the Gocator 2000 series CONNECTION TO SENSOR 2 CONNECTION TO SENSOR 1 LASER SAFETY SWITCH Item Connection to Sensor 2 Connection to Sensor 1 Laser Safety Switch Power Switch Input Output Encoder Port 1 only Encoder Port 1 amp 2 Power and Laser Safety POWER SWITCH 2 Q IEEE sosa means zos vere AI PU ee 71804 ao Sesseg Hood O POWER FOR DEMO USE ONLY ENCODER ENCODER POWER AND INPUT OUTPUT PORT 1 ONLY PORT 1 amp 2 LASER SAFETY Description Gocator I O connection for Sensor 2 Buddy sensor Gocator I O connection for Sensor 1 Main sensor
84. size in bytes id 64s Reply identifier status 64s Reply status Clear Calibration The Clear calibration command deletes the calibration results Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x4102 Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status Protocols Gocator Protocol 280 Data Results A Data Result message adheres to the general structure for result messages as defined in Result Format see page 262 A Data Result contains a variable number of blocks depending on the sources selected for Ethernet output Each selected source contributes two data blocks and accompanying data block descriptors one block for attributes and one block for content such as video pixels or measurement results Data Result Header Field Type Description length 64s Message length in bytes id 64s Message id 1 attributeCount 64s Count of attributes in this message header 7 dataCount 64s Count of data blocks in this message variable reserved 64s Reserved for internal use timestamp 64s Timestamp us encoder 64s Encoder value ticks frameCount 64s Frame count digitallnputs 64s Digital input states encoder ndex 64s Encoder value when the last index is triggered reserved 64s Reserved for internal use descriptors dataCount Descriptor List of data block descriptors data dataCount
85. that are applicable and leave the other elements in the structure The Setup element contains settings related to system and sensor setup Setup Child Elements Element Type Description StartupState 32s Setting for the default state of the system at boot time 0 Ready 1 Running StartupModeOptions String Constraint for startup modes comma delimited list StartupMode String Setting for the default system mode at boot time XResamplingType 32s Setting for the resampling interval 0 Maximum resolution 1 Balanced 2 Maximum speed IntensityEnable 32u Setting to disable or enable intensity output O Disable 1 Enable XResamplinginterval 64f Property for X resampling interval mm Gocator 2000 amp 2300 Series 177 The Trigger element contains settings related trigger source speed and encoder resolution Trigger Child Elements Element Type Description TriggerSource 32s Setting for trigger source 0 Time 1 Encoder 2 Input 3 Software SystemDomain 32s Setting for units for trigger delay and output scheduling Ignored when TriggerSource is Time or Encoder 0 Microseconds 1 Millimeters FrameRate 64f Setting for frame rate Hz Applicable for time based triggering FullFrameRateEnable 32u Setting to enable or disable full frame rate operation 0 Use FrameRate setting 1 Ignore FrameRate setting run at maximum frame rate EncoderTriggerMode 32s Setting for the encoder behavior 0 Track Reverse 1
86. 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 Gocator Web Interface Setup and Calibration 71 Tracking Window The Gocator can track a relatively flat object in real time to achieve very high scan rates This feature tracks the object height using a small window that moves dynamically to cover a larger measurement range You can balance the gain in speed and the tracking ability by configuring the size of the tracking flat surface area This feature is typically used in road or web scanning applications where the target is a continuous 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 Tracking window is only supported on the Gocator 2300 series 1 Search using the Full Active Area NS 2 Track using the Tracking Window 3 Track using the Tracking Window N A 4 Lose track of laser line 5 Search using the Full Active Area 6 Track using the Tracking Window Sensor v Active Area Select Reset Values Field of View Measurement Range X Start Z Start Y Tr
87. you specify a file ending with the cfg extension only a configuration will be loaded unless you are switching from a configuration whose Protocols EtherNet IP Protocol 298 Value Name Description calibration was performed with Source set to Current Configuration in the Layout panel see Transformation Sources page 81 for more details to a configuration that uses global transformations In the latter case global transformations will also be loaded If you specify a file ending with the set extension a configuration the transformations that were associated with it by performing calibration using Current Configuration and a template if in profile mode and a template has been registered will be loaded The sensor state assembly object contains the sensor s states such as the current sensor temperature frame count and encoder values Sensor State Assembly Information Value Class 0x4 Instance 0x320 Number of Attributes 3 Length 100 bytes Supported Service 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 Sensor state information See below for more Get Array details Sensor State Information Byte Name Description 0 Sensor s Sensor state state 0 Ready 1 Running 1 Command Command busy status in progress 0 Not busy 1 Busy performin
88. 1 Enable TiltXAngle 64f Setting for manual tilt correction angle X TiltYAngle 64f Setting for manual tilt correction angle Y Type 32u Opening type O Slot 1 Rectangle LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Part Opening Z element defines settings for a Part Opening Z measurement Part Opening Z Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm NominalWidth 64f Setting for the nominal width mm WidthTolerance 64f Setting for the width tolerance mm NominalLength 64f Setting for the nominal length mm LengthTolerance 64f Setting for the length tolerance mm Gocator Device Files e Configuration Files e 232 Element Type Description Nomin
89. 1 Select a measurement Click on the in a measurement panel to expand it 2 Select the source The source drop down list will not appear if Main is the only option Tool linking can be used to reduce CPU load when running multiple tools of the same type using the same tool settings For example a Circle Radius tool can be linked with a Circle Z tool but not with a Groove Z tool The following profile tools support linking within each group a Circle Radius Circle X and Circle Z Line Standard Deviation Line Error Min Line Error Max and Line Percentile Gap and Flush a Groove X Groove Z Groove Width and Groove Depth Strip X Strip Z Strip Width and Strip Height The following whole part tools support linking within each group Volume and Area Bounding Box X Bounding Box Y Bounding Box Width and Bounding Box Height Hole X Hole Y Hole Z and Hole Radius Stud Tip X Stud Tip Y Stud Tip Z Stud Base X Stud Base Y Stud Base Z and Stud Radius Opening X Opening Y Opening Z Opening Width Opening Length and Opening Angle Plane Angle X Plane Angle Y and Plane Offset Z Position X Position Y and Position Z a Texture Roughness and Texture Invalid Count 0 Circle Radius 0 a osae Disabled Cirde X 1 To link measurement tools 1 Add two or more measurement tools of the same type 2 Configure the settings of one of the tools Gocator Web Interface Measurement 100
90. 1 Black Encoder_B 12 Violet The rest of the wires in the Gocator I O cordset are not used Specifications e Master 100 363 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 I OAOA KF WN Encoder_GND Encoder_5V i o Master 100 Dimensions 84 8 Specifications Master 100 364 Master 200 The Master 200 accepts I O connections for power safety encoder serial output analog output digital output as well as digital input and distributes these signals among 1 or 2 connected sensors CONNECTION TO SENSOR 2 CONNECTION TO SENSOR 1 LASER SAFETY SWITCH EN POWER SWITCH O posssssssessasssssa possessssas ssese 7 TEREPET ETE EE Master o moon rola Poia Pawan avery rower cheno NN eco O SSSSSS 666S O POWER FOR DEMO USE ONLY NPUT OUTPUT ENCODER ENCODER POWER AND PORT 1 ONLY PORT 1 amp 2 LASER SAFETY D Contact LMI for information regarding this type of power supply When using the Master 200 with a single sensor connect the sensor to Se
91. 2 Copyright 2 22 222 eeeeeee eee eete eee eeeee E Resolution and Accuracy 22220e2 43 Table of Contents 2 2 2 22 222 222 3 X Resolution 2 eee cece eee 43 Introduction 2 ececee senses eee 9 Z Resolution _ 22 2 0 44 Safety and Maintenance _ 10 Z Linearity 0 ccceceececeececeecececees 44 Laser Safety _ 2 b2c iisedgeetaee edge eds 10 Profile Output 22cansos szhdensssdideedesceresasane 45 Laser Classes 2 22 202 ee esse eee eee 1 Coordinate SysteMS oooocccccccccccccccnono 45 Precautions and Responsibilities 12 Sensor Coordinates 45 Class 3B Responsibilities 2 12 System Coordinates 2 2 2ee0eceee 45 Nominal Ocular Hazard Distance NOHD 13 Resampled and Raw Profile Format 46 Systems Sold or Used in the USA 14 Gocator Web Interface 47 Electrical Safety ascionnoconse ciclo dais 14 User Interface Overview _ 47 Environment and Lighting 15 Ci peo 48 Sensor Maintenance 22 2 2 3iiecleneeveveseecy 16 at 48 Getting Started 2 2 eee eee 7 Saving and Loading Settings 48 System OVerVieW 2 2 22 esses eee eects teense de Managing Multiple Settings 50 Standalone System ooococoococonocononon
92. 22 055 ide la abla 332 Gocator 2070 2 222 2222 eee eee 334 Gocator 2080 scccerceedsoesedid is 336 Gocator 2300 Series _ 2 2 2 338 Gocator 2330 2a scenes ejnesmdcesiccaceie doses 339 Gocator 2340 2cs c2 52s aae eee ceed 341 Gocator 2350 2cececs nese cc 342 Gocator 2370 2 222220 peita ine AEE GEE 344 GOCatOn 2380 tees dia 347 Gocator 2000 I O Connector 350 Grounding Shield 0 00200e 351 Power 2 250 oiiice deed tee biden deel 351 7 Laser Safety Input 2000005 351 Digital Outputs 22 2 2 2 2 2 2 2 2 351 Inverting Outputs eee eee eee 352 Digital Inputs 2 2 2 2 2 2 22 352 EncoderninpUt ss ca e 353 Serial Output 2 2 2222 20 2 2 2 2 354 Analog QutpUE evmsivaiiarc iia 354 Gocator Power LAN Connector 356 Grounding Shield 2002 2000 356 POWER wicet ccd a ioele tebe d ieee l ieee 356 Laser Safety Input 02 2 eee eee eee 357 Gocator 2300 I O Connector 358 Grounding Shield 0 0 2000 358 Digital Outputs 2222 2 2 2 2 2 2 359 Inverting Outputs 2 4 02 200 cera 359 Digital IMPUS lt span nee wes 359 Encoder INDUC cocido 360 Serial OUCH Ut o au cine percata nde dieta 361 Analog Output 0 eee eee eee eee 361 Master 100 vocera ai 363 Master 100 Dimensions 2 364 Ma
93. 2u PartRegion3 d Collection 32u PartRegion 32u 64f 64f 32u 32u 64f 64f Description Setting for measurement name Setting for decision threshold minimum mm Setting for decision threshold maximum mm Setting for nominal radius mm Setting for the radius offset mm Setting for the stud height mm Setting for the stud base height mm Setting for the stud tip height mm Setting to enable disable region O Disable 1 Enable Measurement region Reference regions contains 1 or 2 RefRegion elements Setting to enable disable reference region 0 Disable 1 Enable Reference region Setting to enable disable tilt correction O Disable 1 Enable Setting for manual tilt correction angle X Setting for manual tilt correction angle Y Setting to enable disable linking O Disable 1 Enable Measurement ID to link with Setting for scale factor to apply to measurement value Setting for offset to apply to measurement value Gocator Device Files e Configuration Files 239 Element Type Description SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frame
94. 45 Contact LMI for more details Specifications stated are based on standard laser classes Resolution Z and Linearity Z may vary for other laser classes ALL 2000 SERIES MODELS Scan Rate Interface Gocator 2000 amp 2300 Series Approx 300 Hz 5000 Hz 100 Mbaud Ethernet 327 ALL 2000 SERIES MODELS Inputs Outputs Input Voltage Power Housing Operating Temp Storage Temp 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 IP 67 0 to 50 C 30 to 70 C Gocator 2020 Field of View Measurement Range Dimensions 9 5 9 5 52 6 MOUNTING HOLES NV 4XM5X0 8 V 10 82 65 g i i 130 142 L to o 1 ll i p a 53 ma 62 Specifications Gocator 2000 Series 328 Envelope q E 25 Yo i 5 Esa m 82 9 95 2 Gocator 2030 Field of View Measurement Range Dimensions 33 MOUNTING HOLES 1 130 5 4X M5X0 8 y 10 o
95. 64s Command size in bytes id 64s Command identifier 0x1005 Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status mode 16 char Mode name null terminatea The Set Mode command sets the name of the current system mode Protocols Gocator Protocol 273 Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x1004 model 16 char Mode name null terminatea Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status This command retrieves the system clock in microseconds All devices in a system are synchronized with the system clock this value can be used for diagnostic purposes or used to synchronize the start time of the system Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x100A Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier 0x100A status 64s Reply status time 64u Current time in microseconds Get Encoder This command retrieves the current system encoder value Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x101C Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier 0x101C status 64s Reply status encoder 64s Current enco
96. 8 900 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 Used in the USA Systems that incorporate laser components or laser products manufactured by LMI Technologies require certification by the FDA Customers are responsible for achieving and maintaining this certification 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 Safety and Maintenance Electrical Safety 14 Minimize voltage potential between system ground and sensor ground Care should be taken to minimize the voltage potential between syst
97. ATED or NOT CALIBRATED depending on the Gocator s state Transformation Sources Gocator sensors support two types of transformation sources Global or Current Configuration The choice for the transformation source depends on how the sensor will be used gt Orientation 111303 10001 129131 w Calibration FUI AB 11 73 131 Source Global ES Current or bration You can switch between transformation sources at any time Source Description Global transformation Current Configuration A single global transformation is applied to the profile that is acquired regardless of what configuration is currently loaded on the sensor The global transformation is saved on the sensor in a separate hidden file and is retained when the sensor is reset or powered off Global transformation is typically 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 The transformation is associated with a specific configuration The transformation is saved with the same file name as the current configuration but with a different extension The transformation is accessible through the file manager see Files Panel page 59 for details When a configuration is loaded on the sensor the associated transformation is automatically loaded together with it Current Configuration is typically used when the sensor s position relative to the object s
98. Child Elements Element Type Description PassMode 32u Setting to specify how the state of the output is defined 0 Pass if decision is true 1 Pass if decision is false 2 Pass always PulseWidth 32u Setting for digital pulse width us Decision String Setting for selected decision sources comma delimited list Gocator Device Files e Configuration Files 254 Element Type Description PulseWidthMin 32u Constraint for minimum pulse width us PulseWidthMax 32u Constraint for maximum pulse width us DecisionOptions String Constraint for eligible decision sources comma delimited list SignalType 32s Setting for signal type 0 Pulsed output 1 Continuous output Event 32s Setting for which event control the output 1 Measurement 2 Software 4 Exposure ScheduleEnable 32u Setting for scheduled output mode When unscheduled output updates immediately When scheduled output updates according to a target value in software command or a delay 0 Not scheduled 1 Scheduled Delay 64f Setting for output delay The delay is measured from exposure first exposure for multiple exposure to when output is scheduled Ignored when ScheduleEnable is 0 The units depends on SystemDomain Gocator Device Files e Configuration Files 255 Calibration File The sensor calibration file contains information about the physical system setup that is used to e Transform data from sensor coordinate system to another coordinate sys
99. D 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 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 measurement of ID 2 Result 2 ERROR Specified measurement ID not found Please verify your input Custom formatted data string time value 0 decision 0 Result 0K 1420266101 151290 O 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 Protocols ASCII Protocol 310 Standard data string for measurements ID 0 and 1 Value 0 1 OK M00 00 V151290 M01 01 V18520 Standard formatted measurement data with a non existent measurement of ID 2 Value 2 ERROR Specified measurement ID not found Please verify your input Custom formatted data string time value 0 Value OK 1420266101 151290 The Get Decision comm
100. D gt ERROR lt Error Message gt Examples health 2002 2017 OK 46 1674 Health ERROR Insufficient parameters Protocols ASCII Protocol 312 Software Development Kit The Gocator Software Development Kit SDK includes open source software libraries and documentation that can be used to programmatically access and control Gocator sensors The latest version of the SDK can be downloaded from the downloads section under the support tab on the LMI Technologies website http www Imi3D com The following components are included in the SDK Component Description Gocator API Gocator API is a C language library that provides support for the commands and data formats used with Gocator sensors Gocator Console Gocator Console is a small console based application that demonstrates the use of Gocator API A pre built DLL is provided to support 32 bit Windows XP SP3 and 32 bit Windows 7 Projects and makefiles are included to support other editions of Windows and Linux Example Configuring and starting a sensor with the Gocator API include lt Go2 h gt void main Go2System system 0 Open the Go2 library Go2Api Initialize Construct a Gocator system object Go2System Construct amp system Connect to default sensor IP address with default password blank Go2System Connect system GO2 DEFAULT IP ADDRESS GO2_USER_ADMIN Reconfigure system to use time based triggering
101. E 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 SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE Gocator 2000 amp 2300 Series 378 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 copyrig
102. Files e 220 Element Type Description 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements Measurements PartEllipseRatio A PartEllipseRatio element defines settings for an ellipse ratio measurement Part Ellipse Ratio Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum DecisionMax 64f Setting for decision threshold maximum RegionEnabled 32u Setting to enable disable region 0 Disable 1 Enable Region PartRegion3 Measurement region d LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements Measurements PartBoundingBoxX A PartBoundingBoxx element defines settings for a boun
103. Gocator Device Files e Configuration Files 214 Element Type Description AreaThresholdMin 64f Constraint for area threshold minimum mm2 AreaThresholdMax 64f Constraint for area threshold maximum mm2 LengthMaxLimitMin 64f Constraint for lengthMax minimum mm LengthMaxLimitMax 64f Constraint for legnthMax maximum mm PartRegion A PartRegion element defines a rectangular area of interest on the X Y plane PartRegion Child Elements Element Type Description X 64f Setting for area X position mm Y 64f Setting for area Z position mm Width 64f Setting for region width mm Height 64f Setting for region height mm PartRegion3D A Part Region 3D element defines a rectangular area of interest in 3D Part Region 3D 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 SurfaceCircleRegion A Surface Circle Region element defines a circular surface area of interest Surface Circle Region Child Elements Element Type Description X 64f Setting for circle x position mm Y 64f Setting for circle y position mm Radius 64f Setting for circle radius mm SurfaceFeature3d A Feature element defines the settings for detecting a feature within an area of interest
104. Illustration ELLIPSE MINOR LD y I E ELLIPSE ANGLE Gocator Web Interface Measurement 136 Parameters Parameter Description Decision See Decisions page 101 Region See Regions page 102 Output See Output Filters page 103 Height The Height tool determines the height thickness of a part The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Measurements page 96 for instructions on adding measurements 31340 Moor 2D View 3D View Height 6 Link Disabled 1D 6 Parameters Type Max v Region R gt Output Decision Min 33 mm Max 34 mm Remove t 4 Measurement Panel Gocator Web Interface Measurement e 137 Measurements Measurement Illustration Height Measures maximum height minimum height average height median height or the height at the 2D centroid in the XY plane or the 3D centroid in XYZ space Height Bounding Box The Bounding Box tool provides measurements related to the smallest rectangle box that encapsulates the part X position Y position width and length The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Measurements page 96 for instructions on adding measurements A bounding box can be vertical or rotated A vertical bounding box provides the absolute positio
105. Intersect X Gocator Web Interface Measurement 113 Measurement Intersect Z Finds the intersection between two fitted lines and measures the Z axis position of the intersection point Intersect Angle Finds the angle subtended by two fitted lines Parameters Illustration Intersect Z a Intersect Angle Parameter Line Absolute Value Intersect Angle measurement only Decision Region Output Area Description Intersect X Z and Angle measurements require two fit lines One or two fit areas can be used for each fit line See Fit Lines page 106 for more information Check the Absolute box to select absolute result Uncheck for a signed result See Decisions page 101 See Regions page 102 See Output Filters page 103 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 le Box Area 8 5 Link Disabled v ID 8 Parameters Region R Reset Output Decision Min 0 mm Max 0 mm Remove Gocator Web Interface Measurement 114 Areas are positive in regions where the profile is above the X axis In contrast areas are negative in regions where the profile is below the X axis Measurements Measurement Illustration Box Area Standalone sensor and dual sensor setup in Wide orientation Measures the cross sectional area within a region to th
106. MX2 9 White Green Ethernet MX2 10 Green Ethernet MX3 11 White Blue Ethernet MX3 12 Blue Ethernet MX4 13 White Brown Ethernet MX4 14 Brown Two wires are connected to the ground and power pins Grounding Shield The grounding shield should be mounted to the earth ground Positive voltage is applied to DC_24 48V See Gocator 2300 Series page 338 for the sensor s power requirement Ground is applied to GND_24 48VDC Specifications e Gocator Power LAN Connector 356 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 48 V Safety_in 3 ov OV Confirm the wiring of Safety_in before starting the sensor Wiring DC_24 48V into Safety_in may damage the sensor Specifications Gocator Power LAN Connector 357 Gocator 2300 I O Connector The Gocator 2300 I O connector is a 19 pin M16 style connector that provides encoder digital input digital outputs serial output and analog output signals This section defines the electrical specifications for Gocator 2300 I O Connector pins organized by function Gocator I O Connector Pins Lead Color on Function Pin Cords t Trigger_in 1 Gr
107. Max 64f Setting for decision threshold maximum degrees AbsoluteResult 32u Setting for selecting absolute or signed result 0 Signed result 1 Absolute result Line 2 Line Elements for fit lines LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements Gocator Device Files e Configuration Files 192 Measurements IntersectArea An IntersectArea element defines settings for a profile intersect area measurement IntersectArea Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Area Area Element for measurement area Line Line Element for measuremen
108. NCODER GOCATOR MASTER 400 800 1200 2400 USER PC J TT GIGABIT ETHERNET SWITCH CATSE ETHERNET CABLE GOCATOR POWER AND ETHERNET TO MASTER CORDSET Getting Started e System Overview 20 Hardware Overview The following sections describe Gocator and its associated hardware Gocator 2000 Sensor CAMERA LASER EMITTER POWER RANGE LASER 1 0 CONNECTOR SERIAL NUMBER Item Description Camera Observes laser light reflected from target surfaces Laser Emitter Emits structured light for laser profiling I O Connector Accepts power and input output signals LAN Connector Connects to 100 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 CAMERA LASER EMITTER SERIAL NUMBER POWER RANGE LASER INDICATORS Gocator 2330 Getting Started e Hardware Overview 21 Item Description Camera Observes laser light reflected from target surfaces Laser Emitter Emits structured light for laser profiling I O Connector Accepts input and output signals Power LAN Connector Accepts power and laser safety signals and connects to 1000 Mbit s Ethernet network Power Indicator Illuminates when power is applied blue Range Indicator Illuminates when camera
109. Name drop down list 2 Enter a name for the file bundle 3 Press the Enter key or click the Save button The files are saved to flash memory using the name provided The saved files are set as the defaults to be loaded automatically when the sensor is reset Gocator Web Interface User Interface Overview 49 To overwrite an existing bundle of files 1 Select an existing file name in the File Name drop down list 2 Click the Save button A dialog is displayed to confirm overwriting the existing files The files are saved to flash memory using the selected name The saved files are set as the defaults to be loaded automatically when the sensor is reset To load a bundle of files 1 Select an existing file name in the File Name drop down list 2 Click the Load button The files are loaded from flash memory and unsaved changes to current settings are overwritten To delete a bundle of files 1 Select an existing file name in the File Name drop down list 2 Click the Delete button The files are deleted from the flash memory Managing individual files is described in Files Panel on page 59 Managing Multiple Settings A Gocator can store multiple bundles of configurations calibrations and templates The ability to use multiple bundles is useful when a Gocator is used for different purposes or with different constraints during separate production runs for example width decision constraints might be loose during one pro
110. NominalAngle 64f Setting for the nominal angle degrees AngleTolerance 64f Setting for the length tolerance degrees NominalRadius 64f Setting for nominal radius mm PartialDetectionEnabled 32u Setting to enable disable partial detection O Disable 1 Enable RegionEnabled 32u Setting to enable disable region 0 Disable 1 Enable Region PartRegion3 Measurement region d RefRegions Collection Reference regions contains 1 or 2 RefRegion elements AutoRefRegionEnabled 32u Setting to enable disable reference region 0 Disable 1 Enable RefRegions RefRegion PartRegion Reference region AutoTiltCorrectionEnabled 32u 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 Type 32u Opening type O Slot 1 Rectangle LinkEnabled 32u Setting to enable disable linking O Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Gocator Device Files e Configuration Files 230 Element Type Description Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SmoothingWindowMin 32u Co
111. OSE 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 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 lib
112. Outputs Gocator sensors can convert measurement decisions or software commands to digital output pulses which can then be used to output to a PLC or to control external devices such as indicator lights or air ejectors A digital output can act as a measurement valid signal to allow external devices 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 Gocator Web Interface Output 167 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 For Gocator 2000 sensors see Digital Outputs page 359 for information on wiring digital outputs to external devices For Gocator 2300 sensors see Gocator Power LAN Connector page 356 Digital Output 1 Decisions Assert on Pass v Decision width 1 C Distance 2 Signal Pulsed v e Width 100 us Scheduled Delay a mm To output measurement decisions 1 Navigate to the Digital Output 0 or Digital Output 1 panel 2 Set Event to Measurement 3 Select Assert Mode and decision sources that should be combined to determine the output If multiple decision sources are selected and assert mode is set to pass the output is activated when all selected measurement decision
113. SITION STEP BACK PLAY CLEAR REPLAY DATA STEP FORWARD DATA SOURCE Recording and Playback commands when Data Source is Replay To record live data 1 Toggle the Data Source to Live 2 Press the Record button When the Data Source is set to Live 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 Snapshot will cause a single frame to be recorded 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 New data is appended to the record buffer unless the configuration has changed D Newly recorded data is appended to existing replay data unless the sensor configuration has been modified To replay recorded data 1 Toggle the Data Source to Replay 2 Use the Replay Slider Step Forward Step Back or Play buttons to review data The Step buttons advance reverse the current replay location by a single frame The Play button advances the replay location continuously animating the playback The Pause 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 navigate to a specific replay frame Gocator Web
114. Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Part Stud Tip Y element defines settings for a Part Stud Tip Y measurement Gocator Device Files e Configuration Files 237 Part Stud Tip Y Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm NominalRadius 64f Setting for nominal radius mm RadiusOffset 64f Setting for the radius offset mm StudHeight 64f Setting for the stud height mm BaseHeight 64f Setting for the stud base height mm TipHeight 64f Setting for the stud tip height mm RegionEnabled 32u Setting to enable disable region 0 Disable 1 Enable Region PartRegion3 Measurement region d RefRegions Collection Reference regions contains 1 or 2 RefRegion elements AutoRefRegionEnabled 32u Setting to enable disable reference region O Disable 1 Enable R
115. String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Feature Feature Element for feature detection LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements Measurements PositionZ A PositionZ element defines settings for a profile Z position measurement PositionZ Child Elements Element Type Description Name String Setting for measurement name Gocator Device Files e Configuration Files 187 Element Source DecisionMin DecisionMax Feature LinkEnabled Link Scale Offset SmoothingEnabled SmoothingWindow HoldEnabled SourceOptions SmoothingWindowMin SmoothingWindowMax Li
116. Toggles laser safety signal provided to the sensors O laser off I laser on Toggles sensor power Accepts digital input and provides digital output serial output and analog output Accepts encoder for Standalone sensor operation Main sensor only Accepts encoder for Dual Sensor operation Main and Buddy sensors Accepts power 24 to 48 V at 10 Watts and laser safety inputs See Master 200 page 365 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 Getting Started e Hardware Overview 24 SENSOR PORTS 1 4 LED INDICATORS MASTER 400 FRONT SENSOR PORTS 5 8 SENSOR PORTS 1 4 LED INDICATORS O MASTER 800 FRONT O E O o O m MASTER 400 800 REAR o 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 368 for pinout detail
117. Whole part measurement involves capturing a sequence of laser profiles identifying discrete objects and measuring properties of those 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 full object or within a region of interest at a certain position in relation to the object Gocator Web Interface e Measurement 131 Multiple measurements can be performed on each part 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 Detection panel see page 86 This setting determines what coordinate system the region of interest for ameasurement 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 FOV 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 is typical in applications where discrete objects pass under the sensor and specific locations on the objects need to be inspected Bounding Box Y is
118. a ties arras 80 Calibration States 00 80 Transformation Sources 81 Alignment vs Travel Calibration 81 Alignment Calibration 82 Travel Calibration 02000 83 Clearing Calibration 84 Filters Panel ia ias 84 SMOOtNING at ia 84 Gap Filling uo ii is 85 X Resampling Interval 86 Detection Panel 02 cece ee eee eee eee 86 Data VIEWER tocas 88 MAS MOE uocsrcasra caida RS 88 Exposure Mode View 88 Profile and Raw Mode 00 89 Whole Part Mode 2 90 Region Definition 2 0 0 000000 92 Data Viewer Controls 93 Height Map Color Scale 0005 93 Intensity Output 0 2 0 008 94 Me asurement parara 95 Measurement Page Overview 95 TOONS Panel ceuni esde e ERUETI 96 Adding and Removing Measurements 96 Profile FixXtUnng coc iii 96 Data Viewer 98 Gocator 2000 amp 2300 Series Measurement Management Measurement Name Measurement ID Profile Sources Measurement Tool Linking Common Measurement Parameters Profile Sources DECISIONS aonaran sve snc a AEEA Regions iio lt Output Filters oooooccoccocccnccocno Profile Measurement 110 110 111 113 114 116 118 119 120 120 122 123 126 130 131
