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Gocator 1300 Series User Manual - Downloads

1. 1300 Specifications Gocator 1300 Series 313 Envelope 2314 200 1 19 9 500 0 2000 0 20 Gocator 1300 Series Specifications Gocator 1300 Series 4 Gocator Power LAN Connector The Gocator Power LAN connector is a 14 pin M16 style connector that provides power input laser safety input and Ethernet D This connector is rated IP67 only when a cable is connected or when a protective cap is used This section defines the electrical specifications for Gocator Power LAN Connector pins organized by function Gocator Power LAN Connector Pins Lead Color on Function Pin Cordset GND 24 48V L White Orange amp Black GND 24 48V L Orange Black DC 24 48V A White Green amp Black DC 24 48V A Green Black Safety G White Blue amp Black M M View Looking into the connector on the sensor Black White Brown amp Black Sync 6 Brown Black Ethernet 1 White Orange Ethernet MX1 N Orange Ethernet MX2 White Green Ethernet MX2 P Green Ethernet MX3 S White Blue Ethernet MX3 Blue Ethernet MX4 White Brown Ethernet MX4 U Brown Two wires are connected to the ground and power pins Grounding Shield The grounding shield should be mounted to the earth ground Gocator 1300 Series Specifications Gocator Power LAN Connector 315 Apply positive voltage to
2. 253 Messages 253 254 Control Registers 255 Output Registers 256 206 SAMP 2 206 Measurement Registers 257 EtherNet IP Protocol 259 CONCEPTS lcliiulue oc nire e eder 259 Basic Object 260 Identity Object Class 0x01 260 TCP IP Object Class OxF5 260 Ethernet Link Object Class OxF6 260 Assembly Object Class Ox04 261 Command Assembly 261 Sensor State Assembly 262 Sample State Assembly 263 265 Connection Settlngs 265 Ethernet Communication 265 Serial Communication 265 Polling Operation Commands Ethernet Only 266 Command and Reply Format 266 Special Characters 267 Control Commands 267 Start Ee ITE E 267 5100 nac ie 268 id TTE 268 22223220 8 5 200 111 268 209 Stationary Alignment 269 Moving Alignment 270 Clear Alignment 270 Data Commands 270 IER RUE IRAE 271 466 777 201 DECISION
3. Step on forward Step back Play Playback controls when replay is on Gocator 1300 Series Gocator Web Interface User Interface Overview 45 To replay data 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background turns blue and a Replay Mode Enabled message is displayed 2 Usethe Replay slider or the Step Forward Step Back or Play buttons to review data The Step Forward and Step Back buttons move and the current replay location backward and forward by a single frame respectively The Play button advances the replay location continuously animating the playback until the end of the replay data The Stop button replaces the Play button while playing can be used to pause the replay at a particular location The Replay slider or Replay Position box can be used to go to a specific replay frame To simulate measurements on replay data 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background turns blue and a Replay Mode Enabled message is displayed To change the mode Replay Protection must be unchecked 2 Goto the Measure page Modify settings for existing measurements add new measurement tools or delete measurement tools as desired For information on adding and configuring measurements see Measurement on page 95 3 Usethe Replay Slider Step Forward Step Back or Play button to simulate measurements Step
4. 194 XDecimation 169 ProfilePosition 196 xus adesione En 170 ProfileStrip 196 THBger 170 198 Layout 171 7 199 AISMIMENE 2 12 Ethernet 199 DISK Gen 173 2 242 2 3 2 22 22 201 Bal A 173 202 Plate 173 111551 202 Devices Device 173 DigitalO and Digital 202 175 Analog 22 24 24 24 4 nE 203 Material 2 2 175 Serial LL LLL LLL 204 SurfaceGeneration 177 Selcom 204 FixedLength 177 205 VariableLength 178 Transform 2 222222222222222222222222222222222 205 Rotational 178 Device 206 Gocator 1300 Series 5 Gocator Protocol 207 Data Types 208 Command 208 Discovery Commands 209 Get Address 209 Set AddrESS 210 Get Info cc Steps si Rcs enc 211 Control Commands 212 Protocol Version 213 Get Address