119. aScaleMin 64f Setting for measurement value associated with the minimum current DataScaleMax 64f Setting for measurement value associated with the maximum current Value 32u Setting for selected value source Decision 32u Setting for selected decision source CurrentLimitMin 64f Constraint for minimum output current mA CurrentLimitMax 64f Constraint for maximum output current mA ValueOptions String Constraint for eligible value sources comma delimited list DecisionOptions String Constraint for eligible decision sources comma delimited list Event 32s Setting for which event control the output 1 Measurement 2 Software ScheduleEnable 32u Setting for scheduled output mode When unscheduled output updates immediately When scheduled output updates according to a target value in software command or a delay 0 Not scheduled 1 Scheduled Delay 64f Setting for output delay The delay is measured from exposure first exposure for multiple exposure to when output is scheduled Ignored when ScheduleEnable is 0 The units depends on SystemDomain 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 A DigitalOutput element defines settings for a digital output There are two DigitalOutput elements each identified by a unique id attribute 0 and 1 lt DigitalOutput id 0 gt DigitalOutput
120. able 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value Feature SurfaceFeatur Measurement feature e3d SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements Measurements PartPositionZ A Part Position Z element defines settings for a Part Position Z measurement Part Position X Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm RegionEnabled 32u Setting to enable disable region 0 Disable Gocator Device Files e Configuration Files 248 Element Type Description 1 Enable Region PartRegion3d Measurement region LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value Feature SurfaceFeat
121. abled 32u Setting to enable disable region 0 Disable 1 Enable Region PartRegion3 Measurement region d LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A PartEllipseMinor element defines settings for an ellipse minor measurement Part Ellipse Minor Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm RegionEnabled 32u Setting to enable disable region 0 Disable 1 Enable Region PartRegion3 Measurement region d LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Gocator Device Files e Configuration Files 219 Element Type Description Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to me
122. ached Every sensor has D its own power requirements which need to be considered when calculating total system power requirements Master 400 800 Dimensions The dimensions of Master 400 and Master 800 are the same p 483 9 i 466 7 7 41 a 44 318 d aa erat ES caer t O00000000900000090000000000000090000000000 0 o e 6 0 99 289 7 0 o o o g 295 4 44 36 Specifications e Master 400 800 370 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 R 1200 r MASTER 1200 FRONT SENSOR PORTS 13 24 2400 ONLY SENSOR PORTS 1 12 LED INDICATORS re jaa Wee Wee eg 5 2400 A EA UE AR AS AL Ah A EAE AS 48 dE 464 dla MASTER 1200 2400 REAR GROUND CONNECTION POWER AND SAFETY ENCODER INPUT Power and Safety 6 pin connector Function Pin 48VDC 1 48VDC GND 48VDC GND 48VDC Safety Control O wu A U N
123. acking Window Save Cancel Height Search Threshold To enable the tracking window 1 Check the Tracking Window box Min Max 1 000 100 000 1 000 80 000 50 000 __ 50 000 100 mm 80 mm 50 mm 40 mm 40 000 40 000 Value Min Max 15 025 mm of 80 O Checking the Tracking Window box expands the panel and shows the settings for the window used to track the object height Gocator Web Interface Setup and Calibration 72 2 Resize the tracking window shown in the data viewer Only the height of the window is required You can move the position of the tracking window to cover a live profile to help adjust the window height 3 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 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 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 di
124. alAngle 64f Setting for the nominal angle degrees AngleTolerance 64f Setting for the length tolerance degrees NominalRadius 64f Setting for nominal radius mm PartialDetectionEnabled 32u Setting to enable disable partial detection O Disable 1 Enable RegionEnabled 32u Setting to enable disable region 0 Disable 1 Enable Region PartRegion3 Measurement region d RefRegions Collection Reference regions contains 1 or 2 RefRegion elements AutoRefRegionEnabled 32u Setting to enable disable reference region 0 Disable 1 Enable RefRegions RefRegion PartRegion Reference region AutoTiltCorrectionEnabled 32u Setting to enable disable tilt correction O Disable 1 Enable TiltXAngle 64f Setting for manual tilt correction angle X TiltYAngle 64f Setting for manual tilt correction angle Y Type 32u Opening type O Slot 1 Rectangle LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoo
125. and 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 Examples 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 time decision 0 Decision O0K 1420266101 0 Protocols ASCII Protocol 311 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 286 for details on health indicators Formats Message Format Command Health health indicator ID health indicator instance More than one health indicator can be specified Note that the health indicator instance is optionally attached to the indicator ID with a If the health indicator instance field is used the delimiter cannot be set to Reply OK lt health indicator of first ID gt lt health indicator of second I
126. and size in bytes id 64s Command identifier 0x0002 Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status fileSize 64s Log file size in bytes file fileSize byte Log file Control Commands Get Protocol Version The Get Protocol Version command reports the Control protocol version of the connected sensor Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x4511 Reply Field Type Description length 64s Reply size in bytes Protocols Gocator Protocol 266 Field id status majorVersion minorVersion Description Reply identifier Reply status Major version Minor version Get System Info The Get System Info command reports information for sensors that are visible in the system Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x4002 Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status deviceld 64s Connected sensor device id serial number firmwareVersion 64s Connected sensor firmware version modelName 32 char Connected sensor model name null terminated role 64s Connected sensor network role 0 Standalone 1 Main in a Buddy setup 2 Buddy loginState 64s Authenticated user 0 None 1 Administrator 2 Technician system State 64s Current s
127. and 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 65 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 Load Configuration The Load Configuration command switches the active sensor configuration Formats Message Format Command LoadConfig configuration file name If the configuration file name is not specified the command returns the current configuration name An error message is generated if there is no configuration loaded cfg is appended if the filename does not have an extension If you specify a file ending with the cfg extension only a configuration will be loaded unless you are switching from a configuration whose calibration was performed with Source set to Current Configuration in the Layout panel see Transformation Sources page 81 for more details to a
128. andard format data results Gocator Web Interface Output 165 6 Set the TCP Ports Select the TCP ports for the command 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 __ Buffering Map Control a Command Arguments State Running Command in Progress ej Calibration State JU Encoder Position Ei Time Config Name Length Config Name Stamp Ey Buffer Advance YES Buffer Counter Cy ES Buffer Overflow Inputs a eee e Legend E 16 bit value Ml 32 bit value I 64 bit value A variable length To receive commands and send results using Modbus TCP messages 1 2 Navigate to the Ethernet panel Select Buffering if desired Buffering is needed for example in Whole Part 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 Select Modbus in Protocol Option Unlike using the Gocator Protocol there is no need to select which measurement items to output The Ethernet panel will list the register addresses that are used for Modbus TCP communication The Modbus TCP Protocol can be used to operate a sensor Modbus TCP only supports a subset of the tasks that can be accomplished in the web interface A sen
129. ane Z Offset measurement Part Plane Z Offset Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm RegionEnabled 32u Setting to enable disable region O Disable 1 Enable Region PartRegion3 Measurement region d RefRegions Collection Reference regions contains 1 or 2 RefRegion elements LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter Gocator Device Files e Configuration Files 246 Element Type Description 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Part Position X element defines settings for a Part Position X measurement Part Position X Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm De
130. anel to select the data sources that will be combined to produce a digital output pulse on Output 0 See Digital Outputs page 167 Use the Digital Output 1 panel to select the data sources that will be combined to produce a digital output pulse on Output 1 See Digital Outputs page 167 Use the Analog panel to convert a measurement value or decision into an analog output signal See Analog Output page 170 Use the Serial panel to select the measurements that will be transmitted via RS 485 serial output See Serial Output page 172 Gocator Web Interface Output 163 Ethernet Output Asensor uses TCP messages Gocator Protocol to exchange commands video laser profile intensity and measurement results with client computers The sensor can also exchange commands and measurement results with a PLC using ASCII Modbus TCP or EtherNet IP protocol See Protocols page 258 for the specification of these protocols Ethernet Protocol Gocator y Send Width 1 Distance 2 Width 1 F Distance 2 To exchange results using Gocator Protocol messages 1 Navigate to the Ethernet panel 2 Select Gocator in Protocol Option 3 Select the video profile intensity decision value or decision items to send To select an item for transmission place a check in the corresponding check box Gocator Web Interface Output 164 D Measurements shown here correspond to measurements t
131. as 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 Enable if only part of the hole is within the measurement Gocator Web Interface Measurement 142 Description Parameter region If disabled the hole must be completely in the region of interest for results to be valid Decision See Decisions page 101 Region See Regions page 102 Output See Output Filters page 103 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 A Hole Hole Gocator Web Interface Measurement 143 Stud The Stud tool measures the location and radius of astud The tool uses a complex feature locating algorithm to find a hold and then return measurements See Stud Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Measurements page 96 for instructions on adding measurements The location of the stud is defined at either the stud tip or the stud base The tip is the intersection of the stud axis and the top of the stud the base is the intersection of the stud axis and t
132. ast 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 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 Tools and Native Drivers GenTL Driver 320 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 i
133. asurement name Setting for decision threshold minimum mm Setting for decision threshold maximum mm Setting to enable or disable bounding box rotation 0 Vertical bounding box 1 Rotated bounding box Gocator Device Files e Configuration Files e 222 Element Type Description RegionEnabled 32u Setting to enable disable region 0 Disable 1 Enable Region PartRegion3 Measurement region d LinkEnabled 32u Setting to enable disable linking O Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A PartBoundingBoxWidth element defines settings for a bounding box width measurement Part Bounding Box Width Child Elements Element Description Element Name DecisionMin DecisionMax RotationEnable RegionEnabled Region LinkEnabled Type Type String 64f 64f 32u 32u PartRegion3 d 32u Description Setting for measurement name Setti
134. asurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A PartEllipseAngle element defines settings for an ellipse angle measurement Part Ellipse Angle Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum degrees DecisionMax 64f Setting for decision threshold maximum degrees RegionEnabled 32u Setting to enable disable region O Disable 1 Enable Region PartRegion3 Measurement region d LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable Gocator Device Files e Configuration
135. ata 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 are invalid a reply with an exception is returned Modbus Application Protocol Specification defines the exceptions and describes the data payload format for each function code The Gocator data includes 16 bit 32 bit and 64 bit data All data are sent in big endian format with the 32 bit and 64 bit data spread out into two and four consecutive registers 32 bit Data Format Register Name Bit Position 0 32 bit Word 1 31 16 1 32 bit Word O 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 3 64 bit Word 0 15 0 Modbus registers are 16 bits wide and are either control registe
136. ave been observed The average of all measurement results collected since the sensor was started The standard deviation of all measurement results collected since the sensor was started The count of pass or fail decisions that have been generated The count of frames that no feature points could be extracted from the live profile Gocator Web Interface Dashboard 176 Gocator Device Files This section describes the Gocator s device files Configuration Files Configuration files contain settings that govern system behavior in the Running state Configurations are saved in XML format Elements contain three types of values settings constraints and properties Settings are input values that can be edited Constraints are read only limits that define the valid values for settings Properties are read only values that provide supplemental information related to sensor setup When a configuration file is received from a sensor it will contain settings constraints and properties When a configuration file is sent to a sensor any constraints or properties in the file will be ignored Changing the value of a setting can potentially affect multiple constraints and properties After uploading a configuration file the configuration file can be downloaded again to access updated values All Gocator sensors share a common configuration XML structure When editing the configuration file manually you should only edit the elements
137. b elements Detection and Measurements The Detection element defines the part detection behavior while the Measurements element contains one sub element for each requested part measurement The id attribute associated with each measurement defines an identifier that must be unique among all measurements in the configuration file for example lt Area id 1001 gt Most part measurement elements contain one or more region 2D region 3D or circle region The Id attribute of the Script tool is a comma delimited list for multiple output support A Detection element defines settings for part detection Detection Child Elements Element Type Description HeightThreshold 64f Setting for height threshold mm GapThreshold 64f Setting for gap threshold mm AreaThreshold 64f Setting for area threshold mm2 LengthMax 64f Setting for maximum length of a part mm HeightThresholdDirection 32u Setting for whether data in included for above or below the threshold 0 Above 1 Below FrameOfReference 32u Setting for frame of reference 0 Sensor 1 Part This setting applies to all part measurement except for bounding box which is always relative to the sensor s FOV HeightThresholdMin 64f Constraint for height threshold minimum mm HeightThresholdMax 64f Constraint for height threshold maximum mm GapThresholdMin 64f Constraint for gap threshold minimum mm GapThresholdMax 64f Constraint for gap threshold maximum mm
138. ber of frames If Hold Last Valid is enabled smoothing uses the output of the Hold Last Valid filter Gocator Web Interface Measurement 103 v Output Scale 1 Offset 0 Hold last valid 7 Smoothing samples To configure the output filters 1 Selecta measurement Click on the in a measurement panel to expand it Click the arrow next to Output to expand the panel 2 Enable filters and configure the settings Profile Measurement This section describes the profile tools and measurements available in sensors that are equipped with measurement tools 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 Feature Points 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 identified Point Type Examples Top Finds the point with the maximum Z value in the region of Top interest Scares e o e e e e Bottom Finds the point with the minimum Z value in the region of interest A ee ee E o M Bottom Left Finds the point with the minimum X value in the region of interest et e oo e e Gocator Web Interface Measurement 104 Point Type Right Finds the point with the maximum X value
139. box 1 Rotated bounding box RegionEnabled 32u Setting to enable disable region 0 Disable 1 Enable Region PartRegion3 Measurement region d LinkEnabled 32u Setting to enable disable linking O Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value Gocator Device Files e Configuration Files e 224 Element Type Description SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A PartHoleX element defines settings for a Hole X measurement Part Hole X Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm NominalRadius 64f Setting for the nominal radius mm RadiusTolerance 64f Setting for the radius tolerance mm PartialDetectionEnabled 32u Setting to enable disable partial detection 0 Disable 1 Enable RegionEnabled 32u Setting to enable disable region 0
140. broadcasts on the subnet are sent once 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 ersions and Upgrades After connecting to a Gocator device you can use the Get Protocol Version and Get System Info commands to establish protocol and firmware versions Versions Version Description Protocol version Sensor protocol version major minor Firmware version Sensor firmware version major minor release build Protocol versio
141. button 3 Select the directory and file name to download to the client computer Press OK To upload recorded data 1 Toggle the Data Source to Live 2 Press the Upload button 3 Select the directory and the file name to upload from the client computer Press OK Recorded data can be exported using the CSV format Gocator Web Interface User Interface Overview 52 QUITE Qpecu 165 165 To export recorded data to CSV 1 Toggle the Data Source to Replay 2 Press the Export button Select Export Ranges as CSV In Profile and Raw mode all data in the record buffer is exported In Part mode only data in the current replay location is exported Use the Step button to move to a different replay location see Recording Playback and Measurement Simulation page 51 3 Select the directory and file name to export to the client computer Press OK 4 Optionally convert exported data to another format using the CSV Converter Tool on page 323 Recorded intensity data can also be exported to a bitmap BMP format Acquire Intensity must have been checked inthe Operation Mode panel while data was being recorded Export O To export recorded intensity data to BMP 1 Toggle the Data Source to Replay 2 Press the Export To BMP button Select Export Intensity as BMP Only the intensity data in the current replay location is exported Use the Step button to move to a different replay location 3 Select the
142. canned is always changing e g when the sensor is mounted on a robot arm moving to different scanning locations Alignment vs Travel Calibration The table below summarizes the differences between alignment calibration and travel calibration Alignment Calibration vs Travel Calibration Alignment Calibration Travel Calibration Target Type Flat surface or calibration bar Calibration disk or calibration bar Target Sensor Motion Stationary Linear motion Calibrates Tilt Yes Yes Calibrates Z axis Offset Yes Yes Gocator Web Interface Setup and Calibration 81 Alignment Calibration Travel Calibration Calibrates X axis Offset Yes Calibration bar required Yes Calibrates Encoder No Yes Calibrates Travel Speed No Yes See Coordinate Systems page 45 for definitions of coordinate axes See Calibration Targets page 26 for descriptions of calibration disks and bars The procedures to perform alignment calibration or travel calibration are described in the next sections After calibration the coordinate system for laser profiles will change from sensor coordinates to system coordinates Alignment Calibration Alignment calibration can be used to compensate for mounting inaccuracies by aligning sensor data to a common reference surface often a conveyor belt Layout gt Calibration Xe Rela Tuga Source Global X Type Alignment v Target Flat Surface v Calibrate To perform alignment calibration
143. ccccccnccnnnonnonnnnooo 59 Grounding Master 400 800 1200 2400 29 Maintenance Panel ooooccoccccccccccccccnoo 60 Mounting 0 2 2eceeeeeeeeeeeeeeeee 29 Sensor Backups and Factory Reset 60 Orientations 2 eee eee 30 Firmware Upgrade 2 02e0e 61 Network Setup 2 2 cecceeeeeeeeeeeeeeee 33 Setup and Calibration 2 63 Client Setup 2 2 2c eeeeeeeeeeceeeeeeeee 33 Setup Page Overview 00 cece eee eee 63 Gocator Setup 2 2 eeceeeeeeeeeeee 35 Operation Mode Panel 65 Running a Standalone Sensor System 35 Trigger Panel 0ssceeeeseeeeeeee seen 65 Running a Dual Sensor System 37 Trigger Examples 2 2 2 68 Next Steps ON 41 Trigger Settings 2 45 Fee uror nodet ssis 69 Gocator 2000 amp 2300 Series 3 Sensor Panel musicians edad 70 NS AAA 70 Tracking Window 2 2 00 72 EXPO is 73 Single Exposure Lo oocococccocncccnccocoos 74 Dynamic Exposure 75 Multiple Exposures ococccccccccccoo o 76 RESOIUTIONS 2222 1 sia hesa aaa eana AREEN 77 MRESOMMOM teorica dd 77 Z ResolUtiOM 2322 ccc nor terirbicidned 77 Transformations 2 2 ceee eee eens 78 EAVOUU PONE coros 79 Dual Sensor System Layout 79 Overlap 2 2 2222 22222 ee eee ee eee 80 REVET E arcaica idilio 80 Calibration acos
144. cepts 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 Result Channels 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 A Gocator system can operate in the following modes System Modes Mode Description Video Sends raw video AlignCalibrate Performs alignment calibration TravelCalibrate Performs travel calibration ExpCalibrate Performs automatic exposure adjustment ProfileTemplate Performs profile template registration ProfileMeasure Performs profile measurements default mode Protocols Gocator Protocol 259 Mode Description PartMeasure Performs part detection and measurements Raw Performs profiling and output raw profile data Buddy Communication Channels The peer to peer control channels are used by Gocator sensors to communicate between sensors Channel Port Description Discovery 2002 2005 Gocator peer discovery port UDP
145. ch port can accept multiple connections up to a total of 16 connections for all ports Channels can share the same port or operate on individual ports The 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 Gocator s serial communication is unidirectional output only Measurement results are sent on the Serial output in Asynchronous mode While measurement values and decisions can be transmitted to an RS 485 receiver configuration and control operations must be performed through the Gocator s web interface or through communications on the Ethernet output See Serial Output page 354 for cable pinout information Gocator serial communication uses the following connection settings Protocols ASCII Protocol 303 Serial Connection Settings Parameter Value Start Bits 1 Stop Bits 1 Parity None Data Bits 8 Baud Rate b s 115200 Format ASCII Command and Re
146. cisionMax 64f Setting for decision threshold maximum mm RegionEnabled 32u Setting to enable disable region 0 Disable 1 Enable Region PartRegion3d Measurement region LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value Feature SurfaceFeatur Measurement feature e3d SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements Gocator Device Files e Configuration Files 247 Measurements PartPositionY A Part Position Y element defines settings for a Part Position Y measurement Part Position Y Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm RegionEnabled 32u Setting to enable disable region 0 Disable 1 Enable Region PartRegion3d Measurement region LinkEnabled 32u Setting to enable disable linking 0 Dis
147. cribe the System panel The network settings must be configured to match the network to which the Gocator sensors are connected Gocator Web Interface Connection and Maintenance 55 Connect To Standalone y Type Manual y IP 192 168 1 10 Subnet Mask 255 255 255 0 Gateway 0 0 0 0 To configure the network settings Navigate to the System panel Click the arrow next to Networking to expand the panel 2 Specify the Connect To setting The Connect To setting specifies whether the sensor system is standalone or connected to a Master 3 Specify the Type IP Subnet Mask and Gateway settings The Gocator sensor can be configured to use DHCP or assigned a static IP address 4 Click Save When you click the Save button you will be prompted to confirm your selection 5 Reset or power cycle the sensor After changing network settings the sensor must be reset or power cycled before the change will take effect The Reset Sensor button in the Maintenance panel page 60 can be used to perform a software reset Sensor Autostart With the Autostart setting enabled laser profiling and measurement functions will begin automatically when the sensor is powered on This setting is necessary when the sensor will be used without a computer connected v Options C Autostart To enable disable Autostart 1 Check Uncheck the Autostart option box 2 Save your configuration Overheat Temperature Pro
148. ct 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 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 Manual 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 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 Step Edge Definitions in the Gocator Measurement Too Technical Manual on how this parameter is used by different base ty
149. d Gocator Web Interface Setup and Calibration 66 Trigger Source External Input Software Description Encoder Spacing a cea eer Position When triggers are received at a frequency higher than the maximum frame rate some triggers may not be accepted The Trigger Drops Indicator in the Dashboard page can be used to check for this condition The external input can be used to enable or disable the encoder triggers See Encoder Inputon pages 353 and 360 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 can be used to check for this condition See Digital Inputs on pages 352 and 359 for more information on connecting external input to Gocator sensors A network command can be used to send a software trigger See Protocols page 258 for more information For examples of typical real world scenarios see next page For information on the settings used with each trigger source see page 69 Gocator Web Interface Setup and Calibration 67 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 measur
150. d with 3B N lasers Network output utilization Bytes sec Count of frame drops due to camera errors Count of frame drops due to excessive CPU utilization Count of frame drops due to slow Ethernet link Count of digital output drops because last output has not been completed Count of analog output drops because last output has not been completed Count of serial output drops because last output has not been completed Last delay from camera exposure to when results can be scheduled to Latency Maximum delay from camera exposure to when results can be scheduled to Rich I O Reset on start Count of camera frame captured since the sensor was started Count of camera frame where laser is lost tracked Only applicable when tracking window is enabled Count of valid spots detected in the last frame Count of discrete parts Count of failed measurements because the live profile did not matched with the fixturing profile template Measurement Statistics Statistics are displayed for each measurement that has been configured on the Measurement page Use the Reset button to reset the statistics The following information is available for each measurement Gocator Web Interface Dashboard 175 Dashboard Measurement Statistics Name Value Minimum Maximum Value Average Standard Deviation Pass Fail Count Invalid Count Description The most recent measurement value The minimum and maximum measurement values that h
151. d with the Modbus protocol the PLC must read the Buffer Advance output register see page 293 to advance the queue before reading the measurement results APLC 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 four 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 Application Protocol a function code and a data payload Transaction Protocol Unit Func Identifier identifier Length ID Code Date Faylosd lt gt a gt MBAP Header MBAP Data The MBAP header contains the following fields Modbus Application Protocol Header Field Length Bytes Description Transaction ID 2 Used for transaction pairing The Modbus Client sets the value and the Server Gocator copies the value into its responses Protocol ID 1 Always set to 0 Protocols e Modbus TCP Protocol 290 Field Length Bytes Description Length 1 Byte count of the rest of the message including the Unit identifier and d
152. de outputs unprocessed range data Ranges are reported in X Z coordinate pairs freeing up processing resources in the Gocator but typically requiring more complicated processing on the client side All built in measurement tools in the Gocator operate on resampled data in Profile or Part mode Theory of Operation Profile Output 46 Gocator Web Interface The following sections describe the Gocator web interface User Interface Overview Gocator sensors are configured by connecting to a Main sensor with a web browser The Gocator web interface is illustrated below 1 2 3 4 5 6 7 z Metncs E a Y y O o m gt Connection Measurement Output Dashboard Er a RL Mier I la y liz A olka Element Description 1 Connection page Contains settings for network configuration and maintenance See Connection and Maintenance page 55 2 Setup page Contains settings for trigger source exposure and performing calibration steps See Setup and Calibration page 63 3 Measurement page Contains built in measurement tools and their settings See Measurement page 95 4 Output page Contains settings for configuring output protocols used to communicate Gocator 2000 amp 2300 Series 47 Element 5 Dashboard 6 Metrics panel 7 Help 8 Toolbar 9 Configuration area 10 Data viewer Description measurements to external devices See Output page 163 Provides monitoring
153. ded 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 Z Encoder_Z Z Encoder Z A Encoder_A A Encoder_A Specifications e Gocator 2300 I O Connector 360 Common Mode Voltage Differential Threshold Voltage Function Pins TTT Max Data Rate Min Max Min Typ Max Encoder_A 7 8 7V 12V 200 mV 125 mV 50 mV 1 MHz Encoder_B 9 10 7V 12V 200 mV 125 mV 50 mV 1 MHz Ecnoder_Z 11 12 7V 12V 200 mV 125 mV 50 mV 1 MHz El 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 SERIAL_OUTPUT Serial_out SERIAL Serial_out SERIAL Analog Output The Sensor I O Connector defines one analog output interface Analog_out Function Pins Current Range Analog_out 17 18 4 20 mA ANALOG_OUTPUT ANALOG_OUTPUT Analog out ANALOG Analog_out ANALOG i Analog_out1 ANALOG Analog_out1 ANALOG Current Mode Voltage Mode Specifications e Gocator 2300 I O Connector 361 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 outpu
154. der value in ticks Protocols Gocator Protocol 274 The Start command starts the sensor system system enters the Running state Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x100D reserved 64s Reserved field set to 0 Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s 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 The time and encoder targets value should be set by adding a delay to the time and or encoder tick returned by the Get Time and Get Encoder commands The delay should be set such that it covers the command response time of the Scheduled Start command Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x101D time target 64s Specify start time target in microseconds encoder target 64s Specify start encoder target in ticks 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 Description length 64s Command size in bytes id 64s Command identifier 0x1001 Protocols Gocator Protocol 275 Reply Field Type Descri
155. details 5 Press the Calibrate button The sensors will start and then wait for the calibration target to pass through the laser plane Gocator Web Interface Setup and Calibration 83 D Travel calibration uses the exposure defined for single exposure mode regardless of the current exposure mode 6 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 at the production operating speed before the target passes through the laser plane 7 Use Profile mode to inspect calibration results Laser profiles from all sensors should now be aligned to the calibration target surface The base of the calibration target or target surface provides the origin for the system Z axis When using a calibration bar there can be at most one hole in each sensor s field of view Ifa disk is used for calibrating a dual sensor setup in a wide layout half of the disk must be in each sensor s field of view Clearing Calibration To clear calibration 1 Navigate to the Calibration panel on the Setup page 2 Select whether to clear the Global or the Current Configuration transformation source 3 Click the Calibration or Clear Calibration button If the Clear Calibration button is pressed the calibration will be erased and sensors will revert to using sensor coordinates
156. 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 2000 Cordsets Gocator 2000 sensors use three types of cordsets The Ethernet cordset is used for sensor communication via 100 Mbit s Ethernet over a standard RJ45 connector The Gocator I O cordset provides power and laser safety interlock to sensors It also provides digital 1 O connections an encoder interface RS 485 serial connection and an analog output The Gocator Master cordset provides electrical connection between the sensor and a Master 400 800 1200 2400 CORDSET GOCATOR MASTER Xm CORDSET GOCATOR ETHERNET Xm CORDSET GOCATOR 1 0 Xm RJ45 8 PIN JACK RJ45 8 PIN JACK PIGTAILED LEADS M12 ETHERNET CONNECTOR M16 I O CONNECTOR r 4 PIN D CODE MALE 19 PIN FEMALE 19 PIN FEMALE The maximum cordset length is 60 meters See Gocator 2000 I O Connector page 350 for pinout details See Parts and Accessories page 374 for cordset lengths and part numbers Contact LMI for information on creating cordsets with customized lengths and connector orientations Gocator 2300 amp 2880 Cordsets Gocator 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 con
157. ding box X measurement Gocator Device Files Configuration Files 221 Part Bounding Box X Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm RotationEnable 32u Setting to enable or disable bounding box rotation 0 Vertical bounding box 1 Rotated bounding box RegionEnabled 32u Setting to enable disable region 0 Disable 1 Enable Region PartRegion3 Measurement region d LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A PartBoundingBoxY element defines settings for a bounding box Y measurement Part Bounding Box Y Child Elements Element Name DecisionMin DecisionMax RotationEnable Type String 64f 64f 32u Description Setting for me
158. duction run and tight during another depending on the desired grade of the part To manage a system with multiple configurations 1 Configure settings for the first target object Use the Setup Measurement and Output pages to configure settings for the first target 2 Save the first configuration Enter a file name and click the Save button to save the configuration 3 Configure settings for the second target object Use the Setup Measurement and Output pages to configure settings for the second target 4 Save the second configuration Enter a file name different from the one used for the first configuration and click the Save button to save the configuration 5 When production changes load the desired configuration Select the desired configuration and click the Load button The configuration is loaded and the sensors will ready for production Gocator Web Interface User Interface Overview 50 Recording Playback and Measurement Simulation Gocator sensors have the ability to record and replay data and also to 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 commands in the toolbar RECORD START SNAPSHOT DATA SOURCE Recording and Playback commands when Data Source is Live 0 447 p 447 F E D REPLAY MN f J J REPLAY SLIDER REPLAY PO
159. e or open shape grooves The measurement value can be compared with minimum and maximum constraints to yield a decision Groove Width 10 a Link Disabled v ID 10 Parameters Shape U Shape X Select Type Maximum Depth y Index 0 Minimum Depth 0 mm Minimum Width 0 mm Maximum Width Infinite mm gt Region R Reset gt Output Decision Min 0 mm Max 0 mm Remove Gocator Web Interface Measurement 123 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 Measurements Measurement Groove Width Measures the width of a groove Groove Depth Measures the depth of a groove as the maximum perpendicular distance from a line connecting the edge points of the groove Illustration Width LI Width M i WE pth Gocator Web Interface Measurement 124 Measurement Illustration Groove X Measures the X position of the bottom of a groove X 2 Groove Z Measures the Z position of the bottom of a groove XZ Parameters Parameter Descr
160. e Configuration Files e 200 A Gap element defines settings for a profile gap measurement Gap Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm ReferenceSide 32s Setting for reference Side O Left 1 Right GapWidthMax 64f Setting for maximum gap width mm MeasurementAxis 32s Setting for measurement axis 0 Edge 1 Surface 2 Distance LeftSide Side Element for left side configuration RightSide Side Element for right side configuration LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements Side Child Elements Element Type Description DepthMin
161. e and returns its position and radius The hole can be on a surface at an angle to the sensor The tool uses a complex feature locating algorithm to find a hold and then return measurements See Hole Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Measurements page 96 for instructions on adding measurements Description A bounding box can be vertical or rotated A vertical bounding box provides the absolute position from which the Whole Part s Centroids tools are referenced see page 134 Check the Rotation check box to select rotated bounding box See Decisions page 101 See Regions page 102 See Output Filters page 103 Sensor y QS UN EN o d 2D View 3D View Gocator Web Interface Measurement 140 Measurements Decision pee Min 3 mm Options Nominal Radius Radius Tolerance E Partial Detection Y Region R X 40 062 mm Y 3 225 mm z 50 mm Tilt Correction AutoSet gt Output Measurement Panel Y Reference Regions AutoSet El ID 0 Max 3 mm Width Length Height 10 mm 34 052 17 152 100 mm mm Remove Measurement Hole X Determi
162. e baseline atz 0 Dual sensor setup in Opposite orientation Measures the cross sectional area bounded by the z 0 Box A top and bottom profiles standalone dual See Dual Sensor System Layout page 79 for details erecto in Wide orientation Area dual sensor setup in Opposite orientation on sensor orientations Intersect Area Measures the cross sectional area within a region that is above or below a fitted baseline Intersect Area Area Type Object Area Area Type Clearance Parameters Parameter Description Area Type Object area type is the area of regions above the Intersect Area measurement only baseline Regions below the baseline are ignored Clearance area type is the area of regions below the baseline i e between profile and line Regions above the baseline are ignored Baseline Baseline is the user defined fit line that represents Gocator Web Interface Measurement 115 Parameter Intersect Area measurement only Decision Region Output Difference Description the line above which Object clearance type or below which Clearance area type the cross sectional area is measured See Fit Lines page 106 for more information on fit lines See Decisions page 101 See Regions page 102 See Output Filters page 103 The Difference tool provides measurements that determine the difference between a live
163. e point coordinates XYZ 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 Press the Convert button Tools and Native Drivers e CSV Converter Tool 324 Troubleshooting Review the guidance in this chapter if you are experiencing difficulty with a Gocator sensor system See Return Policy page 377 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 configured 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 316 for more information When attempting to log in the password is not accepted See Sensor Recovery Tool page 316 for steps to reset the password Laser
164. e value within region Measurements Measurement Illustration Difference Area Measures the difference in cross sectional area between live profile and the template Template Difference Area Difference Peak Measures the maximum difference in height between the live profile and the template Difference Peak Parameters Parameter Description Absolute Value Check the Absolute box to select absolute result Un check it to select a signed result Gocator Web Interface Measurement 117 Parameter Decision Region Output Circle Description See Decisions page 101 The measurement region defines the zone in which cross sectional area will be determined See Regions page 102 for more information See Output Filters page 103 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 O Circle Radius 10 Link Disabled v 1D 10 Parameters gt Region R Reset Output Decision Min 0 mm Max 0 mm Remove Measurements Measurement Illustration Circle Radius Measures the radius of the circle Radius Circle X Finds the circle center position in the X axis A Center Circle Z XZ Finds the circle center position in the Z axis PEEN
165. each profile to identify discrete objects Part measurements can then be performed on each discrete object Gocator Web Interface Setup and Calibration 86 Part detection can be performed when the trigger source 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 Travel Calibration page 83 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 gated external input 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 Detection Height Threshold 5 mm Threshold Direction Above y Gap Threshold 10 mm Area Threshold 10 mm2 Maximum Length 200 mm Frame Of Reference Sensor m Setting Description Height Threshold Threshold Direction Gap Threshold Area Threshold Maximum Length Frame of Reference 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 la
166. ease when the encoder increases 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 MAIN BUDDY MAIN QU Ow Qu Ty AZ AZ MA Theory of Operation Profile Output 45 Resampled and Raw Profile Format Profile data produced by Profile or Part mode are processed differently than data produced by Raw Mode In Profile or Part mode the ranges are resampled to an even interval along the laser line X axis The resampling divides the X axis into fixed size bins at even intervals Profile points that fall into the same bin will be combined into a single range value Z The size of the resampling interval can be configured in the see Filters Panel page 84 Raw Profile Resampled Profile Uneven spacing Even saciid o gt gt 6 O 6 O A gt i X mm X mm 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 reduces the complexity for downstream algorithms to process the profile data from the Gocator but at the cost of higher processing load on the sensor s CPU In contrast Raw mo
167. easurements A Distance element defines settings for a profile distance measurement Distance Child Elements Element Name Type Description Setting for measurement name Source DecisionMin DecisionMax Feature 2 LinkEnabled Link Scale Offset SmoothingEnabled SmoothingWindow HoldEnabled String 32s 64f 64f Feature 32u 32u 64f 64f 32u 32u 32u Setting for profile source Setting for decision threshold minimum mm Setting for decision threshold maximum mm Elements for feature detection Setting to enable disable linking 0 Disable 1 Enable Measurement ID to link with Setting for scale factor to apply to measurement value Setting for offset to apply to measurement value Setting to enable or disable the smoothing filter O Disable 1 Enable Setting for the smoothing window frames Setting to enable or disable the hold filter O Disable 1 Enable Gocator Device Files e Configuration Files 186 Element Type Description SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements Measurements PositionX A PositionX element defines settings for a profile X position measurement PositionX Child Elements Element Type Description Name
168. ect 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 x x Byte 0 Major Revision Get USINT Byte 1 Minor Revision 6 Serial number UDINT 32 bit value Sensor serial number Get 7 Product Name SHORT Gocator Gocator Product Name Get STRING 32 Protocols EtherNet IP Protocol 296 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 oe me Ty
169. ected within the area 0 Top 1 Bottom 2 Right 3 Left 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 XFeature Area Area Area element used for anchoring Measurements Width AWidth element defines settings for a profile width measurement Width Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source Gocator Device Files e Configuration Files 184 Element Type Description DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm AbsoluteResult 32u Setting for selecting absolute or signed result 0 Signed result 1 Absolute result Feature 2 Feature Elements for feature detection LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constrain
170. ediate output becomes active as soon as a Scheduled Analog Output command see page 277 is received Software scheduled command can schedule an analog value to output at a specified future time or encoder value or changes its state immediately The Delay setting in the panel is ignored Commands that schedule event in the past will be ignored An encoder value is in future if the value will be reached by moving in the forward direction the direction that travel calibration was performed in Serial Output The Gocator s web interface can be used to select measurement values and decisions to be transmitted via RS 485 serial output Each sensor has one serial output channel See Serial Communication page 303 for serial connection parameters and data formats For Gocator 2000 sensors see Serial Output page 354 for information on wiring serial output to an external device For Gocator 2300 sensors see Serial Output page 361 Gocator Web Interface Output 172 Ethernet Protocol ASCII Send Operation Asynchronous v Data Format Standard v Value Y Strip Height 0 Decision 7 Strip Height 0 Special Characters Delimiter Termination Invalid Value e Ports Control Data Health To exchange results using ASCII messages 1 2 Navigate to the Ethernet panel Select ASCII in the Protocol option Select the Data Format Yer n INVALID
171. efRegions RefRegion PartRegion Reference region AutoTiltCorrectionEnabled 32u Setting to enable disable tilt correction O Disable 1 Enable TiltXAngle 64f Setting for manual tilt correction angle X TiltYAngle 64f Setting for manual tilt correction angle Y LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable Gocator Device Files e Configuration Files e 238 Element Type Description SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Part Stud Tip Z element defines settings for a Part Stud Tip Z measurement Part Stud Tip Z Child Elements Element Name DecisionMin DecisionMax NominalRadius RadiusOffset StudHeight BaseHeight TipHeight RegionEnabled Region RefRegions AutoRefRegionEnabled RefRegions RefRegion AutoTiltCorrectionEnabled TiltXAngle TiltYAngle LinkEnabled Link Scale Offset Type String 64f 64f 64f 64f 64f 64f 64f 3
172. ely or scheduled Continuous signal always becomes active Gocator Web Interface Output 169 immediately Immediate output becomes active as soon as a scheduled digital output see page 276 is received Scheduled output becomes active at a specific target time or position given by the Scheduled Digital Output command The Delay setting in the panel is ignored Commands that schedule event in the past will be ignored An encoder value is in future if the value will be reached by moving in the forward direction the direction that travel calibration was performed in To output an exposure signal 1 Navigate to the Digital Output 0 or Digital Output 1 panel 2 Set Event to Exposure 3 Specify a Pulse Width The pulse width determines the duration of the digital output pulse in microseconds Analog Output Gocator sensors can convert a measurement result or software request to an analog output Each sensor supports one analog output channel For the Gocator 2000 series see Analog Output page 354 for information on wiring analog output to an external device For the Gocator 2300 series see Analog Output page 361 Gocator Web Interface Output 170 Analog Event Measurement ml Send Other None Yalue O Width 1 Distance 2 Decision O Width 1 Distance 2 v Analog Current Data Scale ol 10000 Current Range 4j 20 m Invalid 0 m e Scheduled Delay 0 m
173. em ground ground reference for I O signals and sensor ground This voltage potential can be determined by measuring the voltage between Analog_out and system ground The maximum permissible voltage potential is 12 V but should be kept below 10 V to avoid damage to the serial and encoder connections See Gocator 2000 I O Connector page 350 for a description of connector pins used with Gocator 2000 series sensors See Gocator 2300 I O Connector page 358 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
174. ement capability Profile Fixturing Profile fixturing is used to track the movement of parts along the laser line X axis and Z axis The movement is calculated as an offset and is used to correct the positions of the feature areas This Gocator Web Interface e Measurement 96 ensures that the regions of interest used to detect features are correctly positioned for every part Profile fixturing is not required in order to use measurements This is an optional feature intended to make measurements more robust when the X position and the height of the target vary from target to target Metrics o CPU Load Current Speed Connection Dashboard a pen Sie Template Register Clear Status Registered Y X Fixturing Template Top Left y Values Min Max X Fixturing 23 749 mm ol 12 5 mm o i 82 877 mm 94 864 0 907 mm 50 Z Fixturing Y Z Fixturing Detect a Min Max 23 75 mm oji 12 5 mm olf 7 955 mm 94 864 20 768 mm 50 A profile template is needed for fixturing to work The profile template is the reference used to calculate the profile movement along the X axis and Z axis A profile template includes a detection area white rectangles in the picture above and the type of feature point to detect within the area When the profile template and the live profile falls into the area the movement is calculated by computing the difference between the po
175. ement 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 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 the trigger signals when Time or Encoder triggering is used For example a photocell could generate a series of trigger pulses as long as there is a target in position Conveyor Speed Conveyor Speed Time Gocator Web Interface Setup and Calibration 68 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 Setup page Gate using External Input Travel Speed 39 33197579 mm s Frame Rate 304 943 Hz Y Max
176. ensity 22 2 2 283 Alignment Calibration 2 284 Travel Calibration 2 22 2 2 222 284 Exposure Calibration 2 0 284 Measurement 2 2 284 Health Results 2 cece ee ee eee 286 Modbus TCP Protocol 2 322 csexesinesaccdeeus 290 CONCEDE aii oc 290 MESSAZES merca ies ie 290 Registers eee cee cece ee cee eee eee eee 291 Control Registers 2 2 292 Output Registers 20005 293 Measurement Registers 294 EtherNet IP Protocol 2ee cece eee 296 AA a s eae ea te te oe oh at cid 296 Basic ODjOCE viii ii 296 Identity Object Class 0X01 296 TCP IP Object Class OXF5 297 Ethernet Link Object Class OxF6 297 Assembly Object Class 0x04 298 Command Assembly 298 Sensor State Assembly 002 299 Sample State Assembly 300 Extended Sample State Assembly 301 ASGILProtocol eins rada 303 Ethernet Communication 303 Asynchronous and Polling Operation 303 Serial Communication 303 Command and Reply Format 304 Special Characters c ccc ceeeee 304 Standard Result Format 305 Custom Result Format 305 Control Commands
177. ensor No effect if sensor is already started 2 Alignment Calibrate Start the alignment calibration process State register 301 will be set to 1 busy until the calibration process is complete 3 Travel Calibrate Start the travel calibration process State register 301 will be set to 1 busy until the calibration process is complete 4 Clear Calibration Clear the calibration 5 Load Configuration Activate a configuration 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 reports the current sensor state State Register Map Register xs Name Data Size bit Description Address 300 Stopped Running 16 Sensor State 0 Stopped 1 Running 301 Busy 16 Busy State 0 Not busy 1 Busy Registers 302 to 363 below are only valid when the Busy State is not Busy 302 Calibration State 16 Current Calibration State 0 Not calibrated 1 Calibrated 303 306 Encoder Value 64 Current Encoder value ticks 307 310 Time 64 Current time us 311 Configuration File Length 16 Number of characters in the current configuration Protocols e Modbus TCP Protocol 293 Register Name Data Size bit Description Address file name 312 371 Live Configuration Name 16 bits for each Current Configuration Name character Name of currently loaded config file Does not include the extension Each 16 bit reg
178. er of file names returned name count 64 char List of file names Copy File The Copy File command copies a file from a source to a destination within the connected sensor Copy a saved configuration to _live cfg to make the configuration live Copy a saved template to _live prof to make the template live Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x101B source 64 char Source file name null terminated destination 64 char Destination file name null terminated Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status Read File Downloads a file from the connected sensor Read the file _live cfg and _live prof to down the live configuration and template Protocols Gocator Protocol 270 Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x1007 fileName 64 char File name null terminated Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status fileSize 64s File size in bytes file fileSize byte File content The Write File command uploads a file to the connected sensor Write to _live cfg and _live prof to write the make the configuration and template files live Except for writing to the live files the file is permanently stored on the sensor
179. erial 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 2300 Series 338 NEAR FOV CLEARANCE DISTANCE AA Y FAR FOV MEASUREMENT RANGE Mechanical dimensions for each sensor model are illustrated on the following pages Gocator 2330 Field of View Measurement Range 42 5 0 42 5 39 130 Specifications Gocator 2300 Series 339 Dimensions MOUNTING HOLES 4X M5X0 8 y 10 133 Envelope ss 9 I 142 Y TT Y 40 A 615 39 a wo 00 m 5 m a pu 90 6 1 m 105 4 dio Specifications e Gocator 2300 Series 340 Gocator 2340 Field of View Measurement Range 48 cg 00 295 105 0 105 a 5 i 5 Dimensions MOUNTING HOLES 75 4X M5X0 8 Y 10 E Se 489 le q l e Y ji wal 188 197 W 39 Gocator 10 8 E y ET 40 61 5 lt lt BE Le
180. erlay Gocator Web Interface Setup and Calibration 91 3D viewer with uniform overlay Clicking on the 3D button toggles between the 2D and 3D viewer See Data Viewer Controls next page 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 Setup Page selecting a panel e g Sensor Layout or 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 Setup page 1 Goto the Setup page 2 Select the View options in the data viewer Profile Heightmap 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 Regions such as an active area or a measurement region can be graphically set up using the data viewer When the Setup 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 70 Gocator Web Interface Setup and Calibration 92 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 D
181. es SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements Measurements PartVolume A PartVolume element defines settings for a volume measurement Part Volume Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm3 DecisionMax 64f Setting for decision threshold maximum mm3 RegionEnabled 32u Setting to enable disable region 0 Disable 1 Enable Region PartRegion3 Measurement region d LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linkids 32u List of linkable measurements Measurements PartHeight A PartHeight element defines settings for a height measurement Gocator Device Files e Configuration Files 217 Part Height Child Elements Element Type Description Name String Setting f
182. es 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 Tools and Native Drivers Sensor Recovery Toole 317 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 Raw and Whole Part modes in real time You can get the tool package containing the driver from the downloads area on the LMI Technologies website at http Imi3d com support downloads After downloading the tool package 14453 x x x x_SOFTWARE_Go2_Integration_Tools zip unzip the file The driver is found under the GenTL x86 directory To install the driver in Windows 7 1 Open the Control panel 2 Select System and Security and then click System 3 Click Advanced System Settings The Advanced System Settings link is typically in the left column of the window 4 For 32 bit systems click New to create a system environment variable GENICAM_GENTL32_PATH and point it to the GenTL x86 directory If the system environment variable already exists click Edit 5 For 64 bit systems click New to create a system environment variable GENICAM_GENTL64_PATH and point it to the GenTL x64 directory
183. ex Value Number of camera frames dropped Number of messages dropped before data processing Number of messages generated but not sent Time elapsed since boot up or reset seconds Current speed Hz Number of dropped triggers Number of dropped digital outputs Number of dropped analog outputs Number of dropped serial outputs Laser temperature degrees Celsius Only available on sensors equipped with 3B N laser Current status of digital input Number of camera frames Number of frames where laser has lost track when tracking window is used Laser temperature Only available on sensors equipped with laser temperature regulation Current sampling rate milli Hz Number of frames with valid profile data Number of frames without valid profile data Number of pass digital output pulses Number of fail digital output pulses Number of pass digital output pulses Number of fail digital output pulses Number of valid spots that are detected Last delay from camera exposure to when results can be scheduled to Rich 1 0 Maximum delay from camera exposure to when results can be scheduled to Rich I O Reset on start Maximum number of spots that can be detected Number of frames with x fixturing invalid Number of frames with z fixturing invalid Replay frame position Number of frames in buffer Protocols Gocator Protocol 288 Indicator Measurement Measurement Pass Measurement Fail Measurement Minim
184. 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 Protocols e Modbus TCP Protocol 294 In Profile mode the measurement results are updated after each profile is processed In Whole Part mode the measurement results are updated after each discrete part has been processed Measurement Register Map Register Address Name Data Size bits Description 1000 1001 Measurement ID 0 Value 32 Measurement ID 0 Value 1002 Measurement ID O Decision 8 Measurement ID 0 Decision 1003 1004 Measurement ID 1 Value 32 Measurement ID 1 Value 1005 Measurement ID 1 Decision 8 Measurement ID 1 Decision Protocols e Modbus TCP Protocol 295 EtherNet IP Protocol EtherNet IP is an industrial protocol that allows bidirectional data transfer with PLCs It encapsulates the object oriented Common Industrial Protocol CIP This section describes the EtherNet IP messages and data formats EtherNet IP communication enables the client to e Switch to a different active configuration e Calibrate 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 164 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 obj
185. ey Trigger_in 2 Pink Out_1 Digital 3 Red Output 0 Out _1 Digital 4 Blue Output 0 Out_2 Digital 5 Tan Output 1 Out_2 Digital Orange Output 1 Encoder_A 7 White Brown amp Black View Looking into the connector on the sensor 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 This connector has the same number of pins as the Gocator 2000 I O connector You must make sure that this pinout is used for Gocator 2300 sensors only Grounding Shield The grounding shield should be mounted to the earth ground Specifications e Gocator 2300 I O Connector 358 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 20 us Out_1 USER GND V Out_1 a Git The resistors s
186. f the algorithm The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Measurements page 96 for instructions on adding measurements You can select the measurement region in which the opening is expected to appear The algorithm can separate out background information that appears inside the opening It can also detect a slot that only partially appears in the data The shape of the opening is defined by its type and its nominal width length and radius The orientation defines the rotation around the normal of the alignment plane Rounded Slot Rounded Corner Slot Rectangular Slot PA A e E Rounded Slot Rectangle Opening Y ice yet S Radius fs Opening Width me y sa NO Y yw cee we y Opening Orientation H Se Se A gt Y x gt j o yr Opening Width nn Opening x ZN orientation D D AL Opening Length Z Sa Gocator Web Interface Measurement 147 3D View 2D View Opening Length 0 a Link Disabled ID 0 Decision Min 50 mm Max 60 mm Options Type Rectangle Nominal Width 30 mm Nominal Length 45 mm Nominal Angle 90 Nominal Radius 5 mm Width Tolerance 10 mm Length Tolerance 10 mm Angle Tolerance 5 7 Partial Detection Measurement Panel Measurements
187. f the Go2System_CopyFile function is used to load an existing configuration transformation or profile template This is accomplished by specifying _live as the destination file name Deletes a file in the connected sensor Sets a default configuration or template file to be loaded on boot Clears the registered profile template Uploads a file to the connected sensor Upgrades system firmware Global calibration writes to flash memory immediately Global calibration is configured in the SDK when Go2CalibrationSource parameter is set to GO2_CALIBRATION_SOURCE_GLOBAL with Go2System_SetCalibrationSource function Gocator performs calibration with GoSystem_Start call when in calibration mode set by Go2System_SetMode Sets the type of sensor connection custom master etc Locates a Gocator sensor by id serial number and configures its 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 to a file using the Go2System_CopyFile function Local Gocator 2000 amp 2300 Series Software Development Kit 314 calibration should be used as a means to attach previously conducted calibration results to a configuration file eliminating the need to
188. fferent exposures for optimal results Gocator sensors provide three exposure modes for the flexibility needed to scan different types of target surfaces Exposure Mode Description Single Uses a single exposure for all objects Used when the surface is uniform and is the same for all targets 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 D In a dual sensor system the Main and the Buddy sensor must use the same exposure mode or the system will fail to start Gocator Web Interface Setup and Calibration 73 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 operation mode when the Multiple option is selected in the Exposu
189. fixturing for the Z axis 3 Adjust the detection area Profile data within the detection area will be used to calculate the feature point for fixturing 4 Select a feature point type Select the feature point type from the Detect drop down box The point type determines how the feature point is calculated from the profile data within the detection area When profile fixturing is used you should set up the measurement s areas to match with the profile template The profile template is hidden when the sensor is running When the sensor is stopped and the user is viewing the Measurement page the profile template will be automatically reloaded in the data viewer To clear a registered profile template 1 Press the Fixturing button in the Measurements panel 2 Click the Clear button Changes to profile fixturing and the template are temporary until they are saved See Saving and Loading Settings page 48 for details on how to save changes Regions such as active area or measurement regions can be graphically set up using the data viewer in the 2D or in the 3D view When the Measurement 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 102 For instructions on how to set up measurement regions graphically see page 92 Gocator Web Interface e Measurement 98 Measureme
190. for the ASCII protocol terminator character AsciilnvalidValue String Setting for the ASCII protocol invalid value string AsciiCustomFormatEnabled 32u Setting for the ASCII custom format 0 Disable 1 Enable AsciiCustomDataFormat String Setting for the format of ASCII custom data string ValueOptions String Constraint for eligible value sources comma delimited list DecisionOptions String Constraint for eligible decision sources comma delimited list ProtocolOptions String Constraint for eligible protocol options comma delimited list SelcomRateOptions String Constraint for Selcom Serial rate options comma delimited list SelcomFormatOptions String Constraint for Selcom Serial format options comma delimited list The Analog element defines settings for Analog output The range of valid measurement values DataScaleMin DataScaleMax is scaled linearly to the specified current range CurrentMin CurrentMax Only one Value or Decision source can be selected at a time Analog Child Elements Element CurrentMin Type 64f Description Setting for minimum output current mA CurrentMax 64f Setting for maximum output current mA Gocator Device Files e Configuration Files 253 Element Type Description Currentinvalid 64f Setting for invalid output current mA CurrentinvalidEnable 32u 0 Output keeps currently value if measurement is invalid 1 Outputs Currentinvalid if measurement is invalid Dat