5. To receive commands and send results using Modbus messages 1 Goto the Output page 2 Click on Ethernet in the Output panel 3 Select Modbus as the protocol in the Protocol drop down Unlike the Gocator Protocol you do not select which measurement items to output The Ethernet panel will list the register addresses that are used for Modbus TCP communication The Modbus TCP protocol can be used to operate a sensor Modbus TCP only supports a subset of the tasks that can be performed in the web interface A sensor can only process Modbus TCP commands when Modbus is selected in the Protocol drop down 4 Checkthe Buffering checkbox if needed Buffering is needed for example in Surface mode if multiple objects are detected within a time frame shorter than the polling rate of the PLC If buffering is enabled with the Modbus protocol the PLC must read the Advance register to advance the queue before reading the measurement results Gocator 1300 Series Gocator Web Interface Output 140 Output Ethernet Protocol EtherNet IP Protocol and data selection Digital 1 Configuration Map Trigger event and pulse width Name Register Type Byte Order Big Endian t Digital 2 Command Trigger event and pulse width Explicit Message Buffering Cond 0 8 bit y Analog EtherNet IP Explicit Messaging protocol can be used over Arguments 1 var Trigger event and current scaling to op
6. 213 Set Address 214 Get System 5 7774 2 214 Get States 215 Log In Out gt 2 216 Change Password 217 Set Buddy 217 MESI qe 218 Copy 6 218 0 219 Uis 219 Delete File 220 Get Default Job 220 Set Default JOD 220 Get Loaded Job 221 Get Alignment Reference 221 Set Alignment Reference 222 Clear Alignment 222 Get Timestamp 223 Get Encoder 223 Reset 223 224 Scheduled Start 224 225 Get Auto Start Enabled 225 Set Auto Start Enabled 225 Start Alignment 226 Start Exposure Auto set 226 Software Trigger 227 Schedule Digital Output 227 Schedule Analog Output 228 18 2 5 2223225252201442262 0 8551 128 228 Gocator 1300 Series Reset 229 BackUp Eoi DER 229 Restore 230 Restore Factor 230 Get Recording Enabled 231 Set Recording Enabled 231 Cle
7. 162 800001880 181 Scan Model and Measurement Settings 163 181 Calculating Potential Maximum Frame Rate 163 ToolOptions eene 182 Protocol Output 164 MeasurementOptions 182 Gocator Device Files 164 OOS E EEEN 182 E cle RN 164 Profile Types 182 Log 165 ProfileFeature 182 Job Files 166 Profilekine 183 Job File Components 166 ProfileRegion2d 183 Accessing Files and Components 166 RangePosition 183 Dr 167 80861 0166655 eee eens 184 Setup nennen enne 167 ProfileArea 185 Filters 168 ProfileBoundingBox 186 XSmoothing 168 ProfileCircle sees 188 o 168 ProfileDimension 189 XGapFilling 169 ProfileGroove 190 YGapFilling 169 Profilelntersect 191 XMedian 169 ProfileLine 193 YMedian 5 3 es 169 ProfilePanel
8. 96 35 10 Adding and Removing Tools 96 Dashboard Page Overview 150 Enabling and Disabling Measurements 97 System Panel 150 Editing a Tool or Measurement Name 98 Measurements 20000002 151 Changing a Measurement ID 98 Gocator Emulator 153 Common Measurement Settings 99 Limitations 22222222 153 Source I 99 Downloading a Support File 154 Regions 99 Running the Emulator 154 Decisions 100 Adding a Scenario to the Emulator 155 101 Running Scenario 156 Gocator 1300 Series 4 Removing Scenario from the Emulator 157 ProfileGeneration 178 Using Replay Protection 157 178 Stopping and Restarting the Emulator 158 VariableLength 179 Working with Jobs and Data 158 Rotational 179 Creating Saving and Loading Jobs 158 PartDetectlon 22 20 179 Playback and Measurement Simulation 159 EdgeFiltering 2 2 2 edle 180 Downloading Uploading and Exporting 181 Replay Data 160 eco Ebr Dee e 181 Downloading and Uploading Jobs
9. Violet View Looking into the connector on the sensor Encoder 2 A White Green amp Black Encoder Z L Green Black Serial out B White Serial out C Brown Serial out2 E Blue Black Serial out2 G White Blue amp Black Analog out P Green Analog out F Yellow amp Maroon White Reserved R Maroon Grounding Shield The grounding shield should be mounted to the earth ground 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 and Emitter Pin and Out_2 Collector Pin and Emitter Pin T are independent and therefore V and GND are not required to be the same Gocator 1300 Series Specifications Gocator 1300 I O Connector 317 Max Collector Max Collector Emitter Function Pins Min Pulse Width Current Voltage Out 1 40 mA 70V 20 us Out 2 S T 40 mA 70V 20us Out 1 V l USER_GND R Out2 Out 2 7 Out 2 ou Out1 USER GND The resistors shown above are calculated by V 2 5 mA The size of the resistors is determined by power V 2 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
10. 272 Health Commands 273 Health cr 273 Standard Result Format 273 Gocator 1300 Series Custom Result Format 274 Selcom Protocol 275 Serial Communication 275 Connection Settings 275 Message Format 275 Software Development Kit _ 277 Setup and Locations 207 Class 277 208 Sample Project Environment Variable 278 Header Files 278 Glass Hierarchy 278 GOSYSTEM LANE 279 2s 4282 Sons 279 rorr ieee dosed nice bbe 279 GOLAVOUL doses 279 ep 279 GoTrarisform 279 279 Data 5 eee 279 Value Types 280 Output 280 GoDataSet 281 Measurement Values and Decisions 281 Batching 282 Operation Workflow 282 Initialize GoSdk API Object 283 Discover Sensors gt 25 esos 283 Connect 50 283 Configure Sensors 283 Enable Data Channels 284 Perform Operations 284 Limiting Flash Memory Write Operation