191. fore they are output or used by measurement tools Filters Child Elements Element Type Description XSmoothing Enable 32u Setting to enable or disable X Smoothing filter 0 Disable 1 Enable XSmoothing Window 64f Setting for X Smoothing filter window mm XSmoothing WindowMin 64f Constraint for minimum window size mm XSmoothing WindowMax 64f Constraint for maximum window size mm YSmoothing Enable 32u Setting for enable or disable Y Smoothing filter 0 Disable 1 Enable YSmoothing Window 64f Setting for YSmoothing filter window mm YSmoothing WindowMin 64f Minimum window size mm YSmoothing WindowMax 64f Maximum window size mm XGapFilling Enable 32u Setting to enable or disable X Gap Filling filter 0 Disable 1 Enable XGapFilling Window 64f Setting for X Gap Filling filter window mm XGapFilling WindowMin 64f Constraint for minimum window size mm XGapFilling WindowMax 64f Constraint for maximum window size mm YGapFilling Enable 32u Setting for enable or disable Y Gap Filling filter 0 Disable 1 Enable YGapFilling Window 64f Setting for Y Gap Filling filter window mm YGapFilling WindowMin 64f Minimum window size mm YGapFilling WindowMax 64f Maximum window size mm Gocator Device Files e Configuration Files 180 Sensors Sensor Each Sensor element contains settings related to an individual sensor A Sensor element has an attribute that defines the role 0 Main 1 Buddy of the sensor
192. foreseeable conditions of operation provided that any exposure can be terminated by the blink reflex assumed to take 0 25 seconds Because classification assumes the blink reflex the wavelength of light must be in the visible range 400 nm to 700 nm 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 IEC 60825 1 2007 Class 3R laser components Class 3R laser products emit radiation where direct intrabeam viewing is potentially hazardous but the risk is lower with 3R lasers than for 3B lasers Fewer manufacturing requirements and control measures for 3R laser IEC 60825 1 2007 users apply than for 3B lasers Class 3B laser components Class 3B components are unsafe for eye exposure Usually only ocular protection will be required Diffuse reflections are safe if viewed for less than 10 seconds IEC 60825 1 2007 IEC 60825 1 2007 LASER RADIATION DO NOT STARE INTO THE BEAM OR VIEW DIRECTLY WITH OPTICAL INSTRUMENTS OR MAGNIFIERS CLASS 2M LASER PRODUCT PEAK POWER 1mw EMITTED WAVELENGTH 660 nm This product is designated for use solely as a component and as such it does not fully comply with the standards relating to laser products specified in U S FDA CFR Title 21 part 1040 and IEC 60825 1 LASER RADIATION AVOID DIRECT EYE EXPOSURE CLASS 3R LASER PRODUCT
193. frame Frame number value Measurement ID Measurement value of the specified measurement ID decision Measurement ID Measurement decision of the specified measurement ID Protocols ASCII Protocol 305 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 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 the sensor system causes it to enter the Ready state This command is valid when the system is in the Ready or Running state Formats Message Format Command Stop Reply OK or ERROR lt Error Message gt Examples Stop OK Protocols ASCII Protocol 306 The Trigger comm
194. g the last command 2 Calibration Calibration status state 0 Not calibrated 1 Calibrated The value is only valid when the command in progress is set to 0 3 10 Encoder Current encoder position 64 bit signed integer 11 18 Time Current time 64 bit unsigned integer Protocols EtherNet IP Protocol 299 Byte 19 20 43 44 99 Name Description Current Number of characters in the current configuration filename e g 8 for Configuratio myconfig The length does NOT include the cfg extension n Filename Length Current Name of currently loaded config file does not include the cfg Configuratio extension Each byte contains a single character valid when byte 1 0 n Filename Reserved Reserved bytes The sample state object contains measurements and their associated stamp information Sample State Assembly Information Value Class 0x4 Instance 0x321 Number of Attributes 3 Length 180 bytes Supported Service Ox0E 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 Description 0 1 Inputs Digital input state 2 9 Z Index Position Encoder position at time of last index pulse 64 bit signed integer 10 13 Exposure Laser exposure in us 14 17 Temperature Sensor temperature in degrees celsius 1000 18 25 Position Encoder position 64 bit signed
195. ght The Height tool determines the difference along the Z axis between two feature points The measurement value can be compared with minimum and maximum constraints to yield a decision lo gt Height 2 Parameters Absolute Value gt Feature 1 F1 Average v Reset gt Feature 2 F2 Average X Reset gt Output Decision Min 0 mm Max 0 mm Remove The difference can be expressed as an absolute or signed result The difference is calculated by Height Feature 2 saton Feature 1 Z position The Height tool requires two feature points See Feature Points page 104 for information on point types and how to configure them Measurements Measurement Illustration Height Determines the difference along the Z axis between 7 two feature points Height Gocator Web Interface Measurement 108 Parameters Parameter Absolute Value Decision Region Output Distance Description Determines if the result will be expressed as an absolute or a signed value See Decisions page 101 See Regions page 102 See Output Filters page 103 The Distance tool determines the Euclidean distance between two feature points The measurement value can be compared with minimum and maximum constraints to yield a decision O Distance 3 5 Link Disabled v 1D 3 Parameters gt Feature 1 F1 Top v Reset gt Feature 2 F2 Top Reset gt Outp
196. h The opening is a rounded rectangle when the radius is less than of the width Radius 1 2 width Radius lt width Radius gt width ro E a tie E f a Width Width Length Length Wian P ja A e 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 Gocator Web Interface Measurement e 150 Parameter Tilt Correction Decision Region Output 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 outs
197. hange Password The Change Password command is used to change log in credentials for a user Command Field Type Description id 64s Command identifier 0x4004 user type 64s User account 1 Administrator 2 Technician password 64 char New password null terminated Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status Change Buddy The Change Buddy command is used to assign or unassign a Buddy sensor Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x4005 action 64s Action to take 0 Unassign Buddy 1 Assign Buddy count 64s Count of sensors affected by action must be 1 at present deviceld count 64s List of target sensors Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status Get File List The Get File List command reports the list of available files on the connected sensor Protocols Gocator Protocol 269 Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x101A extension 64 char Null terminated file extension filter or empty cfg Configuration files rec Record Playback data files prof Profile template files xml XML file Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status count 64s Numb
198. hat have been programmed using the Measurements page All of the tasks that can be accomplished via the Gocator s web interface configuration calibration receiving data health information and software triggering etc can be accomplished programmatically by sending and receiving Gocator Protocol control commands Ethernet Protocol ascn vw Send Operation Asynchronous Data Format Standard Value Y Strip Height 0 Deia Y Strip Height 0 Special Characters Delimiter Termination or en Invalid Value INVALID Ports Control 8190 Data 8190 Health 8190 To exchange results using ASCII messages 1 Navigate to the Ethernet panel 2 Select ASCII in Protocol Option 3 Select the Operation Mode 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 303 for an explanation of the operation modes 4 Select the 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 305 for an explanation of the standard result mode 5 Set the Special Characters Select the delimiter termination and invalid value characters Special characters are used in commands and st
199. he IP address to 192 168 1 11 inthe Network j R Connect To settings and click the Save button 3 z Type Manual When you click the Save button you will be prompted to IP 192 168 1 11 confirm your selection Subnet Mask 255 255 255 0 Gateway 0 0 0 0 Save Turn off the sensors re connect the Main sensor s Ethernet connection and power cycle the sensors GOCATOR POWER I O CORDSET 0 MAIN After changing network configuration the sensors must be reset or power cycled before the change will take effect ETHERNET CORDSET Getting Started e Network Setup 38 10 11 12 Enter the sensor s IP address 192 168 1 10 in a web browser This will log into the Main sensor Log in as Administrator with no password The interface display language can be changed using the language option After selecting the language the browser will refresh and the web interface will display in the selected language Select the Connection page Choose a Connect To setting The Connect To setting specifies whether the sensor system is standalone or connected to a Master 200 or a Master 400 800 1 200 2400 For dual sensor operations select Master 200 or Master 400 800 1200 2400 Go to Connection page and select the Available Sensors panel The serial number of the Buddy sensor is listed in the Available Sensors panel gt hiip 192 168 1 10 Username Administrator
200. he 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 2D View Sensor Stud Bottom Coordinate system based on alignment plane A Tip Height Radius Stud Height Base room M 3D View Gocator Web Interface Measurement 144 O Stud Radius 8 caa Link Disabled v 1D 8 Parameters Stud Radius Co Sm Stud Height 20 mm Base Height fo mim Tip Height noo mm Y Region R x 25mm Width 50 mm Ye 25 mm Length 50 mm ree 50 mm Height 100 mm Radius Offset 0mm v Advanced E Reference Regions AutoSet Tilt Correction AutoSet v gt Output Decision Min 0 mm Max 0 mm Remove Measurement Panel Measurements Measurement Illustration Stud Tip X Determines the X position of the stud tip ee Stud Tip Y Determines the Y position of the stud tip Stud Tip Z Determines the Z position of the stud tip Stud Base X Determines the X position of the stud base Stud Base Y Determines the Y position of the stud base Stud Base Z E Determines the Z position of the stud base Gocator Web Interface Measurement 145 Measurement Stud Radius Determines the radius of the stud Parameters Illustration Parameter Nominal Stud Radius Nominal Stud Length Base Height Tip Height Radius Offset Refere
201. hether the sensor system is standalone or connected to a Master 200 400 800 1200 2400 For single sensor operations select Standalone or Master 200 Ensure that the Data Source selector is showing LIVE Ensure that the Laser Safety Switch is enabled or the Laser Safety input is high Select the Setup page Press the Start button to start the sensor The Start button is used to run sensors continuously whereas the Snapshot button is used to trigger a single capture System Sensor Status Model Gocator 3110 Version 3 6 4 133 Serial 15373 Networking Connect To Standalone v Type Manual X IP 192 168 1 10 Subnet Mask 255 255 255 0 Gateway 0 0 0 0 save gt Options eee CES RECORD START SNAPSHOT DATA SOURCE Y Master 200 En a Master 200 Safety_in _5V 48VDC Y A Safety_in Standalone POWER SAFETY ENCODER Onl San 2 Ty TT me eae At ho Bt Po Z 2 gt EV Master 400 800 1200 2400 Getting Started e Network Setup 36 10 Move a target into the laser plane 11 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
202. hown 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_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 mip USER_GND Out2 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 Specifications e Gocator 2300 I O Connector 359 Trigger_in 3 3V to 24V Digital Input Vdata m 5 USER_GND Active High If the supplied voltage is greater than 24 V connect an external resistor in series to Pin 1 The resistor value should be R Vin 1 2V 10mA 680 Digital Input Vdata Trigger_in 3 3V to 24V VIN P Active Low To assert the signal the digital input voltage should be set to draw a current of 3 mA to 40 mA from Trigger_In The current that passes through Trigger_In is Vin 1 2 Vdata 680 To reduce noise sensitivity we recommend leaving a 20 margin for current variation i e uses a digital input voltage that draws 4mA to 25mA Function Pins Min Voltage Max Voltage Min Current Max Current Min Pulse Width Trigger_in 112 33V 24 V 3 mA 40 mA 20 us Encoder Input Encoder input is provi
203. ht 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 OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE CodeMirror Website http codemirror net License Copyright C 2011 by Marijn Haverbeke lt marijnh gmail com gt Permission is hereby granted free of charge to any person obtaining a copy of this software and associated documentation files the Software to deal in the Software without restriction including without limitation the rights to use copy modify merge publish distribute sublicense and or sell copies of the Software and to permit persons to whom the Software is furnished to do so subject to the following conditions Gocator 2000 amp 2300 Series Software Licenses 379 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 PURP
204. ht 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 calibration state The coordinate systems are described below Before alignment calibration 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 Part data 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 calibration or travel calibration can be used to establish a common coordinate system for the Main and Buddy sensors Calibration determines the adjustments to X Z and tilt rotation in the X Z plane required to align the data from each sensor System coordinates are aligned such that the system X axis is parallel to the calibration target surface The system Z origin is set to the base of the calibration target The tilt angle is positive when rotating from the X to the Z axis Similar to the sensor coordinates Y positions incr
205. ice Files Configuration Files 251 Element Type Description RawProfile String Setting for selected raw profile sources comma delimited list Part String Setting for selected part sources comma delimited list PartIntensity String Setting for selected part intensity sources comma delimited list Value String Setting for selected value sources comma delimited list Decision String Setting for selected decision sources comma delimited list AsciiOperation 32s Setting for the ASCII protocol operation mode 0 Asynchronous 1 Polling AsciiControlPort 32u Setting for the ASCII protocol control channel port number AsciiHealthPort 32u Setting for the ASCII protocol health channel port number AsciiDataPort 32u Setting for the ASCII protocol data channel port number AsciiDelimiter String Setting for the ASCII protocol delimiter character AsciiTerminator String Setting for the ASCII protocol terminator character AsciilnvalidValue String Setting for the ASCII protocol invalid value string AsciiCustomFormatEnabled 32u Setting for the ASCII custom format 0 Disable 1 Enable AsciiCustomDataFormat String Setting for the format of ASCII custom data string ElPBufferEnabled 32u Setting for enable dissable EIP buffering 0 Disable 1 Enable ModbusBufferEnabled 32u Setting for enable dissable Modbus buffering 0 Disable 1 Enable VideoOptions String Constraint for eligible video sources comma delimited list ProfileOption
206. icense 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 Adobe 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 2000 amp 2300 Series Software Licenses 382 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 2000 amp 2300 Series Software Licenses 383
207. id X um 0x44 Centroid Y um 0x45 Centroid Z um 0x46 Ellipse Major um 0x47 Ellipse Minor um 0x48 Ellipse Angle 0 001 degree 0x49 Ellipse Ratio 0x4A Bounding Box X um 0x4B Bounding Box Y um 0x4C Bounding Box Width um 0x4D Bounding Box Length um Protocols Gocator Protocol 285 Field Type Description Ox4E Hole X um Ox4F Hole Y um 0x50 Hole Z um 0x51 Hole Radius um 0x52 Stud Tip X um 0x53 Stud Tip Y um 0x54 Stud Tip Z um 0x55 Stud Base X um 0x56 Stud Base Y um 0x57 Stud Base Z um 0x58 Stud Radius um 0x59 Opening X um Ox5A Opening Y um Ox5B Opening Z um Ox5C Opening Width um 0x5D Opening Length um Ox5E Opening Angle 0 001 degree Ox5F Position X um 0x60 Position Y um 0x61 Position Z um 0x62 Plane X Angle 0 001 degree 0x63 Plane Y Angle 0 001 degree 0x64 Plane Z Offset um 0x65 Surface Texture Roughness um 0x66 Surface Texture Invalid Count percentage x 1000 0x30 Script script specific id 64s Unique id of the measurement as defined in the configuration reserved N 64s A variable number of additional attributes may be included Measurement Data Field Type Description value 64s Result value decision 64s Result decision O Fail 1 Pass Health Results A Health Result message adheres to the general structure for result messages as defined in Resu
208. ide 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 101 See Regions page 102 See Output Filters page 103 Gocator Web Interface e Measurement 151 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 Measurement Region A Center Opening Plane Measurement Region A Opening The Plane tool provides measurements that report angle X angle Y and offset Z of the surface with respect to the alignment target The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Measurements page 96 for instructions on adding measurements The Z offset reported isthe 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 2D View 7 85 000 51 000 3D View Gocator Web Interface Measurement 152 O Plane Angle X
209. iewer page 98 Gocator Web Interface User Interface Overview 54 Connection and Maintenance The following sections describe how to set up the sensor connections and networking and how to perform maintenance tasks Connection Page Overview Gocator s security file management and maintenance tasks are performed on the Connection page Metrics 5 atst W J Current Speed Setup Measurement Output Dashboard EI aa K Connection Main Status FEE Model Gocator 2050 oe 5 1 Version 3 0 2 49 Serial 4425 Buddy Status ZY Model N A Version N A Serial N A v Networking Connect To Master 200 y 2 Tune Maru sal l IP 192 168 1 10 Subnet Mask 255 255 255 0 Gateway 0 0 0 0 Options Element Description 1 System panel Use the System panel to configure sensor network and boot up settings See System Panel below 2 Available Sensors Use the Available Sensors panel to assign or unassign Buddy sensors See Available Sensors panel page 57 3 Security panel Use the Security panel to change passwords See Security Panel page 58 4 Files panel Use the Files panel to manage files stored on the Main sensor See Files Panel page 59 5 Maintenance Use the Maintenance panel to upgrade firmware create restore backups or reset sensors See panel Maintenance Panel page 60 System Panel The following sections des
210. ines the median location of points in the region of De interest s Coo oO l 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 Web Interface Measurement 106 LINE AREA A LINE AREAA AREA B Aline can be defined using one or two areas Two areas can be used to bypass discontinuity in a line segment Width The Width tool determines the difference along the X axis between two feature points The measurement value can be compared with minimum and maximum constraints to yield a decision O Width 1 Link Disabled v 1D 1 Parameters Absolute Value gt Feature 1 F1 Corner v Reset gt Feature 2 F2 Corner v Reset gt Output Decision Min 0 mm Max 0 mm Remove The difference can be calculated as an absolute or signed result The difference is calculated by Width Feature 2 _ Feature 1 os X position X position Measurements Measurement Width Determines the difference along the X axis between two feature points Illustration Width Gocator Web Interface Measurement 107 Parameters Parameter Description Absolute Value Determines if the result will be expressed as an absolute or a signed value Decision See Decisions page 101 Region See Regions page 102 Output See Output Filters page 103 Hei
211. inimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linkids 32u List of linkable measurements Measurements IntersectX An IntersectX element defines settings for a profile intersect x measurement IntersectX Child Elements Element Name Type Description Setting for measurement name Source DecisionMin DecisionMax String 32s 64f 64f Setting for profile source Setting for decision threshold minimum mm Setting for decision threshold maximum mm Gocator Device Files Configuration Files e 190 Element Type Description Line 2 Line Elements for fit lines LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements An IntersectZ element defines settings for a profile Inter
212. input or software trigger consider redu cing the rate at which you apply triggers e Consider reducing the laser profile resolution See Resolutions page 77 for more information on configuring laser profile resolution e Review the measurements that you have programmed and eliminate any unnecessary measurements Gocator 2000 amp 2300 Series Troubleshooting 326 Specifications The following sections describe the specifications of the Gocator and its associated hardware Gocator 2000 Series The Gocator 2000 series consists of the sensor models defined below MODEL 2020 Data Points Profile 640 Linearity Z of MR 0 02 Resolution Z mm 0 006 0 014 Resolution X mm 0 03 0 04 Clearance Distance CD 40 mm Measurement Range 25 MR mm Field of View FOV mm 18 25 Recommended Laser 2M Class Dimensions mm 65x82x142 Weight kg 1 2030 640 0 02 0 008 0 018 0 088 0 15 90 80 47 85 2M 65x75x142 2040 640 0 02 0 017 0 049 0 19 0 34 190 210 96 194 3R 65x75x197 1 15 Optical models laser classes and packages can be customized 2050 640 0 02 0 025 0 092 0 30 0 60 300 400 158 365 3R 65x75x272 1 45 2070 640 0 05 0 074 0 267 0 55 1 1 400 500 308 687 3B 65x75x272 1 45 2080 640 0 05 0 123 0 650 0 75 2 2 350 800 390 1260 3B 65x75x272 1
213. integer 26 33 Time Time 64 bit unsigned integer 34 41 Frame Counter Frame counter 64 bit unsigned integer 42 Buffer Counter Number of buffered messages currently in the queue 43 Buffer Overflow Buffer Overflow Indicator 0 No overflow 1 Overflow Protocols EtherNet IP Protocol 300 Byte Name Description 44 79 Reserved Reserved bytes 80 83 Measurement 0 Measurement ID 0 Value 84 Decision O Measurement ID O Decision 85 88 Measurement 1 Measurement ID 1 Value 89 Decision 1 Measurement ID 1 Decision 175 178 Measurement 19 Measurement ID 19 Value 179 Decision 19 Measurement ID 19 Decision Measurement results are reported in pairs of values and decisions Measurement values are 32 bits wide and decisions are 8 bits wide The measurement ID defines the byte position of each pair within the state information The position of the first word can be calculated as 80 5 ID For example a measurement with ID set to 4 can be read from byte 100 high word to 103 low word and the decision at 104 In Profile mode the measurement results are updated after each profile is processed In Whole Part mode the measurement results are updated after each discrete part has been processed If buffering is enabled in the Ethernet Output panel see page 164 reading the Sample State Assembly Object automatically advances the buffer The extended sample state object contains measurements and their associated stamp information Ex
214. ion long long Stamp_Frame Retrieves the frame index of the current frame long long Stamp_Time Retrieves the time stamp of the current frame long long Stamp_Encoder Retrieves the encoder position of the current frame long long Stamp_EncoderZ Retrieves the encoder index position of the current frame unsigned int Stamp_Inputs Retrieves the digital input state of the current frame Math Functions Function Description float sqrt float x Calculates square root of x float sin float x Calculates sin x x in radians float cos float x Calculates cos x x in radians float tan float x Calculates tan x x in radians float asin float x Calculates asin x x in radians float acos float x Calculates acos x x in radians float atan float x Calculates atan x x in radians float pow float x float y Calculates the exponential value x is the base y is the exponent float fabs float x Calculates the absolute value of x Example Accumulated Volume 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 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 boxArea Mea
215. ion of the GenTL driver send commands to the sensors or to report the current sensor information Tools and Native Drivers GenTL Driver 321 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 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 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 EncoderValue0 register is read User should read EncoderValue0 before reading EncoderValue Read the
216. ipment 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 D The grounding practices described here only apply to Gocator 23xx sensors CORDSET POWER amp ETHERNET Xm CORDSET GOCATOR POWER amp ETHERNET TO MASTER Xm Attach the 360 degree clamp before the split Getting Started Installation 28 To terminate the cordset s shield 1 Expose the cordset s braided shield by cutting the plastic jacket before the point where the cordset splits 2 Install a 360 degree ground clamp Grounding Master 400 800 1200 2400 The mounting brackets of all Masters have been designed to provide adequate grounding through the use of star washers Always check grounding with a multi meter by ensuring electrical continuity between the mounting frame and RJ45 connectors on the front D The frame or electrical cabinet that the Master is mounted to must be connected to earth ground Mounting 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 Sensors should
217. iption 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 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 only details Gocator Web Interface Measurement 125 Parameter Select Type Index Minimum Depth Minimum Width Maximum Width Decision Region Output Strip Description Left Groove s left corner Right Groove s right corner 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 Index from the Right 0 based groove index counting from right to left 0 based groove index 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 See Decisions page 101 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
218. ister contains a single character Stamps contain trigger timing information used for synchronizing a PLC s actions A PLC can also use this information to match up data from multiple Gocator sensors In Profile mode the stamps are updated after each profile is processed In Part mode the stamps are updated after each discrete part has been processed Stamp Register Map Register i er Name Data Size bit Description Address 976 Buffer Advance 16 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 977 Buffer Counter 16 Number of buffered messages currently in the queue 978 Buffer Overflow 16 Buffer Overflow Indicator 0 No overflow 1 Overflow 979 Inputs 8 Digital input state 980 983 Encoder Index 64 Encoder value when the index is last triggered 984 985 Exposure 32 Exposure us 986 987 Temperature 32 Sensor temperature mC 988 991 Encoder Value 64 Encoder value ticks 992 995 Timestamp 64 Time us 996 999 Frame Counter 64 Frame counter Measurement results are reported in pairs of values and decisions Measurement values are 32 bits wide and decisions are 8 bits wide The measurement ID defines the register address of each pair The register address of the first word can be calculated as 1000 3 ID For
219. l Calibration procedures to determine the correct system wide coordinates for laser profiling and measurements See Coordinate Systems page 45 for more information on sensor and system coordinates To specify the layout navigate to the Layout panel on the Setup page Orientation MES Overlap Reverse Buddy Supported Orientations Orientation Example None Isolated Each sensor operates as an isolated device Measurements are reported in a separate coordinate system for each sensor Wide A Sensors are mounted in Left Main and Right Buddy positions for a larger combined field of view Sensors may be angled to avoid occlusions Main Buddy Gocator Web Interface Setup and Calibration 79 Orientation Example Opposite m 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 Overlap If the Main and Buddy sensors are mounted such that the camera from one sensor can detect the laser from the other sensor the Overlap option can be used to eliminate laser interference This option creates a time offset for laser exposures and ensures that interfering lasers are not strobed at the same time Use of the Overlap option may reduce the maximum frame rate Reverse In Wide orientation see page 57 for information on orientations the Buddy sensor can be mounted such that it is rota
220. ld minimum mm DecisionMax 64f Setting for decision threshold maximum mm NominalRadius 64f Setting for the nominal radius mm RadiusTolerance 64f Setting for the radius tolerance mm PartialDetectionEnabled 32u Setting to enable disable partial detection 0 Disable 1 Enable RegionEnabled 32u Setting to enable disable region 0 Disable 1 Enable Region PartRegion3 Measurement region d AutoRefRegionEnabled 32u Setting to enable disable reference region 0 Disable 1 Enable RefRegions Collection Reference regions contains 1 or 2 RefRegion elements Gocator Device Files e Configuration Files 226 Element Type Description RefRegions RefRegion PartRegion Reference region AutoTiltCorrectionEnabled 32u Setting to enable disable tilt correction O Disable 1 Enable TiltXAngle 64f Setting for manual tilt correction angle X TiltYAngle 64f Setting for manual tilt correction angle Y LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing windo
221. lectN 32u Index when SelectType is set to 1 or 2 WidthMin 64f Setting for minimum groove width mm WidthMax 64f Setting for maximum groove width mm Gocator Device Files e Configuration Files e 203 Element Type Description DepthMin 64f Setting for minimum groove depth mm LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Groove X element defines settings for a profile groove X measurement Groove X Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Area Area Element for measurement area Shape 32s Setting for shape of the groove 0
222. list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Groove Depth element defines settings for a profile groove depth measurement Groove Depth Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Area Area Element for measurement area Shape 32s Setting for shape of the groove Gocator Device Files e Configuration Files e 206 Element Type Description 0 V shaped 1 U shaped 2 Open shaped SelectType 32s Setting for selecting a groove out of multiple grooves 0 Maximum depth 1 O based index from left to right 2 0 based index from right to left SelectN 32u Index when SelectType is set to 1 or 2 WidthMin 64f Setting for minimum groove width mm WidthMax 64f Setting for maximum groove width mm DepthMin 64f Setting for minimum groove depth mm LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable Smoo
223. loads a file from the client computer The following types of files can be saved and loaded File Types File Type Description Configuration Contains the settings specified in the Setup Measurement and Output pages Transformation Contains settings resulting from calibration Profile Template Contains profile template data used for profile fixturing To manage a configuration calibration or template file Navigate to the Files panel 2 Select the file type 3 Select the file in the File list To save the live configuration calibration or template to a file type in a new file name or select a file to replace with 4 Select the action Gocator Web Interface Connection and Maintenance 59 Maintenance Panel The following sections describe the Maintenance panel The Maintenance panel can be used to create sensor backups restore from a backup or restore to factory defaults Maintenance Upgrade Firmware Backup Sensor Restore Sensor Restore To Factory Reset Sensor Backup files contain all of the information stored on a sensor including configuration calibration and template 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 To create a backup 1 Navigate to the Maintenance panel 2 Click the Backup Sensor button
224. long long Memory_Get64s int id void Memory_Set64u int id unsigned long long value unsigned long long Memory_Get64u int id void Memory_Set64f int id double value double Memory_Get64f int id int Memory_Exists int id void Memory_Clear int id void Memory_ClearAll Stores a 64 bit signed integer in persistent memory Parameters id ID of the value value Value to store Retrieves 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 Retrieves a 64 bit unsigned integer from persistent memory Parameters id ID of the value Returns value Value stored in persistent memory Stores a 64 bit double into persistent memory Parameters id ID of the value value Value to store Retrieves a 64 bit double from persistent memory All persistent memory values are set to 0 when the sensor starts Parameters id ID of the value Returns value Value stored in persistent memory Tests for the existence of a value by ID Parameters id Value ID Returns 0 value does not exist 1 value exists Erases a value associated with a ID Parameters id Value ID Erases all value from persistent memory Gocator Web Interface Measurement 160 Stamp Functions Function Descript
225. ls zip from the download area on LMI s website at http Imi3d com support downloads See see Downloading Exporting and Uploading Recorded Data page 52 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 exe r 2 Gocator CSV Converter Tool CSV C chiho Tools playground CsvToAsci datalyeplay_part csv Intensity E Output Fomat Convert File C chiho Tools playground CsvToAsci data yeplay_part tet 1H 0 Select input CSV and intensity files and then press the Convert button K 4 D The software tool supports data exported from Profile or Whole Part mode Data exported from Raw mode is not supported The GenTL format is a 48 bit RGB or grey scale PNG Height map intensity and stamp information are stored as defined in the GenTL Driver section see page 318 You can load the exported data into image processing software to provide simulation data for developing applications using the GenTL driver Tools and Native Drivers e CSV Converter Tool 323 To convert exported CSV into different formats 1 2 Select the CSV file to convert 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 th
226. lt Format see page 262 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 Protocols Gocator Protocol 286 Health Result Header Field Type Description length 64s Message length in bytes id 64s Message id 1000 attributeCount 64s Count of attributes in this message header 1 dataCount 64s Count of data blocks in this message 1 deviceld 64s Sensor device id descriptors dataCount Descriptor List of data block descriptors data dataCount List of data blocks The health data block contains a 2 dimensional array of indicator data Each row in the array has the following format Health Indicator Format Field Type Description id 64s Indicator identifier indicators are defined below instance 64s Indicator instance value 64s Indicator value The following health indicators are defined for Gocator sensor systems Health Indicators Indicator Id Instance Value Encoder Value 1003 Current system encoder tick Encoder Index 1004 Current system encoder index Encoder Frequency 1005 Current system encoder frequency ticks s Firmware Version 2000 Firmware application version FireSync Version 2001 Firmware FireSync version Temperature 2002 Internal temperature degrees Celsius Memory Used 2003 Amount of memory currently used bytes Memory Ca
227. lter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Part Plane X Angle element defines settings for a Part Plane X Angle measurement Gocator Device Files e Configuration Files 244 Part Plane X Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm RegionEnabled 32u Setting to enable disable region O Disable 1 Enable Region PartRegion3 Measurement region d RefRegions Collection Reference regions contains 1 or 2 RefRegion elements LinkEnabled 32u Setting to enable disable linking O Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing wi
228. m To output measurement value or decision 1 2 Navigate to the Analog panel Set Event to Measurement Select the value or decision source that should be used for output Only one value or decision can be used for analog output Measurements shown here correspond to measurements that have been programmed using the Measurements page Specify Data Scale values The values specified here determine how measurement values are scaled to the minimum and maximum current output The Data Scale values are specified in um for dimensional measurement 0 001 mm2 for area mm3 for volume and 0 001 degree for angle results The values specified here determine the minimum and maximum current values in milliamperes The invalid current value is used when a measurement value is not valid If invalid is not checked the output holds the last value when a measurement value is not valid Specify Current Range and Invalid current values The values specified here determine the minimum and maximum current values in milliamperes If Gocator Web Interface Output 171 a N Invalid is checked the current value specified with the slider is used when a measurement value is not valid If Invalid is not checked the output holds the last value when a measurement value is not valid Specify if the output is immediate or scheduled An analog output can become active immediately or scheduled Check the Scheduled option if the output needs to
229. ment value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A PartHoleRadius element defines settings for a Hole Radius measurement Part Hole Radius Child Elements Element Name Type Description Setting for measurement name DecisionMin DecisionMax NominalRadius String 64f 64f 64f Setting for decision threshold minimum mm Setting for decision threshold maximum mm Setting for the nominal radius mm Gocator Device Files e Configuration Files e 228 Element Type Description RadiusTolerance 64f Setting for the radius tolerance mm PartialDetectionEnabled 32u Setting to enable disable partial detection 0 Disable 1 Enable RegionEnabled 32u Setting to enable disable region O Disable 1 Enable Region PartRegion3 Measurement region d AutoRefRegionEnabled 32u Setting to enable disable reference region 0 Disable 1 Enable RefRegions Collection Reference regions contains 1 or 2 RefRegion elements RefRegions RefRegion PartRegion Reference regio
230. ments To ensure the highest accuracy is achieved in all measurements the windows on the front of the sensor should be kept clean and clear of debris Use care when cleaning sensor windows Use dry clean air to remove dust or other dirt particles If dirt remains clean the windows carefully with a soft lint free cloth and non streaking glass cleaner or isopropyl alcohol Ensure that no residue is left on the windows after cleaning 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 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
231. mes SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Part Stud Tip X element defines settings for a Part Stud Tip X measurement Part Stud Tip X Child Elements Element Name Type Description Setting for measurement name DecisionMin DecisionMax NominalRadius RadiusOffset StudHeight String 64f 64f 64f 64f 64f Setting for decision threshold minimum mm Setting for decision threshold maximum mm Setting for nominal radius mm Setting for the radius offset mm Setting for the stud height mm Gocator Device Files e Configuration Files 236 Element Type Description BaseHeight 64f Setting for the stud base height mm TipHeight 64f Setting for the stud tip height mm RegionEnabled 32u Setting to enable disable region 0 Disable 1 Enable Region PartRegion3 Measurement region d RefRegions Collection Reference regions contains 1 or 2 RefRegion elements AutoRefRegionEnabled 32u Setting to enable disable reference region 0 Disable 1 Enable RefRegions RefRegion PartRegion Reference region AutoTiltCorrectionEnabled 32u 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 LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with
232. mm EdgeTransitionWidthMax 64f Constraint for edge transition width maximum mm VoidMaxLimitMax 64f Constraint for maximum void mm LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements 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 Gocator Device Files e Configuration Files 213 The Part element contains settings that affect part measurements Simple child elements in Part are defined below Part Child Elements Element Type Description MeasurementOptions String Constraint for available measurement types comma delimited list e g Area Volume The Part element also contains two significant su
233. moothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A difference peak element defines settings for difference peak measurement Difference Peak Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm AbsoluteResult 32u Setting for selecting absolute or signed result 0 Signed result 1 Absolute result Source 32s Setting for profile source Area Area Element for measurement area LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma
234. n 7 White Blue amp Black Trigger_in 8 Pink Encoder_B 9 Black Encoder_B 10 Violet GND_OV 11 White Orange amp Black amp Orange Black Encoder_A 12 White Brown Black Out_1 Digital 13 Red Output 0 Out_1 Digital 14 Blue Output 0 Analog _out1 15 Green Unused 16 Maroon Out_2 Digital 17 Tan Output 1 Out_2 Digital 18 Orange Output 1 Encoder_A 19 Brown Black D This connector has the same number of pins as the Gocator 2300 I O connector You must make sure that this pinout is used for Gocator 2000 sensors only Specifications e Gocator 2000 I O Connector 350 Grounding Shield The grounding shield should be mounted to the earth ground Positive voltage is applied to DC_24 48V See Gocator 2000 Series page 327 for the sensor s power requirement Ground is applied to GND_OVDC Power requirements Function Pins Min Max DC_24 48V 1 24 V 48 V GND_OVDC 11 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 5 24V 48 V Safety_in 7 OV OV Confirm the wiring of Safety_in before starting the sensor Wiring DC_24 48V into Safety_in may damage the sensor Digital Outputs Each Gocator sensor has two optically isolated outputs Both outputs are open collector and ope
235. n AutoTiltCorrectionEnabled 32u Setting to enable disable tilt correction O Disable 1 Enable TiltXAngle 64f Setting for manual tilt correction angle X TiltYAngle 64f Setting for manual tilt correction angle Y LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Part Opening X element defines settings for a Part Opening X measurement Gocator Device Files e Configuration Files 229 Part Opening X Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm NominalWidth 64f Setting for the nominal width mm WidthTolerance 64f Setting for the width tolerance mm NominalLength 64f Setting for the nominal length mm LengthTolerance 64f Setting for the length tolerance mm
236. n emitter this allows a variety of power sources to be connected and a variety of signal configurations Out_1 Collector Pin 13 and Emitter Pin 14 and Out_2 Collector Pin 17 and Emitter Pin 18 are independent and therefore V and GND are not required to be the same Function Pins Max Collector Current Max Collector Emitter Voltage Min Pulse Width Out_1 13 14 40 mA 70V 20 us Out_2 17 18 40 mA 70V 20 us Specifications e Gocator 2000 I O Connector 351 vn Out1 USER_GND Out2 USER_GND The resistors shown above are calculated by R V 2 5mA 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_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 V A Out1 6 R 15 46 8 USER_GND 17 Out_2 V 9 Out 1 18 Out2 A 2 10 Out2 R USER_GND Digital Inputs Every Gocator sensor has a single optically isolated input To use this input without an external resistor supply 2 5 12 V to Pin 4 and GND to Pin 8 Specifications e Gocator 2000 I O Connector 352 2 5V to 12V Digital Input Vdata Trigger_in Trigger_in USER_GND Active High If the supplied voltage is greater than 12 V connect an external resistor in series
237. n 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 in the trigger panel See Trigger Panel page 65 for details To output a measurement valid signal Y 2 Navigate to the Digital Output 0 or Digital Output 1 panel Set Event to Measurement Set Assert On to Always Select decision sources The output activates when the selected decisions produce results The output activate only once for each frame even if multiple decision sources are selected Specify a Pulse Width The pulse width determines the duration of the digital output pulse in microseconds To respond to software scheduled commands l 2 Navigate to the Digital Output 0 or Digital Output 1 panel Set 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 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 immediat
238. n from which the Whole Part s Centroids tools are referenced 2D View 3D View Gocator Web Interface Measurement 138 F 7 Bounding Box X 7 Link Disabled v 1D 7 Parameters F Region R reset Rotation gt Output Decision Min 3 mm Max 2 mm Remove ko Measurement Panel Measurements Measurement Illustration Bounding Box X Determines the X position of the center of the N J smallest rectangle box that encapsulates the part Bounding Box Y Determines the Y position of the center of the smallest rectangle box that encapsulates the part he Bounding Box Width Determines the width of the smallest rectangle box miam Width 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 Bounding Box Length Determines the height thickness of the smallest rectangle box that encapsulates the part The length reports the dimension of the box in the direction of the major axis Length Length When rotation is enabled the bounding box is rotated by the angle of an ellipse fitted to the part data Gocator Web Interface Measurement 139 Parameters Parameter Rotation Decision Region Output Hole The Hole tool locates a circular opening within a region of interest on the surfac
239. n or Buddy from the first drop down list next to View at the top of the data viewer 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 Video Exposure Indication 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 In Profile and Raw mode the data viewer displays profile plots Gocator Web Interface Setup and Calibration 89 In a dual sensor system profiles from individual sensors or from a combined view can be displayed When in the Setup page selecting a panel e g Sensor or Layout panel automatically sets the display to the most appropriate display view Profile wie To manually select the display view in the Setup Page 1 Goto the Setup page 2 Select the view in the data viewer The view of an individual sens
240. n power requirements which need to be considered when calculating total system power requirements Master 1200 2400 Dimensions The dimensions of Master 1200 and Master 2400 are the same 482 6 448 6 too risos essssssssed Bsssesed Besse 6 4 Specifications e Master 1200 2400 373 Parts and Accessories Gocator Part Number Legend Model 31 XXXXX YY ZZ Ee 00 Standard Series Laser Class 01 Profile Tools 2M or 3R or 3B Gocator 2000 Sensors Description Part Number Gocator 2020 with Class 2M laser 2020 2M Gocator 2030 with Class 2M laser 2030 2M Gocator 2040 with Class 3R laser 2040 3R Gocator 2050 with Class 3R laser 2050 3R Gocator 2070 with Class 3B laser 2070 3B Gocator 2080 with Class 3B laser 2080 3B Standard tools Measurement tools Gocator 2300 Sensors Description 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 2380 with Class 3B laser 2380 3B Standard tools Measurement tools Gocator 2000 amp 2300 Series 312020 2M 00 312030 2M 00 312040 3R 00 312050 3R 00 312070 3B 00 312080 3B 00 31XXXX YY 00 31XXXX YY 01 Part Number
241. n 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 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 Upgrade command Firmware upgrade files Protocols Gocator Protocol 260 are available from the downloads section under the support tab on the LMI web site See Firmware Upgrade page 61 for more information on obtaining the latest firmware Every Gocator sensor contains factory backup firmware If a firmware upgrade command fail 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 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 Id Description 8u 1 8 bit unsigned integer 8s
242. n threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Area Area Element for measurement area LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable Gocator Device Files e Configuration Files 197 Element Type Description SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements Measurements Line Standard Deviation A LineStdDev element defines settings for a profile line standard deviation measurement LineStdDev Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Area Area Element for measurement area LinkEnabled 32u Setting to enable disable linking 0 Disable 1
243. nable or disable the hold filter 0 Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Surface Texture Invalid Count element defines settings for a Surface Texture Invalid Count measurement Surface Texture Invalid Count Child Elements Element Name DecisionMin DecisionMax RegionEnabled Region LinkEnabled Link Scale Offset SmoothingEnabled SmoothingWindow HoldEnabled Type String 64f 64f 32u SurfaceCircleRe gion 32u 32u 64f 64f 32u 32u 32u Description Setting for measurement name Setting for decision threshold minimum mm Setting for decision threshold maximum mm Setting to enable disable region 0 Disable 1 Enable Measurement region Setting to enable disable linking 0 Disable 1 Enable Measurement ID to link with Setting for scale factor to apply to measurement value Setting for offset to apply to measurement value Setting to enable or disable the smoothing filter 0 Disable 1 Enable Setting for the smoothing window frames Setting to enable or disable the hold filter 0 Disable 1 Enable Gocator Device Files e Configuration Files e 250 Element Type Description SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothi
244. name of sensor live configuration file or switch write the sensor configuration file The configuration name is NULL terminated and includes the extension cfg 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 322 XML Settings File The settings file Go2GenTL xml resides in the same directory as the Gocator GenTL driver Users can set the resample mode and output format by changing the setting in this file Element Type Description ResampleMode 32u Settings to disable or enable resampling mode 0 Disable 1 Enable When resampling mode is enabled the GenTL driver will resample the height map so that the pixel spacing is the same in the X and Y axis The default value is 1 DataFormat 32u Settings to choose 16 bit RGB or 16 bit grey scale image output 0 16 bit RGB Image 1 16 bit grey scale Image The default value is 0 CSV Converter Tool After you have exported recorded 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 14453 x x x x_SOFTWARE_Go2_Integration_ Too
245. nated as default and it has an associated calibration file that calibration will be loaded automatically when the sensor is reset Profile Templates Profile templates are temporary until saved See Profile Fixturing page 96 Each sensor can have multiple profile template files If there is a template file that is designated as the default it is loaded automatically when the sensor is reset Each sensor can have only one global calibration file But a sensor can contain many calibrations associated with specific configurations as well as many template files The number of files is limited only by the sensor s flash storage capacity The Gocator s web interface provides toolbar commands to load and save these files together as a bundle Gocator can be set up to operate with a global calibration or with a calibration associated with a B specific configuration see Calibration page 80 An associated calibration file is only included in the file bundle if Current Configuration is currently selected as the calibration source HeightProfile w El E 3 FILE NAME SAVE DELETE LOAD The File Name drop down list shows the list of file bundles stored in the sensor The configuration that is currently loaded is listed at the top The name will be marked with an asterisk if the live configuration is different from the loaded configuration to indicate unsaved changes To save a new bundle of files 1 Select New in the File
246. nce 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 of the target with respect to the alignment plane Set to Auto Set to have the tool automatically detect the tilt or enter the angles manually Auto Set requires the measurement region to cover more areas on the surface plane than other planes The results from the Plane X and Y tool can be used for angles X and Y parameters See Decisions page 101 See Regions page 102 See Output Filters page 103 The tip and the side of the stud must be within the measurement region Gocator Web Interface Measurement 146 Opening The Opening tool locates rounded rectangular and rounded corner openings The opening can be ona surface at an angle to the sensor 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 o
247. ndow minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Part Plane Y Angle element defines settings for a Part Plane Y Angle measurement Part Plane Y Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm RegionEnabled 32u Setting to enable disable region 0 Disable 1 Enable Region PartRegion3 Measurement region d Gocator Device Files e Configuration Files 245 Element Type Description RefRegions Collection Reference regions contains 1 or 2 RefRegion elements LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Part Plane Z Offset element defines settings for a Part Pl
248. nector The Master version of the Power amp Ethernet cordset provides direct connection between the sensor and a Master 400 800 1200 2400 Getting Started e Hardware Overview 22 The Gocator I O cordset provides digital I O connections an encoder interface RS 485 serial connection and an analog output CORDSET GOCATOR 1 0 Xm CORDSET POWER amp ETHERNET Xm CORDSET GOCATOR POWER amp ETHERNET TO MASTER Xm L Y A PIGTAILED LEADS EX El 7 RJ45 8 PIN JACK M16 CONNECTOR M16 CONNECTOR 14 PIN FEMALE 14 PIN FEMALE M16 I O CONNECTOR 19 PIN MALE The maximum cordset length is 60 m See Gocator 2300 I O Connector page 358 and Gocator Power LAN Connector on page 356 for pinout details See Parts and Accessories page 374 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 re N Master Master Ethernet Port ETHERNET W 1 00 Si Master Host Port Master Power Port 7 48V Power Supply Encoder Output Port Item Description Master Ethernet Port Connects to the RJ45 connector labeled Ethernet on the Power LAN to Master cordset Master Power Port Connects to the RJ45 connector labeled Power Sync on the Power LAN to Master cordset Provides power and laser
249. nes the X position of the hole center Hole Y Determines the Y position of the hole center Hole Z Determines the Z position of the hole center Hole Radius Determines the radius of the hole Illustration Gocator Web Interface Measurement 141 Parameters Parameter Nominal Radius Radius Tolerance Reference Regions Tilt Correction Partial Detection Description Expected radius of the hole The maximum variation from the nominal radius from the nominal radius 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 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 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 are
250. ng for decision threshold minimum mm Setting for decision threshold maximum mm Setting to enable or disable bounding box rotation 0 Vertical bounding box 1 Rotated bounding box Setting to enable disable region 0 Disable 1 Enable Measurement region Setting to enable disable linking Gocator Device Files e Configuration Files 223 Element Type Description 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A PartBoundingBoxLength element defines settings for a bounding box length measurement Part Bounding Box Length Child Elements Element Type Description Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm RotationEnable 32u Setting to enable or disable bounding box rotation 0 Vertical bounding
251. ng window maximum frames Linklds 32u List of linkable measurements Measurements 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 The Outputs element has the following sub element types Ethernet Serial Analog and Digital Output Each of these sub elements defines the output settings for a different type of Gocator output The Source identifiers that are used with Video profile part and intensity outputs are profile source identifiers See Profile Sources page 261 for more information The Source identifiers that are used with Value and Decision outputs correspond to the measurement identifiers defined in the Measurements element for example lt ProfileMeasurement gt lt Measurements gt lt Width id 1000 gt lt Height id 2000 gt lt Outputs gt lt Ethernet gt lt Decision gt 1000 2000 lt Decision gt The Ethernet element defines settings for Ethernet output Ethernet Child Elements Element Type Description Protocol 32s Setting for selected protocol 0 Gocator 1 Modbus TCP 2 EtherNet IP 3 ASCII Video String Setting for selected video sources comma delimited list Profile String Setting for selected profile sources comma delimited list Profilelntensity String Setting for selected profile intensity sources comma delimited list Gocator Dev
252. nklds Type 32s 64f 64f Feature 32u 32u 64f 64f 32u 32u 32u String 32u 32u 32u Description Setting for profile source Setting for decision threshold minimum mm Setting for decision threshold maximum mm Element for feature detection Setting to enable disable linking 0 Disable 1 Enable Measurement ID to link with Setting for scale factor to apply to measurement value Setting for offset to apply to measurement value Setting to enable or disable the smoothing filter 0 Disable 1 Enable Setting for the smoothing window frames Setting to enable or disable the hold filter 0 Disable 1 Enable Constraint for eligible profile sources comma delimited list Constraint for smoothing window minimum frames Constraint for smoothing window maximum frames List of linkable measurements A CenterX element defines settings for a profile center x measurement CenterX Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Feature 2 Feature Elements for feature detection LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measureme
253. ns and data type given by block descriptor Z system coordinate zOffset zResolution ranges indexY indexX X system coordinate xOffset xResolution indexX Y system coordinate yOffset yResolution indexY Part Intensity Part Intensity Attributes Field Type Description dataType 64s Data type 0x09 source 64s Profile source xOffset 64s X offset nm yOffset 64s Y offset nm xResolution 64s X resolution nm yResolution 64s Y resolution nm reserved N 64s A variable number of additional attributes may be included Part Intensity Data Field Type Description intensityValues partLength 8u Array of profile intensity values Items in the array are arranged in the partWidth same order as items in the part profile array A value of 0 indicates no spot Dimensions and data type given by block descriptor Protocols Gocator Protocol 283 Alignment Calibration Alignment Calibration Attributes Field Type Description dataType 64s Data type 0x04 reserved N 64s A variable number of additional attributes may be included Alignment Calibration Data Field Type Description status 64s Calibration result Travel Calibration Travel Calibration Attributes Field Type Description dataType 64s Data type 0x05 reserved N 64s A variable number of additional attributes may be included Travel Calibration Data Field Type Description status 64s Calibration result E
254. nsor Port 1 and connect the encoder to Encoder Port 1 Only When using the Master 200 with two sensors connect the sensors to Sensor Port 1 and Sensor Port 2 and connect the encoder to Encoder Port 1 amp 2 Specifications for the Master 200 input output analog serial encoder power using a single sensor and safety signals are identical to the specifications for the Gocator I O Connector Power required for 2 sensors is DC_24 48V O 20 Watts Sensor Port 1 and Port 2 Pins Gocator I O Pin Master Pin Conductor Color DC_24 48V 1 White Green amp Black and Green Black GND_OVDC 2 White Orange amp Black and Orange Black Safety_in 3 Blue Black Safety_in 4 White Blue amp Black Trigger_in 5 Grey Trigger_in 6 Pink Out_1 7 Red Out_1 8 Blue Out_2 9 Tan Out_2 10 Orange Analog_out1 11 Green Specifications e Master 200 365 Gocator I O Pin Master Pin Unused 12 Analog_out 13 Encoder_A 14 Encoder_A 15 Serial_out 16 Serial_out 17 Encoder_B 18 Encoder_B 19 Input Output Pins Function Conductor Color Maroon Yellow and Maroon White White Brown amp Black Brown Black White Brown Black Violet Pin Input Input Output_1 Digital Output 0 Output_1 Digital Output 0 Output_2 Digital Output 1 Output_2 Digital Output 1 Analog Unused Analog Serial Serial Power and Safety Pin Oo 0 N DWH bh W NY as Function Pin
255. nstraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Part Opening Y element defines settings for a Part Opening Y measurement Part Opening Y Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm NominalWidth 64f Setting for the nominal width mm WidthTolerance 64f Setting for the width tolerance mm NominalLength 64f Setting for the nominal length mm LengthTolerance 64f Setting for the length tolerance mm NominalAngle 64f Setting for the nominal angle degrees AngleTolerance 64f Setting for the length tolerance degrees NominalRadius 64f Setting for nominal radius mm PartialDetectionEnabled 32u Setting to enable disable partial detection 0 Disable 1 Enable RegionEnabled 32u Setting to enable disable region 0 Disable 1 Enable Region PartRegion3 Measurement region d RefRegions Collection Reference regions contains 1 or 2 RefRegion elements AutoRefRegionEnabled 32u Setting to enable disable reference region 0 Disable 1 Enable Gocator Device Files e Configuration Files 231 Element Type Description RefRegions RefRegion PartRegion Reference region AutoTiltCorrectionEnabled 32u Setting to enable disable tilt correction 0 Disable
256. nt Management Each measurement can be assigned a unique name This allows multiple measurements of the same type to be distinguished in the Gocator web interface The name is also referenced by the Script tool To change a measurement name 1 Click on the measurement name 2 Enteranewname 3 Press the Tab key The name change will be completed when you press the Tab key or click outside of the name edit field Measurement ID Measurement ID is used to uniquely identify a measurement in the Gocator protocol or in the SDK The value must be unique among all measurements To edit a measurement ID 1 Selecta measurement Click on the in a measurement panel to expand the panel N Click on the measurement ID w Enter a new number The value must be unique among all measurements 4 Press the Tab key The name change will be completed when you press the Tab Key or click outside of the measurement ID edit field Profile Sources For dual sensor systems measurements must specify a profile source for tools The profile source determines which sensor provides data for the measurement The following options are available Profile Source Description Main Data is provided by the Main sensor This is the only option for standalone systems Buddy Data is provided by the Buddy sensor Both Data is provided by the Main and the Buddy sensor Gocator Web Interface Measurement 99 To select the source
257. nt value Gocator Device Files e Configuration Files 188 Element Type Description SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements ACenterZ element defines settings for a profile center z measurement CenterZ Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Feature 2 Feature Elements for feature detection LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable
258. ntensity 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 281 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 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 operat
259. 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 2000 amp 2300 Series 377 Software Licenses Pico C Website http code google com p picoc License picoc is published under the New BSD License http www opensource org licenses bsd license php Copyright c 2009 2011 Zik Saleeba All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 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 TH
260. o apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A difference area element defines settings for difference area measurement Difference Area Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm2 DecisionMax 64f Setting for decision threshold maximum mm2 AbsoluteResult 32u Setting for selecting absolute or signed result 0 Signed result 1 Absolute result Source 32s Setting for profile source Area Area Element for measurement area LinkEnabled 32u Setting to enable disable linking O Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable Gocator Device Files e Configuration Files 194 Element Type Description S
261. 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 i AVOID EXPOSURE PEAK POWER 100mW IEC 60825 1 2007 TO THE BEAM WAVELENGTH 600 780nm CLASS lllo 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 Safety and Maintenance Laser Safety 13 Model Laser Class Line Fan Angle NOHD mm 2x20 2M 28 259 2x30 2M 28 259 3R 28 900 3B 28 5759 2x40 2M 28 259 3R 2
262. of Line 1 is less than 90 clockwise from the X axis the angle returned is positive Measurements X AXIS NEGATIVE ANGLE LINE 1 When the angle of Line 1 is less than 90 counter clockwise from X axis the angle returned is negative Measurement Angle X Fits a line to profile points within one or two areas and measures the angle between the fitted line and the X axis Illustration Angle X Gocator Web Interface Measurement 112 Parameters Parameter Absolute Value Line Decision Region Output Intersect Description Check the option for an absolute value Uncheck it for a signed value An Angle X measurement requires one fit line One or two fit areas can be used for each fit line See Fit Lines page 106 for more information See Decisions page 101 See Regions page 102 See Output Filters page 103 The Intersect tool determines various characteristics related to intersect points and intersections The measurement value can be compared with minimum and maximum constraints to yield a decision Measurements Measurement Intersect X Finds the intersection between two fitted lines and measures the X axis position of the intersection point O Intersect X 7 Link Disabled v 1D 7 Parameters Line 1 2 Area Boxes Reset gt Line 2 2 Area Boxes v Reset gt Output Decision Min 0 mm Max 0 mm Remove Illustration