11. Description CPU Usage Encoder Value Encoder Frequency Memory Usage Storage Usage Temperature Ethernet Traffic Internal Temperature Processing Latency Processing Latency Peak Dashboard History Values Sensor CPU utilization 96 Current encoder value ticks Current encoder frequency Hz Sensor memory utilization MB used MB total available Sensor flash storage utilization MB used MB total available Sensor internal temperature C Network output utilization MB sec Internal sensor temperature Last delay from camera exposure to when results can be scheduled to Peak latency delay from camera exposure to when results can be scheduled to Rich Reset on start Name Description Scan Count Trigger Drop Analog Output Drop Digital Output Drop Serial Output Drop Processing Drop Ethernet Drop Digital Output High Count Digital Output Low Count Range Valid Count Range Invalid Count Anchor Invalid Count Valid Spot Count Max Spot Count Camera Search Count Number of scans performed since sensor state last changed to Running Count of camera frames dropped due to excessive trigger speed Count of analog output drops because last output has not been completed Count of digital output drops because last output has not been completed Count of serial output drops because last output has not been completed Count of frame drops due to excessive CPU utilization Count of frame d
12. 30 Gocator Setup 32 Running a Standalone Sensor System 32 Running a Dual Sensor System 33 Next Steps 36 Theory of Operation 38 3D 6 38 Gocator 1300 Series Principle of 3D Acquisition 38 Resolution and Accuracy 39 Z Resolution 39 2 39 Range Output EIU EIER 40 Coordinate 5 40 Sensor Coordinates 40 System Coordinates 40 Gocator Web Interface 42 User Interface Overview 42 Toolbar 43 Creating Saving and Loading Jobs Settings 43 Recording Playback and Measurement SIMUATION 2 45 Downloading Uploading and Exporting Replay Data 46 LOB 48 Me trics Ared 48 Data 49 System Management and Maintenance 50 Manage Page Overview 50 Sensor System esn orent poer ercoce VENE 51 SensorAutostart c EEan 51 Dual Sensor System Layout 52 Buddy Assignment 53 Over Temperature Protection 54 Networking vp red vr TO ETE DS 55 Motion and Al
13. Transform version 100 gt lt EncoderResolution gt 1 lt EncoderResolution gt lt Speed gt 100 lt Speed gt lt Devices gt lt Device role 0 gt gt lt 2 3650924829 gt lt lt gt 0 0 lt 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 Device gt lt Device id 1 gt gt lt 0 gt lt lt Y gt 0 0 lt Y gt lt Z gt 123 4966803469 lt Z gt Gocator 1300 Series Gocator Device Files Job Files 205 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 Device gt lt Devices gt lt Transform gt The Transform element contains the alignment record for both the Main and the Buddy sensor Transform Child Elements Element Type Description version 32u Transform version 100 EncoderResolution 64f Encoder Resolution mm tick Speed 64f Travel Speed mm s Devices Collection Contains two Device elements A Device element defines the transformation for a sensor There is one entry element per sensor identified by a unique role attribute 0 for main and 1 for buddy Device Child Elements Element Type Description role 32s Role of device described by this section 0 Main 1 Buddy X 64f Translation on the X axis mm Y 64f Translation on the Y axis mm 7 64 Translat
14. status 32s 6 Reply status For a list of status codes see Commands on page 208 Get Default Job The Get Default Job command gets the name of the job the sensor loads when it powers up Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x4100 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4100 status 32s 6 Reply status For a list of status codes see Commands on page 208 name 64 char 10 The file name null terminated of the job the sensor loads when it powers up Set Default Job The Set Default Job command sets the job the sensor loads when it powers up Gocator 1300 Series Protocols Gocator Protocol 220 Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0 4101 fileName 64 char 6 File name null terminated of the job the sensor loads when it powers up Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4101 status 32s 6 Reply status For a list of status codes see Commands on page 208 Get Loaded Job The Get Loaded Job command returns the name and modified status of the currently loaded file Command Field Type Offset Description length 32u 0 Command size incl