263. on of the measurement 0 if measurement decision is false 1 If measurement decision is true Determines if a measurement exist by name Parameter name name of a measurement Return 0 measurement does not exist 1 measurement exists Retrieves the measurement ID by the measurement name Parameters name name of a measurement Returns 1 measurement does not exist Other Measurement ID Output a value and decision on Output index 0 Only the last output value decision in a script run is kept and passed to the Gocator output To output an invalid value the constant INVALID_ VALUE can be used e g Output_SetAt 0 INVALID_VALUE 0 Parameters value value output by the script decision decision value output by the script Can only be O 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 be O 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 Gocator Web Interface Measurement 159 Memory Functions Function Description void Memory_Set64s int id long long value
264. onstraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Strip Height element defines settings for a profile strip height measurement Strip Height Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Area Area Element for measurement area Location 32s Setting for the location of the strip O Left 1 Right 2 Center BaseType 32s Setting for the strip type 0 None 1 Flat LeftEdgeType 32s Setting of the left edge conditions 0 Rising 1 Falling 2 Data End 3 Void RightEdgeType 32s Setting of the left edge conditions 0 Rising 1 Falling 2 Data End 3 Void SelectType 32s Setting for selecting a strip out of multiple strips Gocator Device Files e Configuration Files 212 Element Type Description O Best 1 0 based index from left to right 2 0 based index from right to left SelectN 32u Index when SelectType is set to 1 or 2 TiltEnabled 32u Setting for tilt compensation 0 Disabled 1 Enabled EdgeHeightMin 64f Setting for minimum edge height width mm EdgeTransitionWidth 64f Setting for edge transition width mm EdgeSupportWidth 64f Setting for edge support width mm VoidMax 64f Setting for maximum void mm WidthMin 64f Setting for minimum strip width
265. ontain semiconductor lasers that emit visible or invisible light and are designated as Class 2M Class 3R or Class 3B depending on the chosen laser option Gocator sensors are referred to as components indicating that they are sold only to qualified customers for incorporation into their own equipment These sensors do not incorporate safety items that the customer may be required to provide in their own equipment e g remote 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 A 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 LASER lt SENSOR pr LASER WARNING DO NOT LOOK DIRECTLY INTO THE LASER BEAM 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 2000 amp 2300 Series Laser Classes Class 2M laser components Class 2M laser components would not cause permanent damage to the eye under reasonably
266. oos 7 Recording Playback and Measurement Dual Sensor System 22 2 2 0 17 Simulation 2ec0c cc weeducewineeseed veuaee 51 Multi Sensor System 22 22 2 19 Downloading Exporting and Uploading Hardware Overview _ eeeee 21 Recorded Data 2 c vscee ee eteuercee ss 52 Gocator 2000 Sensor 21 Metrics Panel 222 eeeeee eee tersa 53 Gocator 2300 amp 2880 Sensor 2 2 2 0 21 Data Viewer lt cteveestee were recteesteeress 54 Gocator 2000 Cordsets 22 Connection and Maintenance 55 Gocator 2300 amp 2880 Cordsets 2 2 22 Connection Page Overview 55 Master 100 22 2c cece eee eee 23 System Panel wec2id cele eres see tri 55 Master 200 eee eee 24 Network Settings 2 55 Master 400 800 eee 24 Sensor AUtostart auoss cias istarade ies 56 Master 1200 2400 2 25 Overheat Temperature Protection 56 Calibration Targets 0 2 2 2022222222 26 Available Sensors 22 202 eeeeee eee 57 Installation 22 22 22 02 ccc ee eee ce cen atacadas 28 Buddy Assignment 22 57 Grounding Gocator 2 22 22222 28 Security Panel 2 0 2 eee eeee eee eee eee ees 58 Recommended Grounding Practices Cordsets 28 Files Panel o ooccccccc
267. oothing to expand the panel 3 Enable Y Smoothing and select the window value The window value represents the averaging window size along the Y axis 4 Check that the laser profiling is satisfactory Gap filling works by filling in missing data points using the lowest values from the nearest neighbors 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 direction of travel at each X location If both X and Y gap filling are enabled missing data is filled along the X axis first then along the Y axis Filter gt X Resampling v Gap Filling mx e my e gt Smoothing To configure X gap filling 1 Select Profile or Part mode 2 Navigate to the Filters panel Click the arrow next to Gap Filling to expand the panel 3 Enable X gap filling and select the maximum width value The maximum gap value represents the maximum gap width that the Gocator will fill Gaps wider than the maximum width will not be filled 4 Check that the laser profiling is satisfactory Gocator Web Interface Setup and Calibration 85 To configure Y gap filling 1 Select Profile or Part mode 2 Navigate to the Filters panel Click the arrow next to Gap Filling to expand the panel 3 Enable Y gap filling and select the maximum width value The maximum gap value represents the maximum gap wid
268. or a sensor There is one entry element per sensor identified by a unique id attribute 0 for main and 1 for buddy lt Entry id 0 gt Entry Child Elements Element Type Description X 64f Translation in the X axis mm Y 64f Translation in the Y axis mm Z 64f Translation in the Z axis mm XAngle 64f Rotation about Y axis degrees YAngle 64f Rotation about X axis degrees ZAngle 64f Rotation about Z axis degrees Orientation 32s Direction of X axis 0 Normal 1 Reverse The rotation counter clockwise in the X Z plane is performed before the translation If a right handed system is wanted instead of the normal orientation e g if sensors are opposite in the Y axis see page 45 in the manual then Orientation can be set to 1 to flip the coordinate system Gocator Device Files Calibration File 257 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 Disco
269. or if a profile is not displayed in the Data Viewer see Troubleshooting page 325 Press the Stop button The laser should turn off SEA RECORD STOP SNAPSHOT DATA SOURCE 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 D If Master 200 is used and an encoder input is required the encoder signals must be connected to the Encoder port 1 8 2 See Master 200 page 365 for more details To configure a dual sensor system Mls Turn off the sensors and unplug the Ethernet network connection of the Main sensor GOCATOR POWER I O CORDSET 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 MAIN ETHERNET CORDSET Getting Started e Network Setup 37 Power up the Buddy sensor The power LED blue of the Buddy sensor should turn on immediately POWER LED Enter the sensor s IP address 192 168 1 10 in a web browser gt C wy hitto 192 168 1 10 gt This will log into the Buddy sensor Log in as Administrator with no password Username Administrator iy Password Language Engish y Select the Connection Page mn Connection setup Measurement Modify t
270. or measurement name DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Type 32s Setting for measurement type 0 Minimum 1 Maximum 2 2D Centroid 3 3D Centroid 4 Average 5 Median RegionEnabled 32u Setting to enable disable region 0 Disable 1 Enable Region PartRegion3 Measurement region d LinkEnabled 32u Setting to enable disable linking O Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A PartEllipseMajor element defines settings for an ellipse major measurement Part Ellipse Major Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm Gocator Device Files e Configuration Files 218 Element Type Description DecisionMax 64f Setting for decision threshold maximum mm RegionEn
271. or or the combined view of two sensors can be selected from the drop down list at the top of the data viewer Inthe Measurement page the view of the display is set to the profile source of the selected measurement tool In Whole Part operation mode the data viewer can display height maps and intensity images of the detected objects You can select the data to display from the View option Clicking on the 3D button displays Whole Part data in the 3D viewer The 3D model is overlaid with the information that corresponds to the selected View option Gocator Web Interface Setup and Calibration 90 Whole Part View Heightmap Ed w3 yo Profile View Option Information Profile Plots the last collected profile Only available in 2D view Heightmap In 2D view displays the pseudo color height map In 3D view overlays the 2D pseudo color height map on the 3D model Uniform Overlays a uniform shaded surface on the 3D model Only available in 3D view 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 Operation Mode panel Choosing the Profile view option will switch the data viewer out of the 3D viewer and display the profile plot 4 002 6 172 8343 10 514 12 684 14 054 E 17025 2D viewer for height map 2D viewer for intensity 3D viewer with height map overlay 3D viewer with intensity ov
272. or tilt compensation 0 Disabled 1 Enabled EdgeHeightMin 64f Setting for minimum edge height width mm EdgeTransitionWidth 64f Setting for edge transition width mm EdgeSupportWidth 64f Setting for edge support width mm VoidMax 64f Setting for maximum void mm WidthMin 64f Setting for minimum strip width mm EdgeTransitionWidthMax 64f Constraint for edge transition width maximum mm VoidMaxLimitMax 64f Constraint for maximum void mm LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter Gocator Device Files e Configuration Files e 208 Element Type Description 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements AStrip Z element defines settings for a profile strip Z measurement Strip Z Child Elements Element Type Description Name String Setting for measurement name S
273. otocols ASCII Protocol 304 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 0 i i V v A D d CR n n n 1 Field Shorthand Length Description MeasurementStart M 1 Start of measurement frame Type t n Hexadecimal value that identifies the type of n measurement The measurement type is the same as defined elsewhere see page 281 Id i n Decimal value that represents the unique identifier of the measurement ValueStart V 1 Start of measurement value This field and the following Value field are optional they will only be present if the measurement value has been selected for transmission Value v n Measurement value in decimal The unit of the value is measurement specific DecisionStart D 1 Start of measurement decision This field and the following Decision field are optional they will only be present if the measurement decision has been selected for transmission Decision d 1 Measurement decision 0 Fail 1 Pass Custom Result Format In the custom format you enter a format string with place holders to create a custom message The default format string is time value 0 decision 0 Result Placeholders Format Value Explanation time Timestamp encoder Encoder position
274. ou take action to save them The following table lists the types of information that can be saved in a sensor Setting Type Behavior Network Address Network address changes are saved when you click the Save button in the Main panel on the Connections page The sensor must be reset before changes take effect Gocator Web Interface User Interface Overview 48 Setting Type Behavior Configuration Most of the settings that can be changed in the Gocator s web interface such as those shown on the Setup Measurement and Output pages are temporary until saved in a configuration file Each sensor can have multiple configuration files If there is a configuration file that is designated as the default it will be loaded automatically when the sensor is reset Calibration Calibration files are saved automatically at the end of the calibration procedure see page 256 for a description of this type of file The sensor contains a global calibration file that is not visible in the file manager This file is automatically loaded when the sensor is reset Configurations can be associated with specific calibration files which are created by selecting Current Configuration as the source when calibrating the Gocator see Calibration page 80 for more information on calibrating sensors These files are visible in the file manager Associated files have the same file name but a different extension If there is a configuration file that is desig
275. ource 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Area Area Element for measurement area Location 32s Setting for the location of the strip O Left 1 Right 2 Center BaseType 32s Setting for the strip type 0 None 1 Flat LeftEdgeType 32s Setting of the left edge conditions 1 Rising 2 Falling 4 Data End 8 Void Multiple values can be selected by adding the selections RightEdgeType 32s Setting of the left edge conditions 1 Rising 2 Falling 4 Data End 8 Void Multiple values can be selected by adding the selections Gocator Device Files e Configuration Files e 209 Element Type Description SelectType 32s Setting for selecting a strip out of multiple strips 0 Best 1 0 based index from left to right 2 0 based index from right to left SelectN 32u Index when SelectType is set to 1 or 2 TiltEnabled 32u Setting for tilt compensation 0 Disabled 1 Enabled EdgeHeightMin 64f Setting for minimum edge height width mm EdgeTransitionWidth 64f Setting for edge transition width mm EdgeSupportWidth 64f Setting for edge support width mm VoidMax 64f Setting for maximum void mm WidthMin 64f Setting for minimum strip width mm EdgeTransitionWidthMax 64f Constraint for edge transition width maximum mm VoidMaxLimitMax 64f Constraint for maximum void mm LinkEnabled 32u Setting
276. pacity 2004 Total amount of memory available bytes Storage Used 2005 Amount of non volatile storage used bytes Storage Capacity 2006 Total amount of non volatile storage available bytes CPU Used 2007 CPU usage percentage of maximum Net Out Used 2008 Current outbound network throughput bytes s Net Out Capacity 2009 Total available outbound network throughput bytes s State 2010 Current system state Camera Errors 2011 Number of camera frame errors encountered Protocols Gocator Protocol 287 Indicator Camera Drops Processing Drops Ethernet Drops Uptime Speed Trigger Drops Digital Output Drops Analog Output Drops Serial Output Drops Laser Temperature Digital Inputs Camera Frame Count Camera Search Count Laser Temperature Speed thousandth Valid Frame Count Invalid Frame Count Digital Output Pass port 0 Digital Output Fail port 0 Digital Output Pass port 1 Digital Output Fail port 1 Valid Spot Count Processing Latency Max Processing Latency Max Spot Count X Fixturing Invalid Count Z Fixturing Invalid Count Replay Position Replay Frame Count 2012 2015 2016 2017 2018 2019 2020 2021 2022 2023 2024 2025 2026 2027 2028 20000 20001 20002 20003 20004 20005 20006 20007 20008 20009 20010 20011 20016 20017 Instance Output index Output Index Output index Output index Output Index Output index Output Ind
277. parameter can be configured graphically using the mouse in the data viewer when the Measurement page is active Gocator Web Interface Measurement 102 Some measurements use more than one region Parameters Y Region R X 28 704 mm Width 71 475 mm Y 41 803 mm Length 71 598 mm Z 50 mm Height 100 mm gt Output Decision Min 0 mm3 Max 0 mm3 Remove This parameter is also referred to as a measurement region To configure regions 1 Select a measurement Click on the ina measurement panel to expand it 2 Check the Region checkbox to enable a region 3 Configure the region using the fields You can also configure the region graphically using the mouse in the data viewer Output filters can be applied to measurement values before they are output from the Gocator sensors Filter Scale and Offset Hold Last Valid Smoothing Description 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 the last valid value when the measurement is invalid Measurement is invalid if there is no valid value Apply moving window averaging to reduce random noise in a measurement output The averaging window is configured in num
278. pe 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 100 for Ethernet interface data rate mbps Get Speed Gocator 2000 1000 for Gocator 2300 2 Interface Flags UDINT See 5 4 3 2 1 of CIP Specification Volume 2 Get Bit 0 Link Status 0 Inactive 1 Active Bit 1 Duplex 0 Half Duplex 1 Full Duplex 3 Physical Array of MAC Address for example 00 16 20 00 2E 42 Get Address 6 USINTs Protocols EtherNet IP Protocol 297 Assembly Object Class 0x04 The Gocator Ethernet IP object model includes the following assembly objects Command Sensor State Sample State and Extended Sample State All assembly object instances are static Data in a data byte
279. peration mode can be selected in the Operation Mode panel 7 Set up the part detection logic to sort profiles into discrete objects Operation Mode Video Profile Whole Part Raw Acquire Intensity Mode and Option Description Video Outputs video images from the Gocator This mode is useful for configuring exposure time and troubleshooting stray light or ambient light problems Profile Outputs profiles and performs profile measurements Video images are processed internally to produce laser profiles and cross sectional measurements Whole Part Outputs 3D point clouds and performs part measurements Laser profiles are sorted into discrete parts The parts are then processed internally to produce measurements Whole Part is often referred to as Part in the Gocator web interface and in this document Raw Outputs profiles In Raw Mode video images are processed internally by the sensor to produce laser profiles Use this mode to extract unprocessed ranges from the Gocator at the highest possible rate Post profiling processing and measurements are disabled Acquire Intensity When this option is enabled an intensity value will be produced for each laser profile point Trigger Panel A trigger is an event that causes a sensor to take a single picture 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 di
280. perators except ternary operator i e condition trueValue Operator falseValue Explicit casting e g int a int a_float is not supported Function Declarations Standard C function declarations with argument passed by values Pointers are not supported Measurement Functions Function Description int Measurement_Exists int id Tests for the existence of a measurement by ID Parameters id Measurement ID Returns 0 measurement does not exist 1 measurement exists int Measurement_Valid int id Retrieves the valid invalid state of a measurement by its ID Parameters id Measurement ID Returns 0 Measurement is invalid 1 Measurement is valid long long Measurement_Value int id Retrieves the value of a measurement by its ID Parameters id Measurement ID Returns Value of the measurement 0 if measurement does not exist Gocator Web Interface Measurement 158 Function Description int Measurement_Decision int id int Measurement_NameExists char name int Measurement_ld char name void Output_Set long long value int decision void Output_SetAt unsigned int index long long value int decision void Output_Setld int id long long value int decision A measurement value is received as a fixed point integer with a scaling of 1 1000 For example a 3 654mm value is received as 3654 Retrieves the decision of a measurement by its ID Parameters ID Measurement ID Returns Decisi
281. pes 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 Gocator Web Interface Measurement 129 Parameter Minimum Strip Width Tilt Decision Region Output Tilt Description Gap gt 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 85 for information Specifies the minimum width for a strip to be considered valid Enables disables tile correction See Decisions page 101 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 1 o OB Sides of the Strip See Regions page 102 for more information See Output Filters page 103 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 r Q aoe Gocator Web Interface Measurement 130 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
282. ple 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 Whole Part mode the measurement results are updated after each discrete part has been processed If buffering is enabled in the Ethernet Output panel See Ethernet Output page 164 reading the Extended Sample State Assembly Object automatically advances the buffer Protocols EtherNet IP Protocol 302 ASCII Protocol This section describes the ASCII protocol available over the Ethernet and serial outputs The protocol communicates using ASCII strings The output result format from the sensor is user configurable Ethernet Communication Gocator s Ethernet communication is bidirectional Measurement results are sent on the Ethernet output in one of two modes Polling or Asynchronous The ASCII protocol over Ethernet enables the client to e Switch to a different active configuration e Calibrate run and trigger sensors e Receive sensor states health indicators stamps and measurement results As with the Gocator Protocol see page 258 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 Ea
283. ply Format 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 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 t Tab n New line r Carriage return Percentage symbol Pr
284. pported Command and Reply Formats Commands and replies that are sent and received on the Control and Upgrade channels each begin with a common header Command Header Field Type Description length 64s Command size in bytes id 64s Command identifier Reply Header Field Type Description length 64s Reply size in bytes id 64s Reply identifier same as command identifier unless otherwise noted status 64s Reply status Length fields added to the beginning of each message refer to the size of the entire message including the length field itself For example the value of the length field for a command that consists of only the header no additional fields would be 16 Result Format Result messages that are received on the Data and Health channels have a common structure Each result message has a flexible number of attributes in its header followed by a variable number of data blocks after the header The structure of result messages is defined below Result Field Type Description length 64s Message length in bytes id 64s Message type identifier Protocols Gocator Protocol 262 Field Type Description attributeCount 64s Count of attributes in this message dataCount 64s Count of data blocks in this message attributes N 64s List of attributes specific to a particular message type descriptors M Descriptor List of data block descriptors one per data block format defined below block
285. ption length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status The Trigger command applies a software trigger to the system The system must be configured to accept software triggers and must be in the Running State Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x4510 Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status Scheduled Digital Output The Scheduled 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 Outputs page 167 for information on setting up the digital output Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x4518 index 64s Index of the output starts from 0 target 64s Specifies the time us or position encoder ticks of when the event should happen The target value is ignored if the Signal type in the Digital Output panel is not set to scheduled The output will be triggered immediately See Digital Outputs page 167 for information on setting the Signal type value 64s Specifies the target state 0 Set to low continuous 1 Set to high continuous Ignored if output type is pulsed Protocols Gocator Protocol 276 Reply Field Type Description length 64s Reply si
286. quired 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 required that illuminates warning indicators for a short period of time before supplying power to the lasers Safety and Maintenance Laser Safety 12 Beam Attenuators A permanently 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 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
287. r maximum X field of view boundary mm ActiveAreaZMax 64f Constraint for maximum Z field of view boundary mm ActiveAreaZMin 64f Constraint for minimum Z field of view boundary mm ActiveAreaWidthMin 64f Constraint for minimum field of view width mm ActiveAreaWidthMax 64f Constraint for maximum field of view width mm ActiveAreaHeightMin 64f Constraint for minimum field of view height mm Gocator Device Files Configuration Files 181 Element Type Description ActiveAreaHeightMax 64f Constraint for maximum field of view height mm XSubsamplingOptions String Constraint for X resolution divider options comma delimited list e g 1 25 ZSubsamplingOptions String Constraint for Z resolution divider options comma delimited list e g 1 2 FrontCameraX 32u Property for x position of image ROI pixels FrontCameraY 32u Property for y position of image ROI pixels FrontCameraWidth 32u Property for width of image ROI pixels FrontCameraHeight 32u Property for height of image ROI pixels CalibratedX 64f Property for sensor calibrated active area X position mm CalibratedZ 64f Property for sensor calibrated active area Z position mm CalibratedWidth 64f Property for sensor calibrated active area width mm CalibratedHeight 64f Property for sensor calibrated active area height mm Tracking AreaHeightMin 64f Constraint for minimum tracking window height Tracking AreaHeightMax 64f Constraint for maximum tracking windo
288. rag the rectangle to move it and use the handles on the rectangle s border to resize it The data viewer is controlled by mouse clicks and by the buttons on the display toolbar The mouse wheel can be also be used for zooming in and out Press F when the cursor is in the data viewer to switch to full screen Zoom in out Pan 1 1 Aspect Ratio Reset Zoom Toggle 3D Mesh Scaling Setting Whole Part View Heichtmap J 3D 0 ey Height maps are displayed in pseudo color the height Z axis is color coded The scaling of the height map can be adjusted wf es Range Auto Range Measurement Output Dashboa iE oa View Heightmap v 3 FLO To change the scaling of the height map 1 Select Heightmap from the drop down in the data viewer 2 Click the Scaling button Gocator Web Interface Setup and Calibration 93 Range options a To automatically set the scale check the Auto Range checkbox in the range scaling dialog box that is displayed b To manually set the scale uncheck the Auto Range checkbox and then enter the minimum and maximum height to which the colors will be mapped Sub region options a To auto scale the color scale based on a user selected sub region of the heightmap check the Region option and adjust the yellow region box in the data viewer to the desired location and size Gocator sensors can produce intensity images that measure the amount of light reflected
289. rameters Parameter Description Base Type 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 Location Specifies the strip position from which the measurements are performed Strip Height Strip X Left Left edge of the strip and Strip Z Right Right edge of the strip measurements only Center Center of the strip Left Edge Specifies the features that will be considered as the strip s left edge You can select more than one condition Rising Rising edge detected based on the strip edge parameters Gocator Web Interface Measurement 128 Parameter Right Edge Select Type Index Minimum Edge Height Edge Support Width Edge Transition Width Maximum Void Description 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 Too Technical Manual for the definitions of these conditions Specifies the features that will be considered as the strip s right edge You can sele
290. rary index html License Gocator 2000 amp 2300 Series Software Licenses 380 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 express or implied See the License for the specific language governing permissions and limitations under the License jQuery CopyEvents Website http brandonaaron net License Copyright c 2006 Brandon Aaron Licensed under the MIT License http www opensource org licenses mit license php jQuery history License jQuery history plugin Copyright c 2006 Taku Sano Mikage Sawatari Licensed under the MIT License http www opensource org licenses mit license php Modified by Lincoln Cooper to add Safari support and only call the callback once during initialization for msie when no initial hash supplied API rewrite by Lauris Bukis Haberkorns jQuery mouseWheel Website http brandonaaron net License Copyright c 2010 Brandon Aaron Gocator 2000 amp 2300 Series Software Licenses 381 Licensed under the MIT License http www opensource org licenses mit l
291. rch Domains ES Advanced 2 p M cc the tock to prevent further changes Assist me Revert Apply A See Troubleshooting page 325 if you experience any problems while attempting to establish a connection to the sensor Getting Started e Network Setup 34 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 1 Power up the sensor The power indicator blue should turn on immediately POWER LED POWER LED 2 Enter the sensor s IP address 192 168 1 10 in a web browser gt Cox hitto 192 168 1 10 gt 3 Log in as Administrator with no password The interface display language can be changed using the ia Adutrdiratos language option After selecting the language the pa browser will refresh and the web interface will display in Language gt the selected language 4 Select the Connection page Configuration y Setup Measurement Getting Started e Network Setup 35 Choose a Connect To setting The Connect To setting specifies w
292. rcleX element defines settings for a profile circle center X measurement CircleX Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Area Area Element for measurement area LinkEnabled 32u Setting to enable disable linking 0 Disable Gocator Device Files Configuration Files 196 Element Type Description 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A CircleZ element defines settings for a profile circle center Z measurement CircleZ Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decisio
293. re gt Resolution Transformations aA X Offset Z Offset Angle 0 96 Orientation Normal Element 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 profile 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 X Z plane A positive value rotates the profile counter clockwise Orientation Specifies the direction of the X axis Setting to Reverse will flip the profile about the Z axis When applying the transformations Angle is applied before the X and Z offsets To configure transformation settings 1 Select Profile Part or Raw mode 2 Navigate to the Sensor panel Click the arrow next to Transformation to expand the panel Click the Main or Buddy button to select the sensor Transformations can be configured separately for each sensor 3 Click the unlock button to make the fields editable 4 Setthe parameter values 5 Check that the transformation settings are applied correctly after profiling is restarted Gocator Web Interface Setup and Calibration 78 Layout Panel The following sections describe the Layout panel Dual Sensor System Layout Mounting orientations must be specified for a dual sensor system This information allows the Alignment or Trave
294. re type Position Y Determines the Y position of the selected feature type Position Z Determines the Z position of the selected feature type Parameters Illustration X Y or Z EU Parameter Feature Type Decision Region Output Texture Description Choose Centroid 2D Centroid 3D Min X Max X Min Y Max Y Min Z or Max Z See Decisions page 101 See Regions page 102 See Output Filters page 103 The Texture tool provides measurements related to the texture of an object The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Measurements page 96 for instructions on adding measurements 2D View 3D View Gocator Web Interface Measurement 155 O Texture Invalid Count 0 Link Disabled v Parameters Output Type Invalid Ratio w Region R Xx 0 mm A Radius Ys 100 mm Height Za 40 mm Output Decision Min o mm Max Measurement Panel 24 992 mm 80 mm 0 mm Remove Measurements Measurement Texture Invalid Count Illustration Produces one of four output types Invalid Valid Ratio or Invalid Valid Area within a cylindrical region of interest Texture Roughness Determines the average absolute difference in millimeters between all neighboring points within a cylindrical region of interest Invalid Count Roughness Parameters Parame
295. re section in the Sensor panel Video Wer ese 1 TD E Exposure 1 Single Exposure The sensor uses a fixed exposure in every scan Single exposure is used when the target surface is uniform and is the same for all parts Sensor ELN Buddy gt Active Area v Exposure Singe Auto Set Exposure Omme 1200 us Dynamic al Calibration uses the first exposure of the set gt Resolution gt Transformations A 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 Select Profile Part or Raw mode 3 Navigate to the Sensor panel Click the arrow next to Exposure to expand the panel Click the Main or Buddy sensor button to select the sensor 4 Select Single 5 Edit the Exposure setting You can automatically tune the exposure by pressing the Auto Set button which causes the sensor to Gocator Web Interface Setup and Calibration 74 turn on and tune the exposure time 6 Run the sensor and check that laser profiling is satisfactory If not satisfactory adjust the exposure values manually Switch to Video mode to use video to help tune the exposure see Exposure page 73 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
296. rement Panel Gocator Web Interface Measurement 134 Measurements Measurement Illustration Area vi Measures area in the XY plane o X Parameters Parameter Description Decision See Decisions page 101 Region See Regions page 102 Output See Output Filters page 103 Ellipse The Ellipse tool provides measurements for the major and minor axis lengths of an ellipse fitted to the part s shape in the XY plane and also for the ratio of the major and minor axis lengths and for the orientation angle of the ellipse The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Measurements page 96 for instructions on adding measurements 2D View 3D View Gocator Web Interface Measurement 135 O Ellipse Major 5 Link Disabled v Parameters Region R Reset gt Output Decision Min 68 mm Max 69 mm Remove Measurement Panel Measurements Measurement Ellipse Major Determines the major axis length of an ellipse fitted to the part s area in the XY plane Ellipse Minor Determines the minor axis length of an ellipse fitted to the part s area in the XY plane Ellipse Ratio Determines the minor major axis ratio of an ellipse fitted to the part s area in the XY plane Ellipse Angle Determines the orientation angle of an ellipse fitted to the part s area in the XY plane
297. rs or output registers Control registers are used to control the sensor states e g start stop or calibrate a sensor and 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 Protocols e Modbus TCP Protocol 291 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 States RO Report sensor states See Output Registers next page for detailed descriptions 900 999 Stamps RO Return stamps associated with each profile See Output Registers next page for detailed descriptions 1000 1060 Measurements amp RO 20 Measurement and decision pairs See Decisions Measurement Registers page 294 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
298. s 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 Getting Started e Hardware Overview 25 SENSOR PORTS 1 12 LED INDICATORS O 0 EJ Master E El 1200 EEE E E MASTER 1200 FRONT SENSOR PORTS 13 24 2400 ONLY SENSOR PORTS 1 12 LED INDICATORS 5 __ SEE Tami Y Master a ll TOO e O MASTER 2400 FRONT 2400 rim ater AE o A A dh db dhd 20086 o DOOCSC ee 2 a MASTER 1200 2400 REAR O SSSR CR e lo GROUND CONNECTION POWER AND SAFETY ENCODER INPUT Item Description Sensor Ports Master connection for Gocator sensors no specific order required Ground Connection Earth ground connection point Laser Safety Laser safety connection Encoder Accepts encoder signal Input Accepts digital input See Master 1200 2400 page 371 for pinout details Calibration Targets Calibration targets are used for alignment calibration or travel calibration Calibration 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 Acce
299. s Linklds 32u List of linkable measurements A Part Stud Base X element defines settings for a Part Stud Base X measurement Part Stud Base X Child Elements Element Name DecisionMin DecisionMax NominalRadius RadiusOffset StudHeight BaseHeight TipHeight RegionEnabled Region RefRegions AutoRefRegionEnabled RefRegions RefRegion AutoTiltCorrectionEnabled TiltXAngle TiltYAngle Type String 64f 64f 64f 64f 64f 64f 64f 32u PartRegion3 d Collection 32u PartRegion 32u 64f 64f Description Setting for measurement name Setting for decision threshold minimum mm Setting for decision threshold maximum mm Setting for nominal radius mm Setting for the radius offset mm Setting for the stud height mm Setting for the stud base height mm Setting for the stud tip height mm Setting to enable disable region 0 Disable 1 Enable Measurement region Reference regions contains 1 or 2 RefRegion elements Setting to enable disable reference region O Disable 1 Enable Reference region Setting to enable disable tilt correction 0 Disable 1 Enable Setting for manual tilt correction angle X Setting for manual tilt correction angle Y Gocator Device Files e Configuration Files e 240 Element Type Description LinkEnabled 32u Setting to enable disable linking O Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale fac
300. s 64s Reply status fileName 64 char File name null terminated Set Default File The Set Default File command sets the name of a default file that will be loaded at boot time Default files can be defined for configuration calibration and profile templates differentiated by extension Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x4101 fileName 64 char File name null terminated including the extension cfg Configuration files rec Record Playback data files prof Profile template files Protocols Gocator Protocol 272 Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status Get Loaded File The Get Loaded File command returns the currently loaded i e live file name and modified status for a file type Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x4512 extension 64 char Extension for the file type cfg Configuration files prof Profile template files Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status fileName 64 char Name of the currently loaded file changed 64 Whether or not the currently loaded file has been changed 1 yes 0 no The Get Mode command reports the name of the current system mode Command Field Type Description length
301. s Current Range Analog_out1 15 6 4 20mA Specifications e Gocator 2000 I O Connector 354 ANALOG ANALOG ANALOG Analog out Analog_out1 CF a WO OQ of D Q 2 ASE 141 PY 19 Current Mode ANALOG ANALOG Rs Ed ANALOG Analog_out Analog _out1 10K Voltage Mode 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 a RC filter as shown below ANALOG_OUTPUT ANALOG Analog_out Analog_out 500 15n5 ANALOG Specifications e Gocator 2000 I O Connector 355 Gocator Power LAN Connector The Gocator Power LAN connector is a 14 pin M16 style connector that provides power input laser safety input and Ethernet This section defines the electrical specifications for Gocator Power LAN Connector pins organized by function Gocator Power LAN Connector Pins Lead Color on Function Pin Cords t 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 Black View Looking into the connector on the sensor Sync 5 White Brown amp Black Sync 6 Brown Black Ethernet MX1 7 White Orange Ethernet MX1 8 Orange Ethernet
302. s M List of data blocks specific to a particular message type Block Descriptor Field Type Description lengthO 64s Length of block dimension 0 length1 64s Length of block dimension 1 length2 64s Length of block dimension 2 type Type Data type of block elements See Data Types page 261 Each data block is an array of primitive values with 1 2 or 3 dimensions and is described by an accompanying descriptor The first length field that contains a zero determines the dimensionality of the block For example the length 2 field will contain zero for a 2 dimensional block Items in the highest numbered dimension are transmitted sequentially Specific result messages described later in this chapter are defined by identifying the attributes and data block formats necessary to express the message content Discovery Commands The Get Address command is used to discover Gocator sensors across subnets Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x0001 signature 64s Magic number 0x0000504455494D4C identifier 64s Device identifier serial number or zero to discover unknown devices Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier 0x1001 status 64s Reply status signature 64s Magic number 0x0000504455494D4C deviceld 64s Device identifier Protocols Gocator Protocol 263 Field Type Description useDhcp 64s 1 if
303. s Reply identifier status 64s Reply status The Reset command reboots the Main sensor and any Buddy sensors All sensors will automatically reset 3 seconds after the reply to this command is transmitted Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x4300 Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s 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 Description length 64s Command size in bytes id 64s Command identifier 0x1013 Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status fileSize 64s Size of backup file in bytes file fileSize byte Backup file content estore 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 Protocols Gocator Protocol 278 Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x1014 fileSize 64s Size of backup file in bytes file fileSize byte Backup file content Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply stat
304. s String Constraint for eligible profile sources comma delimited list ProfilelntensityOptions String Constraint for eligible profile intensity sources comma delimited list RawProfileOptions String Constraint for eligible raw profile sources comma delimited list PartOptions String Constraint for eligible part sources comma delimited list PartIntensityOptions String Constraint for eligible part intensity sources comma delimited list ValueOptions String Constraint for eligible value sources comma delimited list DecisionOptions String Constraint for eligible decision sources comma delimited list The Serial element defines settings for Serial output Gocator Device Files e Configuration Files 252 Serial Child Elements Element Type Description Value String Setting for selected value sources comma delimited list Decision String Setting for selected decision sources Comma delimited list Protocol 32s Setting for the serial protocol 0 Gocator 1 Selcom Serial Selcom Serial is only available on the Gocator 2340 3B N 12 model SelcomRate 32u Setting for Selcom Serial output rate bits s SelcomFormat 32s Setting for Selcom Serial output format O 14 bit 1 14 bit with search track information 2 12 bit 3 12 bit with search track information The options are only available for the Gocator 2340 3B N 12 AsciiDelimiter String Setting for the ASCII protocol delimiter character AsciiTerminator String Setting
305. s String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A LinePercentile element defines settings for a profile line percentile measurement LinePercentile Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Area Area Element for measurement area Percentile 64f Error percentile LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements Gocator Device Files
306. s 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 Red Green Blue 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 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 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 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
307. s pass Conversely if assert mode is set to false the output is activated when any one of the selected measurement decisions is false 4 Specify a Signal type The signal type specifies whether the digital output is a continuous signal or a pulsed signal If the signal is continuous its state is maintained until the next transition occurs If the signal is pulsed the user specifies the pulse width and how it is scheduled 5 Specify a Pulse Width The pulse width is the duration of the digital output pulse in microseconds Gocator Web Interface Output 168 Specify whether the output is Immediate or Scheduled A pulsed digital output can be 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 mutliple 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 locatio
308. s profile or part data sets up tools and displays result calipers related to the selected measurement Parts are displayed using a height map which is a top down view of the XY plane where color represents height See Data Viewer page 98 Gocator Web Interface e Measurement 95 Element Description 4 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 Tools Panel The following sections describe the Tools panel Adding and Removing Measurements P Measurements th a Add Measurements width Le add Width Height Distance iH To add a measurement 1 Select the desired measurement type Click on the item in the drop down list next to Add Measurements to select the measurement type 2 Press the Add button A configuration panel for the new measurement will be added to the bottom of the stack To remove a measurement 1 Select the desired measurement Click on the title bar of the measurement to select it 2 Click the Remove button The measurement will be removed from the list of measurements If the Add Measurement list contains only the Distance measurement then the sensor is not D equipped with profile tools The Distance measurement is provided in all sensors to demonstrate the measur
309. scan to scan Sensor e EEN vc gt Active Area v Exposure gt Single Exposure us Dynamic Auto Set Min Auto Set Max Exposure Range Cop 30l 1500 us Exposure us j Calibration uses the first exposure of the set gt Resolution gt Transformations To enable dynamic exposure 1 Select Profile Part or Raw mode 2 Navigate to the Sensor panel Click the arrow next to Exposure to expand the panel Click the Main or Buddy sensor button to select the sensor 3 Select Dynamic 4 Setthe 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 5 Run the sensor and check that laser profiling is satisfactory If not satisfactory adjust the exposure values manually Switch to Video mode to use video to help tune the exposure see Exposure page 73 for details Gocator Web Interface Setup and Calibration 75 Multiple Exposures 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 defined with each set to a different
310. se the decision state is fail in the user interface these values are displayed in red O Position Z 0 e Link Disabled v gt Output Decision Min Value 13 880 is within the decision thresholds Min 14 Max 13 Decision Pass Gocator Web Interface e Measurement 101 Wan 0 m ID 0 Decision Min 80 mm Max 100 mm Absolute Value Feature 1 F1 Top Reset Feature 2 F2 Bottom Reset Remove Value 50 380 is within the decision thresholds Min 80 Max 100 Decision Pass O Position Z 0 Link Disabled w ID 0 gt Output Decision Min 13 mm Max 12 mm Remove Value 30 200 is outside the decision thresholds Min 32 Max 35 Decision Fail O gt wath 0 KE ID 0 Deasion Min 80 mm Max 100 mm Absolute Value Feature 1 F1 Top Reset gt Feature 2 F2 Bottom Reset Remove Value 102 928 is outside the decision thresholds Min 80 Max 100 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 163 for more information on transmitting values and decisions The Region parameter is used 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 The
311. sect Z measurement IntersectZ Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Line 2 Line Elements for fit lines LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable Gocator Device Files e Configuration Files 191 Element Type Description SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements An IntersectAngle element defines settings for a profile intersect angle measurement IntersectAngle Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum degrees Decision
312. sensors for laser profiling using the Setup page Setup and calibration steps should be performed before programming measurements or outputs D Calibration in the user interface and in this manual refers to aligning a sensor to system coordinates Setup Page Overview Connection Metrics New Whole Part Current Speed OHZ Measurement Output Dashboard View Profile Operation Mode BGS j Video Profile Whole Part Raw Acquire Intensity Trigger Element Description 1 Operation Mode panel 2 Trigger panel 3 Sensor panel 4 Layout panel Use the Operation Mode panel to set the current operation mode Video Profile Part or Raw and other options See Operation Mode Panel page 65 Use the Trigger panel to specify the trigger source and trigger related settings See Trigger Panel page 65 Use the Sensor panel to specify settings for an individual sensor such as active area or exposure See Sensor Panel page 70 Use the Layout panel to configure a dual sensor Main Buddy system and to perform alignment or travel calibration See Layout Panel page 79 Gocator Web Interface Setup and Calibration 63 Element Description 5 Filters panel Use the Filters panel to specify settings for post processing of the profiles See Filters Panel page 84 6 Detection panel Use the Detection panel to set the part detection
313. shielded Gocator 20x0 Power and I O cordset open wire end 10m shielded Gocator 20x0 Power and I O cordset open wire end 5m shielded Gocator 20x0 Ethernet cordset RJ45 end 10m shielded Gocator 20x0 Ethernet cordset RJ45 end 5m shielded Gocator 20x0 I O to Master cordset RJ45 end 10m shielded Gocator 20x0 I O to Master cordset RJ45 end Accessories Gocator 2000 amp 2300 Series 30864 2m 30862 30863 30864 15m 30864 20m 30864 25m 30861 2m 30859 30860 30861 15m 30861 20m 30861 25m 30858 2m 30856 30857 30858 15m 30858 20m 30858 25m 30737 30738 30741 30742 30739 30740 Parts and Accessories 375 Part Number Description 30727 Calibration Disk 40mm Calibration Disk 100mm 30728 Contact LMI for information on creating cordsets with custom length or connector orientation The maximum cordset length is 60 m Gocator 2000 amp 2300 Series Parts and Accessories 376 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
314. sitions of the feature point of the profile template and the live profile To register a profile template 1 Place a representative target in the field of view The target should be similar to the objects that will later be measured Use the Start or Snapshot buttons to view live profile data while positioning the target 2 Click the Register button A snapshot of the target object will be captured and set as the current profile template The profile template is shown in white within the data viewer After a profile is registered fixturing for the X axis and Z axis can be configured independently After a profile is registered fixturing for the X axis and the Z axis can be configured independently To setup profile fixturing in the X axis 1 Press the Fixturing button in the Measurement panel Gocator Web Interface e Measurement 97 2 Enable X Fixturing Check the X Fixturing box to enable fixturing for the X axis 3 Adjust the detection area Profile data within the detection area will be used to calculate the feature point for fixturing 4 Select an feature point type Select the feature point type from the Detect drop down box The point type determines how the feature point is calculated from the profile data within the detection area To set up profile fixturing in the Z axis with a new template 1 Click on the Fixturing button in the Measurement panel 2 Enable Z Fixturing Check the Z Fixturing box to enable
315. sor can only process Modbus TCP commands when the Modbus is selected in the protocol option Gocator Web Interface Output 166 Protocol EtherNet IP v _ Buffering Objects gt Command E a Command Arguments W Sensor State o Running z Command in Progress Calibration State Encoder Position EY Time Config Name Length Config Name Sample State Lo Inputs Z Encoder Exposure Legend E 8 bit value E 16 bit value Ml 32 bit value MA 64 bit value I variable length To receive commands and send results using EtherNet IP messages 1 2 Navigate to the Ethernet panel Select Buffering if desired Buffering is needed for example in Whole Part 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 300 is read Select EtherNet IP in the Protocol option Unlike using the Gocator Protocol there is no need to 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 Digital
316. sors 3D Acquisition Principle of 3D Acquisition The Gocator 2000 and 2300 series sensors are line profiler sensors meaning that they capture asingle 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 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 Gocator 2000 amp 2300 Series 42 A N emitter Reflected laser light detected NO D by camera A Top 190 us Resulting laser profile Resolution and Accuracy X resolution is the horizontal distance between each measurement point along the laser line This specification is essentially based on the number of camera columns used to cover the field of view FOV at a particular measurement range Since the FOV is trapezoidal the distance between points is closer at the near range than at
317. splays measurement statistics See Measurement Statistics next page 3 Metrics Panel Summarizes important performance statistics 4 Event Log Displays log data from the sensor State and Health Information The following state and health information is available on the Dashboard Dashboard Health Values Name Description Gocator Web Interface Dashboard 174 System State Speed Firmware Version Interface Version Up Time Encoder Value Encoder Frequency Trigger Drops CPU Usage Memory Usage Memory Capacity Storage Usage Storage Capacity Temperature Laser Temperature Ethernet Traffic Camera Drops Processing Drops Ethernet Drops Digital Output Drops Analog Output Drops Serial Output Drops Processing Latency Max Processing Latency Camera Frame Count Camera Search Count Valid Point Count Part Count Fixturing Invalid Count Current system state Ready or Running Current laser camera speed Hz Gocator firmware version Gocator interface version Length of time since the sensor was power cycled or reset Current encoder value ticks Current encoder frequency Hz Count of camera frames dropped due to excessive trigger speed Sensor CPU utilization Sensor memory utilization MB Sensor memory capacity MB Sensor flash storage utilization MB Sensor flash storage capacity MB Sensor internal temperature C Sensor laser temperature C Only available on sensors equippe
318. ssories page 374 for calibration disk part numbers 40mm DIAMETER S an ee 100mm DIAMETER DISK Getting Started e Hardware Overview 26 For wide multi sensor systems calibration bars are required to match the length of the system by following the guidelines illustrated below LMI Technologies does not manufacture or sell calibration bars 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 Calibration page 80 for more information on calibration procedures Getting Started e Hardware Overview 27 Installation The following sections provide grounding mounting and orientation information rounding Gocator Gocators should be grounded to the earth chassis through their housings and through the grounding shield of the Power I O cordset Gocator sensors have been designed to provide adequate grounding through the use of M5 x 0 8 pitch mounting screws Always check grounding with a multi meter to ensure electrical continuity between the mounting frame and the Gocator s connectors D The frame or electrical cabinet that the Gocator is mounted to must be connected to earth ground Recommended Grounding Practices Cordsets If you need to minimize interference with other equ
319. stance 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 Description Time Sensors have an internal clock that can be used to generate fixed frequency triggers The external input can be used to enable or disable the time triggers Gocator Web Interface Setup and Calibration 65 Trigger Source Description Encoder An encoder can be connected to provide triggers in response to motion Three encoder triggering behaviors are supported 1 Ignore Backward A scan is triggered when the target object moves forward If the target object moves backward it must move forward by at least the distance that the target travelled backward plus one encoder spacing to trigger the next scan Position Track Backward O Trigger Point 2 Track Backward A scan is triggered only when the target object moves forward If the target object moves backward it must move forward by at least the distance of one encoder spacing to trigger the next scan Encoder Spacing ii l B 1 1 1 Position Ignore Backward i A i lt lt O Trigger Point I I I j 1 I l I I I l l T T 1 I 1 I 1 I I l l 1 1 I I I I 1 1 I I I I l 1 I 1 1 I I 3 Bi directional A scan is triggered when the target object moves forward or backwar
320. step that is used to capture the intensity output 6 Run the sensor and check that laser profiling is satisfactory If not satisfactory adjust the exposure values manually Switch to Video mode to use video to help tune the exposure see Exposure page 73 for details Gocator Web Interface Setup and Calibration 76 Resolutions can be set independently for the X axis and Z axis Reducing the resolution increases speed or reduces CPU usage while maintaining the sensor s field of view Sensor E gt Active Area Exposure v Resolution Xx 1 1 2 1 4 Tz 16 1 2 gt Transformations X Resolution The X Resolution setting can be used to decrease the profile s X resolution to decrease sensor CPU usage The X Resolution setting works by reducing the number of image columns used for laser profiling D The CPU Load bar at the top of the interface displays how much of the CPU is being used To configure X resolution 1 Navigate to the Sensor panel Click the arrow next to Resolution to expand the panel Click the Main or Buddy button to select the sensor X resolution is specified separately for each sensor 2 Selecta resolution value X resolution values are expressed as fractions For example a resolution value of 1 2 indicates that every second camera column will be used for laser profiling 3 Check that laser profiling is satisfactory After adjusting the resolution confirm that laser profiling is satisfactor
321. ster 200 _ 22 2 222222 365 Master 200 Dimensions 2 367 Master 400 800 2 220 cheb seicee discs sde 368 Master 400 800 Electrical Specifications 369 Master 400 800 Dimensions 370 Master 1200 2400 22 ee eee eee eee eee eee 371 Master 1200 2400 Electrical Specifications 372 Master 1200 2400 Dimensions 3 3 Parts and Accessories _ 374 Return Policy 2 2 cece eee eee eee 377 Software Licenses __ 2 2 2 2 22222 378 SUPPOMt ico e ce eeeds crest rie 384 Contact 385 Gocator 2000 amp 2300 Series Introduction The Gocator 2000 and 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 configuration 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 2000 amp 2300 Series 9 Safety and Maintenance The following sections describe the safe use and maintenance of Gocator sensors Laser Safety Gocator sensors c
322. surement Value 1 long long Volume Memory Get64s 0 Memory Set64s 0 Volume if Volume gt 1000000 Output_Set Volume 1 else Output Set Volume 0 Gocator Web Interface e Measurement 161 Gocator Web Interface Measurement 162 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 Connection Setup Measurement Dashboard New a fea FARA Y o bahe E CTI E CI CI E Send Dedsions Decisions Send Value Asserton P Assert on sare on Pass w on Pass x Width 1 Main Decision Decision None Distance 2 Intensity Width 21 Width 1 Value Decision Distance 52 Distance 2 Man Width 1 ised wie A pras Distance 2 ae Width 1 Decision Distance 2 Width 1 Decision Distance 2 Width 1 Distance 2 Signal Pused Signal Pulsed Analog Current Width 100 us gt Width 100 us 7 Scheduled Scheduled Scheduled Element Description 1 Ethernet Panel 2 Digital Output O Panel 3 Digital Output 1 Panel 4 Analog Panel 5 Serial Panel Use the Ethernet panel to select the data sources that will transmit data via Ethernet See Ethernet Output next page Use the Digital Output 0 p
323. t 1 Navigate to the Security panel Click the arrow next to Technician to expand the panel 2 Enter the new Technician account password and password confirmation 3 Click Save The new password will be required the next time that a technician logs in to the sensor Gocator Web Interface Connection and Maintenance 58 If the administrator or technician password is misplaced the sensor can be recovered using a special software tool See Sensor Recovery Tool page 316 for more information Files Panel The Files panel can be used to manage configuration calibration and template files Files a Filetype Configuration y Save J 4 2 Load 5 Delete 6 setasDefaule 7 Download l 8 o upload l 9 Element Description 1 File Type Specifies the type of files to manage configuration profile template or transformation 2 File Name Field Used to provide a file name when saving files 3 File List Displays the files that are currently saved in the sensor s flash storage 4 Save Button Saves currently loaded data to file using the name in the File Name field 5 Load Button Loads the file that is selected in the file list 6 Delete Button Deletes the file that is selected in the file list 7 Set as Default Button Sets the selected file as the default to be loaded at boot time 8 Download Button Downloads the selected file to the client computer 9 Upload Button Up
324. t we recommend using an RC filter as shown below ANALOG_OUTPUT 10K ANALOG Analog_out soo 15nF Analog_out ANALOG Specifications e Gocator 2300 I O Connector 362 Master 100 The Master 100 accepts connections for power safety and encoder and provides digital output MA Master Ethernet Port _ ETHERNET Master Power Port POWER of a y Master Host Port Y 7 48V Power Supply TT Pin 1 Y 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 1
325. t baseline LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linkids 32u List of linkable measurements Measurements BoxArea A BoxArea element defines settings for a profile box area measurement BoxArea Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Area Area Element for measurement area LinkEnabled 32u Setting to enable disable linking Gocator Device Files Configuration Files 193 Element Type Description 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset t
326. t for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements AHeight element defines settings for a profile height measurement Height Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm AbsoluteResult 32u Setting for selecting absolute or signed result 0 Signed result 1 Absolute result Feature 2 Feature Elements for feature detection LinkEnabled 32u Setting to enable disable linking 0 Disable Gocator Device Files e Configuration Files 185 Element Type Description 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable m
327. tection Sensors equipped with a 3B N laser by default will turn off the laser if the temperature exceeds the safe operating range You can override the setting by disabling the overheat protection A Disabling the setting is not recommended Disabling the overheat protection feature could lead to premature laser failure if the sensor operates outside the specified temperature range Gocator Web Interface Connection and Maintenance 56 v Options __ Autostart Y Overheat protection To enable disable overheat temperature protection 1 Check uncheck the Overheat Protection option box 2 Save configuration Available Sensors The following section describes the Available Sensors panel In a dual sensor system the Main sensor assumes control of 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 Available Sensors Info Model Gocator 2030 Version 3 0 2 44 Serial 4422 Available Sensors a To assign a Buddy sensor 1 Navigate to the Available Sensors panel 2 Select a Buddy sensor The
328. ted 180 degrees around the Z axis to prevent occlusion along the Y axis Enable the Reverse option when the buddy is mounted in this orientation Although Gocator sensors are pre calibrated and ready to deliver profiles in engineering units mm out of the box calibration 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 Gocator sensors support two types of calibration procedures alignment calibration and travel calibration Travel calibration performs essentially the same role as alignment calibration but calibrates encoder resolution and Y axis offsets in addition to the corrections provided by alignment calibration Once calibration has been completed the derived transformation values will be displayed under Transformations in the Sensor panel see Transformations page 78 for details Calibration States A Gocator can be in one of three calibration states None Manual or Auto Calibration State State Explanation None Sensor has no calibration Profiles are reported in default sensor coordinates Manual Transformations or encoder resolution have been manually edited Auto Sensor is calibrated using either alignment or travel calibration Gocator Web Interface Setup and Calibration 80 An indicator on the Calibration panel will display CALIBRATED MANUALLY CALIBR
329. tem e g world e Define encoder resolution for encoder based triggering e Define the travel offset Y offset between sensors for staggered operation Use Read and Write File command to modify the transformation file Calibration Example lt xml version 1 0 gt lt SysCal version 2 gt lt YResolution gt 0 lt YResolution gt lt YSpeed gt 0 lt YSpeed gt lt Entries gt lt Entry id 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 ZAngle gt 2 7078302556 lt XAngle gt lt Orientation gt 0 lt Orientation gt lt Entry gt lt Entry 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 Entry gt lt Entries gt lt SysCal gt SysCal The SysCal element contains the calibration record for both the Main and the Buddy sensor The version attribute defines the version of the record format lt SysCal version 2 gt Gocator Device Files Calibration File 256 SysCal Child Elements Element Type Description YResolution 64f Encoder Resolution mm tick YSpeed 64f Travel Speed mm s An Entry element defines the transformation f
330. tended Sample State Assembly Information Value Class 0x4 Instance 0x322 Number of Attributes 3 Length 380 bytes Supported Service OxOE Get Single Attribute Extended Sample State Information Byte Name Description 0 1 Inputs Digital input state 2 9 Z Index Position Encoder position at time of last index pulse 64 bit signed integer 10 13 Exposure Laser exposure in us 14 17 Temperature Sensor temperature in degrees Celsius 1000 18 25 Position Encoder position 64 bit signed integer 26 33 Time Time 64 bit unsigned integer Protocols EtherNet IP Protocol 301 Byte 34 41 42 43 44 79 80 83 84 85 88 89 375 378 379 Name Frame Counter Buffer Counter Buffer Overflow Reserved Measurement 0 Decision O Measurement 1 Decision 1 Measurement 59 Decision 59 Description Frame counter 64 bit unsigned integer Number of buffered messages currently in the queue Buffer Overflow Indicator 0 No overflow 1 Overflow Reserved bytes Measurement ID 0 Value Measurement ID 0 Decision Measurement ID 1 Value Measurement ID 1 Decision Measurement ID 59 Value Measurement ID 59 Decision Measurement results are reported in pairs of values and decisions Measurement values are 32 bits wide and decisions are 8 bits wide The measurement ID defines the byte position of each pair within the state information The position of the first word can be calculated as 80 5 ID For exam
331. ter Output Type Texture Invalid Count measurement only Decision Description One of four types Invalid Ratio Percentage of invalid pixels Valid Ratio Percentage of valid pixels Invalid Area Area of invalid pixels Valid Area Area of valid pixels See Decisions page 101 Gocator Web Interface Measurement 156 Parameter Region Output Script Description The Texture measurements use a Height and a Z setting Height represents the height of the cylindrical region of interest along the Z axis Z represents the bottom of the cylindrical region of interest Example Z 10 and Height 40 is a cylinder with the bottom at 10 mm and the top at 30 mm See Regions page 102 for more information See Output Filters page 103 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 Measurements page 96 for instructions on adding measurements Ow Script O o Full screen Output Indexo v 1 6 Press Save or Ctrl S to apply script Press Esc to exit full screen char name Posi Save Remove See Script Measurement next page for more information on the script syntax To create or edit a Script measurement 1 Adda new Script measurement or select an existing Script measurement
332. th mm Setting for the width tolerance mm Setting for the nominal length mm Setting for the length tolerance mm Setting for the nominal angle degrees Setting for the length tolerance degrees Setting for nominal radius mm Setting to enable disable partial detection O Disable 1 Enable Setting to enable disable region 0 Disable 1 Enable Measurement region Reference regions contains 1 or 2 RefRegion elements Setting to enable disable reference region 0 Disable Gocator Device Files e Configuration Files e 235 Element Type Description 1 Enable RefRegions RefRegion PartRegion Reference region AutoTiltCorrectionEnabled 32u 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 Type 32u Opening type O Slot 1 Rectangle LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum fra
333. th that the Gocator will fill Gaps wider than the maximum width will not be filled 4 Check that the laser profiling is satisfactory Resampling interval is the spacing between data points in a resampled profile see Resampled and Raw Profile Format page 46 for details A larger interval creates profiles with lower X resolution but reduces CPU usage and potentially increases the maximum frame rate A larger interval also reduces the data output rate By default the Gocator outputs data at the medium resolution Maximum Resolution Balanced Maximum Speed gt Gap Filling gt Smoothing To configure the X resampling interval 1 Select Profile or Part mode 2 Navigate to the Filter panel Click the arrow next to X Resampling to expand the panel 3 Select a resampling interval level Maximum Speed Use the lowest X resolution within the active area as the resampling interval This setting minimizes CPU usage and data output rate but the profile has the lowest X resolution i e least detail Balanced Use the X resolution at the middle of the active area as the resampling interval This setting balances CPU load data output rate and the X resolution Maximum Resolution Use the highest X resolution within the active area as the resampling interval This setting maximizes resolution but has higher CPU load and has the highest data output rate i e greatest detail Detection Panel In Part mode the Gocator sensor analyzes
334. 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 accurate the width of a target can be measured NOTE When the Gocator runs in Profile Mode the 3D data is resampled to an X interval that is different from the raw camera resolution Imaging Unit Range reported from the same column X Resolution at mid MR X Resolution at FE Theory of Operation 3D Acquisition 43 Z Resolution Z resolution is the variability of the height measurement in each individual 3D point with the target at a fixed position This variability is Profile Variation in Time caused by camera imager and sensor electronics 0 ee o ariaon Like X resolution the Z resolution is better at mm a the close range and worse at the far range This is reflected in the Gocator data sheet as the two Time aa numbers quoted for Z resolution Z Resolution gives an indication of the smallest detectable height difference 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 Theory of Operation 3D Acquisition 44 Profile Output Gocator measures the heig
335. thing window maximum frames Linklds 32u List of linkable measurements Gocator Device Files e Configuration Files e 233 A Part Opening Length element defines settings for a Part Opening Length measurement Part Opening Length Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm NominalWidth 64f Setting for the nominal width mm WidthTolerance 64f Setting for the width tolerance mm NominalLength 64f Setting for the nominal length mm LengthTolerance 64f Setting for the length tolerance mm NominalAngle 64f Setting for the nominal angle degrees AngleTolerance 64f Setting for the length tolerance degrees NominalRadius 64f Setting for nominal radius mm PartialDetectionEnabled 32u Setting to enable disable partial detection 0 Disable 1 Enable RegionEnabled 32u Setting to enable disable region O Disable 1 Enable Region PartRegion3 Measurement region d RefRegions Collection Reference regions contains 1 or 2 RefRegion elements AutoRefRegionEnabled 32u Setting to enable disable reference region 0 Disable 1 Enable RefRegions RefRegion PartRegion Reference region AutoTiltCorrectionEnabled 32u Setting to enable disable tilt correction O Disable 1 Enable TiltXAngle 64f Setting for manual tilt correction angle X TiltYAngle 64f Setting for manual tilt
336. thingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements AStrip X element defines settings for a profile strip X measurement Strip X Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Area Area Element for measurement area Gocator Device Files e Configuration Files 207 Element Type Description Location 32s Setting for the location of the strip O Left 1 Right 2 Center BaseType 32s Setting for the strip type 0 None 1 Flat LeftEdgeType 32s Setting of the left edge conditions 0 Rising 1 Falling 2 Data End 3 Void RightEdgeType 32s Setting of the left edge conditions 0 Rising 1 Falling 2 Data End 3 Void SelectType 32s Setting for selecting a strip out of multiple strips O Best 1 0 based index from left to right 2 0 based index from right to left SelectN 32u Index when SelectType is set to 1 or 2 TiltEnabled 32u Setting f
337. tion mm Z 64f Setting for area Z position mm Width 64f Setting for area width mm Height 64f Setting for area height mm A Feature element defines the settings for detecting a feature within an area of interest Feature Child Elements Element Type Description Type 32s Setting to determine how the feature is detected within the area 0 Top 1 Bottom 2 Right 3 Left 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 Area Area Element for feature detection area ine ALine element defines measurement areas used to calculate a line Line Child Elements Element Type Description Area 2 Area 2 area elements used for line fitting An anchor element defines settings for anchoring fixturing in the user interface Gocator Device Files Configuration Files 183 Anchor Child Elements Element Type Description ZEnable 32s Setting for enable or disable Z fixturing XEnable 32s Setting for enable or disable X fixturing ZFeature Type 32s Setting to determine how the feature is detected within the area 0 Top 1 Bottom 2 Right 3 Left 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 ZFeature Area Area Area element used for anchoring XFeature Type 32s Setting to determine how the feature is det
338. to Pin 4 2 5V to 12V Vin Trigger_in Digital Input Vdata Active Low The resistor value should be R Vin 1 2V 10mA 330 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 330 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 Min Voltage Max Voltage Min Current Max Current Min Pulse Width Trigger_in 4 2 5V 12V 3 mA 40 mA 20 us Encoder Input Encoder input is provided by an external encoder and consists of two RS 485 signals These signals are connected to Encoder_A and Encoder_B Specifications e Gocator 2000 I O Connector 353 Common Mode ENCODER Encoder_B B Encoder_B B Encoder_A A Encoder_A A Differential Threshold Max Data Function Pins Voltage Voltage Rate Min Max Min Typ Max Encoder_A 12 19 ZV 12V 200 mV 125mV 50mVY 1MHz Encoder_B 9 10 7V 12V 200 mV 125mV 50mVY 1MHz Serial Output Serial RS 485 output is connected to Serial_out as shown below Function Pins Serial_out 2 3 SERIAL_OUTPUT Serial_out Serial_out SERIAL SERIAL Analog Output The Sensor I O Connector defines one analog output interface Analog_out1 Function Pin
339. to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Strip Width element defines settings for a profile strip width measurement Strip Width Child Elements Element Type Description Name String Setting for measurement name Gocator Device Files e Configuration Files 210 Element Type Description Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Area Area Element for measurement area BaseType 32s Setting for the strip type 0 None 1 Flat LeftEdgeType 32s Setting of the left edge conditions 0 Rising 1 Falling 2 Data End 3 Void RightEdgeType 32s Setting of the left edge conditions 0 Rising 1 Falling 2
340. tor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Part Stud Base Y element defines settings for a Part Stud Base Y measurement Part Stud Base Y Child Elements Element Name Type Description Setting for measurement name DecisionMin DecisionMax NominalRadius RadiusOffset StudHeight BaseHeight TipHeight RegionEnabled Region RefRegions AutoRefRegionEnabled String 64f 64f 64f 64f 64f 64f 64f 32u PartRegion3 d Collection 32u Setting for decision threshold minimum mm Setting for decision threshold maximum mm Setting for nominal radius mm Setting for the radius offset mm Setting for the stud height mm Setting for the stud base height mm Setting for the stud tip height mm Setting to enable disable region O Disable 1 Enable Measurement region Reference regions contains 1 or 2 RefRegion elements Setting to enable disable reference region 0 Disable 1 Enable Gocator Device Files e Config
341. twork 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 ata time to avoid an address conflict and use the steps in Running a Dual Sensor System on page 37 to assign each sensor a unique address To connect to a sensor for the first time 1 Connect cables and apply power Sensor cabling is illustrated in System Overview on page 17 GOCATOR CONNECT POWER AND I O AS REQUIRED BY APPLICATION IN ENCODER TRIGGER SAFETY OUT SERIAL ANALOG DIGITAL e gt 2 ETHERNET GOCATOR 1 0 CORDSET CORDSET USER PC can be disconnected after setup POWER 24 48VDC 13W LASER SAFETY 24 48VDC TO ENABLE WIRE RICH 1 0 GOCATOR AS REQUIRED BY APPLICATION IN ENCODER TRIGGER OUT SERIAL ANALOG DIGITAL GOCATOR S 1 0 CORDSET pS f POWER amp ETHERNET CORDSET y USER PC can be disconnected after setup Getting Started e Network Setup 33 Change the client PC s network settings Windows 7 a Open the Control Panel and select Network
342. u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SourceOptions String Constraint for eligible profile sources comma delimited list SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A LineErrorMax element defines settings for a profile line error max measurement LineErrorMax Child Elements Element Type Description Name String Setting for measurement name Source 32s Setting for profile source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm Area Area Element for measurement area LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value Gocator Device Files e Configuration Files 199 Element Type Description SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SourceOption
343. ual HELP Software Development Kit 4 ponlo lt r al To download the latest firmware 1 Click on the Help link Make sure that the client computer is connected to the Internet 2 Determine if an update is required The Help panel will check LMI s website to check if the sensor s firmware is up to date 3 Download the latest firmware If sensor firmware is not up to date click the Firmware link to visit LMI s website and then download the latest firmware 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 Maintenance Upgrade Firmware Backup Sensor Restore Sensor Restore To Factory Reset Sensor To upgrade the firmware 1 Navigate to the Maintenance panel 2 Click the Update Firmware button Gocator Web Interface Connection and Maintenance 61 Provide the location of the firmware file in the File dialog 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 Web Interface Connection and Maintenance 62 Setup and Calibration The following sections describe the steps to configure Gocator
344. um Measurement Maximum Measurement Average Measurement Stddev Measurement Invalid Count Part Count Id 30000 30001 30002 30003 30004 30005 30006 30007 40002 Instance Measurement id Measurement id Measurement id Measurement id Measurement id Measurement id Measurement id Measurement id Value Measurement value Number of pass decisions Number of fail decisions Minimum measurement value Maximum measurement value Average measurement value Standard deviation of measurement value Number of invalid values Number of parts detected in Whole Part mode Additional undocumented indicator values may be included in addition to the indicators defined above Protocols Gocator Protocol 289 Modbus TCP Protocol Modbus TCP is designed to allow industrial equipment such as Programmable Logic Controllers PLC sensors and physical input output devices to communicate over an Ethernet network Modbus TCP embeds a Modbus frame into a TCP frame in a simple manner This is a connection oriented transaction and every query expects a response This section describes the Modbus TCP commands and data formats Modbus TCP communication enables the client to Switch to a different active configuration a Calibrate and run sensors Receive sensor states stamps and measurement results Modbus TCP is enabled in the Output panel For more information see Ethernet Output page 164 If buffering is enable
345. unding Box X and Y the measurement values are always in the Sensor Frame of Reference To setup part detection 1 Navigate to the Operation Mode panel and select Part mode 2 Navigate to the Detection panel 3 Adjust the settings 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 70 and measurement tools see page 95 The data viewer changes depending on the current operation mode and the panel that has been selected In Video operation 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 Mode View Exposure can be set to Single Dynamic or Multiple For details on setting exposure see page 73 If the Multiple option is selected in the Exposure field in the Sensor panel a second 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 field in the Sensor panel the exposure drop down will not be shown and only one exposure will be displayed Gocator Web Interface Setup and Calibration 88 To select the view of the display Y 2 Go to the Setup page Choose Video mode in the Operation Mode panel Select the camera view Select Mai
346. ur Measurement feature e3d SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter O Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Surface Texture Roughness element defines settings for a Surface Texture Roughness measurement Surface Texture Roughness Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm RegionEnabled 32u Setting to enable disable region Region LinkEnabled Link Scale SurfaceCircleRe gion 32u 32u 64f 0 Disable 1 Enable Measurement region Setting to enable disable linking 0 Disable 1 Enable Measurement ID to link with Setting for scale factor to apply to measurement value Gocator Device Files e Configuration Files 249 Element Type Description Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to e
347. uration Files 241 Element Type Description RefRegions RefRegion PartRegion Reference region AutoTiltCorrectionEnabled 32u Setting to enable disable tilt correction O Disable 1 Enable TiltXAngle 64f Setting for manual tilt correction angle X TiltYAngle 64f Setting for manual tilt correction angle Y LinkEnabled 32u Setting to enable disable linking 0 Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measurement value Offset 64f Setting for offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter O Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled 32u Setting to enable or disable the hold filter 0 Disable 1 Enable SmoothingWindowMin 32u Constraint for smoothing window minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A Part Stud Base Z element defines settings for a Part Stud Base Z measurement Part Stud Base Y Child Elements Element Type Description Name String Setting for measurement name DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm NominalRadius 64f Setting for nominal radius mm RadiusOffset 64f Setting for the radius offset mm StudHeight 64f Setting for the stud height mm BaseHeight
348. us 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 Description length 64s Command size in bytes id 64s Command identifier 0x4301 resetAddress 64s Specifies whether network address should be restored to default 0 Do not reset address 1 Reset address Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status Get Connection Type The Get Connection Type command returns to the set connection type Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x4515 Protocols Gocator Protocol 279 Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status type 64s Connection type see below Set Connection Type The Set Connection Type command save the type of the master to the sensor s non volatile storage Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x4514 type 64s Connection type 0 None 1 Master 100 2 Master 200 3 Master 400 4 Master 800 5 Master 1200 6 Master 2400 Reply Field Type Description length 64s Reply
349. ut Decision Min 0 mm Max 0 mm Remove The Distance tool requires two feature points See Feature Points page 104 for information on point types and how to configure them Measurements Measurement Distance Determines the distance between two feature points Illustration E ade mu Parameters Parameter Description Decision See Decisions page 101 Gocator Web Interface Measurement 109 Parameter Description Region See Regions page 102 Output See Output Filters page 103 Position The Position tool finds the X or Z axis position of a feature point The measurement value can be compared with minimum and maximum constraints to yield a decision Measurements Measurement Illustration Position X Finds the X axis position of a feature Position X Position Z Position Z Finds the Z axis position of a feature S Parameters Parameter Description Decision See Decisions page 101 Region See Regions page 102 Output See Output Filters page 103 Center The Center tool finds the average location of two features points and measures the X or Z axis position of the average location The measurement value can be compared with minimum and maximum constraints to yield a decision Gocator Web Interface Measurement 110 jo Center X 5 Link Disabled 1D 5 Parameters gt Feature 1 F1 Top y Reset gt Feature 2 F2 Top v Reset gt Outp
350. ut Decision Min 0 mm Max 0 mm Remove Measurements Measurement Illustration Center X Finds the average location of two features and measures the X axis position ofthe average location Center X Center Z Finds the average location of two features and measures the Z axis position of the average location as ala Parameters Parameter Description Decision See Decisions page 101 Region See Regions page 102 Output See Output Filters page 103 Angle The Angle tool determines the angle between a fit line and the X axis The measurement value can be compared with minimum and maximum constraints to yield a decision Gocator Web Interface e Measurement 111 Q Angle x 6 Link Disabled v Parameters Absolute Value gt Line 1AreaBox v Reset gt Output Decision Min 0 Max 0 2 Remove The angle can be expressed as a signed or an absolute result The absolute result is used when the minimum and maximum constraints need to cover both positive and negative angles For a signed result the angle is between 90 degrees and 90 degrees and is measured from the X axis Positive angle is measured counter clockwise and negative angle is measured clockwise For an absolute result the angle range is between 0 degrees and 90 degrees and is the absolute value of the angle between the line and the X axis LINE 1 POSITIVE ANGLE X AXIS When the angle
351. values and decisions for the output See Adding and Removing Measurements page 96 for instructions on adding measurements OQ Script Output IndexO v 1D 6 char name int id Output_SetAt 0 0 0 Press Save or Ctrl S to apply script Press Esc to exit full screen Save Remove See Script Measurement page 158 for more information on the script syntax To create or edit a Script measurement 1 Adda new Script measurement or select an existing Script measurement 2 Edit the script code 3 Choose the number of desired script outputs using the and buttons For each script output that is added an index will be added to the Output drop down and a unique ID will be generated 4 Click the Save button to save the script code If there is a mistake in the script syntax the result will be shown as a invalid with a red border in the data viewer when you run the sensor Outputs from multiple measurement tools can be used as inputs to the script A typical script would take results from other measurement tools using the value and decision function and output the result using the output function Stamp information such as time and encoder stamps are available in the script whereas the actual profile data is not The script engine is not powerful enough to process the profile data itself Only one script can be created hole Part Measurement
352. very 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 313 for more information Sensors ship with the following 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 Gocator 2000 amp 2300 Series 258 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 Command Channels 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 ac
353. w height Tracking Enabled 32u Enables or disable tracking support 2300 series only 0 Disable 1 Enable Tracking SearchThreshold 64f Tracking search threshold Profiles are generated if the percentage of visible spots is equal or larger than the threshold Tracking AreaHeight 64f Height of the tracking window The Profile element contains settings that affect profile measurements Simple child elements in Profile are defined below Profile Child Elements Element Type Description MeasurementOptions String Constraint for available measurement types comma delimited list e g Width Distance The Profile element also contains two significant sub elements Anchor and Measurements The Anchor element defines profile anchoring behavior while the Measurements element contains one sub element for each requested profile measurement The id attribute associated with each measurement defines an identifier that must be unique among all measurements in the configuration file for example lt Width id 1001 gt Gocator Device Files e Configuration Files 182 Most profile measurement elements contain one or more Area Feature or Line sub elements These common structures are described first The Id attribute of the Script tool is a comma delimited list for multiple output support An Area element defines a rectangular area of interest Area Child Elements Element Type Description X 64f Setting for area X posi
354. w minimum frames SmoothingWindowMax 32u Constraint for smoothing window maximum frames Linklds 32u List of linkable measurements A PartHoleZ element defines settings for a Hole Z measurement Part Hole Z Child Elements Element Name DecisionMin DecisionMax NominalRadius RadiusTolerance PartialDetectionEnabled RegionEnabled Type String 64f 64f 64f 64f 32u 32u Description Setting for measurement name Setting for decision threshold minimum mm Setting for decision threshold maximum mm Setting for the nominal radius mm Setting for the radius tolerance mm Setting to enable disable partial detection O Disable 1 Enable Setting to enable disable region 0 Disable 1 Enable Gocator Device Files e Configuration Files 227 Element Type Description Region PartRegion3 Measurement region d AutoRefRegionEnabled 32u Setting to enable disable reference region 0 Disable 1 Enable RefRegions Collection Reference regions contains 1 or 2 RefRegion elements RefRegions RefRegion PartRegion Reference region AutoTiltCorrectionEnabled 32u 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 LinkEnabled 32u Setting to enable disable linking O Disable 1 Enable Link 32u Measurement ID to link with Scale 64f Setting for scale factor to apply to measure
355. xposure Calibration Exposure Calibration Attributes Field Type Description dataType 64s Data type 0x06 reserved N 64s A variable number of additional attributes may be included Exposure Calibration Data Field Type Description status 64s Calibration result exposure 64s Calibrated exposure ns Measurement Measurement Attributes Field Type Description dataType 64s Data type 0x10 0x11 0x12 or 0x20 measurementType 64s Measurement type 0x00 Width um 0x01 Height um Protocols Gocator Protocol 284 Field Type Description 0x02 Distance um 0x03 Center X um 0x04 Center Z um 0x05 Position X um 0x06 Position Z um 0x10 Intersect X um 0x11 Intersect Z um 0x12 Intersect Angle 0 001 degree 0x13 Angle X 0 001 degree 0x20 Intersect Area 0 001 mm 0x21 Box Area 0 001 mm 0x23 Difference Area 0 001 mm 0x24 Difference Peak um 0x25 Gap um 0x26 Flush um 0x27 Circle Radius um 0x28 Circle X um 0x29 Circle Z um 0x2A Line Standard Deviation um 0x2B Line Error Min um 0x2C Line Error Max um 0x2D Line Percentile um 0x2E Groove X um Ox2F Groove Z um 0x31 Groove Width um 0x37 Groove Depth um 0x33 Strip Width um 0x34 Strip Height um 0x35 Strip X um 0x36 Strip Z um 0x40 Area 0 001 mm 0x41 Volume 0 001 mm 0x42 Height um 0x43 Centro
356. y Z Resolution The Z Resolution setting can be used to decrease the profile s Z resolution to increase speed The Z Resolution setting works by reducing the number of image rows used for laser profiling D On the Gocator 2000 decreasing the Z resolution will increase speed On the Gocator 2300 both the X and the Z resolutions must be decreased to increase speed To configure Z resolution 1 Navigate to the Sensor panel Click the arrow next to Resolution to expand the panel Click the Main or Buddy button to select the Gocator Web Interface Setup and Calibration 77 sensor Z resolution is specified separately for each sensor 2 Selecta resolution value Z resolution values are expressed as fractions For example a resolution value of 1 2 indicates that every second camera row will be used for laser profiling 3 Check that laser profiling is satisfactory Decreasing Z resolution can reduce laser profiling accuracy After adjusting the resolution confirm that laser profiling is satisfactory The transformation settings are used to control how profiles are converted from sensor coordinates to system coordinates The system coordinate transformation is normally set through the Gocator s automatic D calibration procedure and are locked by default see Calibration page 80 However if you need to manually adjust the transformation the settings are available in this section Sensor E gt Active Area gt Exposu
357. yReversed 32u Setting for Buddy sensor s Y axis orientation relative to the Main sensor 0 Not reversed 1 Reversed CalibratedX 64f Property for system calibrated active area X position mm CalibratedZ 64f Property for system calibrated active area Z position mm CalibratedWidth 64f Property for system calibrated active area width mm CalibratedHeight 64f Property for system calibrated active area height mm The Calibration element contains settings related to alignment and travel calibration Calibration Child Elements Element Type Description AlignmentTarget 32s Setting for alignment calibration target type 0 None 2 Bar 3 Plate TravelTarget 32s Setting for travel calibration target type 1 Disk 2 Bar CalibrationSource 32s Setting for calibration source 0 Global 1 Current Configuration Disk Diameter 64f Setting for diameter of calibration disk mm Disk Height 64f Setting for thickness of calibration disk mm Gocator Device Files Configuration Files 179 Element Type Description Bar Height 64f Setting for height of calibration bar mm Bar Width 64f Setting for width of calibration bar mm Bar Holes 64f Setting for number of holes on the calibration bar Bar HoleDistance 64f Setting for distance between calibration bar holes mm Bar HoleDiameter 64f Setting for diameter of calibration bar holes mm The Filters element contains the settings related to post processing the profiles be
358. yout the threshold is applied to the difference between the top and the bottom profile Target thinner than the threshold value is ignored including places where only one of either top or bottom is detected To separate part 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 the trigger source to Time or Encoder and check the Gate Using External Input check box Determines if parts should be detected above or below the Height Threshold Determines the minimum separation between objects in the XY plane If parts are closer than the gap interval they will be merged into a single part Determines the minimum area for a detected part Set this value to a reasonable minimum in order to filter out small objects or noise Determines the maximum length of the part object When the object exceeds the maximum length it is automatically separated into two parts This is useful to break a long object into multiple sections and perform measurements on each section Determines the coordinate reference for part measurements When set to Sensor all measurement values are relative to the sensor s Field of View in X Gocator Web Interface Setup and Calibration 87 Setting Description and relative to the encoder zero position in Y When set to Part all measurements except Bounding Box X and Y are relative to the center of the bounding box of the part For Bo
359. ystem state 1 Conflict 2 Ready 3 Running calibrationType 64s Current calibration state 0 Not calibrated 1 Auto calibrated 2 Manual calibrated hasBuddy 64s Current buddy assingment state O No Buddy assigned 1 Buddy assigned Protocols Gocator Protocol 267 Field Type Description BuddyInfo Buddylnfo Assigned Buddy information not present if hasBuddy is 0 sensorCount 64s Count of visible sensors sensorInfo sensorCount SensorInfo Sensor Information see format below Buddy Info Field Type Description deviceld 64s Buddy device id state 64s Sensor Buddy state 0 Connected 1 Missing 2 Error modelName 32 char Sensor model name firmwareVersion 64s Buddy firmware version Sensorinfo Field Type Description state 64s Sensor state 0 Paired not set for Main sensor 1 Available 2 Unavailable modelName 32 char Sensor model name null terminated firmwareVersion 64s Sensor firmware version Log In Out The Log In Out command is used to log in or out of a sensor Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x4003 userType 64s User account 0 None log out 1 Administrator 2 Technician password 64 char Password null terminated required for log in only Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status Protocols Gocator Protocol 268 C
360. ze 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 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 Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x0000 fileSize 64s Upgrade file size in bytes file fileSize byte Upgrade file Command Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status Get Upgrade Status The Get Upgrade Status command determines the progress of a firmware upgrade Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x0001 Protocols Gocator Protocol 265 Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status stage 64s Current upgrade stage 1 Upgrade Failed O Upgrade Completed 1 Upgrade in Progress progress 64s Percentage completed valid when stage is Upgrade in Progress Get Upgrade Log The Get Upgrade Log command can retrieve an upgrade log in the event of upgrade problems Command Field Type Description length 64s Comm
361. ze in bytes id 64s Reply identifier status 64s Reply status Scheduled Analog Output The Scheduled 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 170 for information on setting up the analog output Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x4519 index 64s Index of the output Must be O target 64s Specifies the time us or position encoder ticks of when the event should happen The target value is ignored if the Signal type in the Analog Output panel is not set to scheduled The output will be triggered immediately See Analog Output page 170 for information on setting the Signal type value 64s Output current nano amperes Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status D The analog output takes about 75 us to reach 90 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 Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x100E reserved 64s Reserved set to 0 Protocols Gocator Protocol 277 Field Type Description length 64s Reply size in bytes id 64

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Gocator 2000 & 2300 Series