15. Class Hierarchy This section describes the class hierarchy of the Gocator 4 0 SDK GoSystem Enumerate enable data channel start stop align system GoSensor Connect and configure GoSetup GoTools GoTransform GoOutput Scanning Measurement Aligned results and Output related parameters tools transformed world settings coordinates GoLayout GoEthernet GoDigital GoAnalog GoSerial Protocol and data selection Protocol and data selection Protocol and data selection Layout and Protocol and exposure data selection multi plexing Gocator 1300 Series Software Development Kit 278 oSystem The GoSystem class is the top level class in Gocator 4 Multiple sensors can be enabled and connected in one GoSystem Only one GoSystem object is required for multi sensor control Refer to the How To Use The Open Source SDK To Fully Control A Gocator Multi sensor System how to guide in http Imi3d com sites default files APPNOTE Gocator 4 x Multi Sensor Guide zip for details on how to control and operate a multi sensor system using the SDK D All objects that are explicitly created by the user or passed callbacks should be destroyed by using the GoDestroy function GoSensor represents a physical sensor If the physical sensor is the Main sensor in a dual sensor setup it can be used to configure settings that are common to both sensors The GoSetup class represents a device s conf
16. 300 100 100 Gocator 1300 Series Specifications Gocator 1300 Series 298 Dimensions THREADED MOUNTING HOLE OPTION THRU MOUNTING HOLE OPTION 3X 5 THRU ALL r 3X M6X1 0 6H THRU ALL 135 49 Gocator 1300 Series Specifications Gocator 1300 Series 299 Envelope Gocator 1300 Series Specifications Gocator 1300 Series 300 Gocator 1350 Mount Package Field of View Measurement Range 39 100 100 Gocator 1300 Series Specifications Gocator 1300 Series 1 Dimensions THREADED MOUNTING HOLES 4X M5X0 8 6H y 10 Gocator 1300 Series Specifications Gocator 1300 Series 302 Envelope 200 0 400 0 Gocator 1300 Series Specifications Gocator 1300 Series 303 Gocator 1365 Side Mount Package Field of View Measurement Range 749 5 187 5 187 5 Gocator 1300 Series Specifications Gocator 1300 Series 4 Dimensions THREADED MOUNTING HOLE OPTION 3X M6X1 0 6H THRU HOLE THRU MOUNTING HOLE OPTION 3X STHRUALL 84 Gocator 1300 Series Specifications Gocator 1300 Series 305 Envelope 1033 726 562 375 20 m Gocator 1300 Series Specifications Gocator 1300 Series 306 Gocator 1370 Side Mount Package Field
17. Bounding Box tool measurement Bounding Box Tool Measurement Element id Name Enabled HoldEnabled SmoothingEnabled SmoothingWindow Scale Offset DecisionMin DecisionMax Gocator 1300 Series Type 32s String Boolean Boolean Boolean 32u 64f 64f 64f 64f The X measurements IDs available for anchoring The Z measurements 105 used for anchoring Z measurements 105 available for anchoring Whether or not to use region If region is disabled all available data is used Measurement region X measurement Z measurement Width measurement Height measurement GlobalX measurement Description Measurement ID Optional measurement disabled if not set Measurement name Measurement enable state 0 Disable 1 Enable Output hold enable state 0 Disable 1 Enable Smoothing enable state 0 Disable 1 Enable Smoothing window Output scaling factor Output offset factor Minimum decision threshold Maximum decision threshold Gocator Device Files Job Files 7 ProfileCircle A ProfileCircle element defines settings for a profile circle tool and one or more of its measurements ProfileCircle Child Elements Element Type Description Name String Tool name Source 32s Profile source String CSV The X measurements IDs used for anchoring AnchorW options String CSV The X measurements IDs available for anchoring Anchor Z
18. Check Updates Encoder resolution and travel speed Jobs D Download upload and set default Backup and Restore Security Backup and restore all saved jobs and recorded data Admin and Technician passwords Restore Backup Maintenance Upgrade backup restore reset 2 Support Factory Restore support ia and SDK Restore sensor to factory settings This will erase all saved jobs and settings Factory Restore Reset Reset the sensor Interface will reload in 30 seconds Reset Sensor Backups and Factory Reset You can create sensor backups restore from a backup and restore to factory defaults in the Maintenance category Backup files contain all of the information stored on a sensor including jobs and alignment An Administrator should create a backup file in the unlikely event that a sensor fails and a D replacement sensor is needed If this happens the new sensor can be restored with the backup file Backup and Restore Backup and restore all saved jobs and recorded data Restore Backup To create a backup 1 Goto the Manage page and click on the Maintenance category 2 Clickthe Backup button under Backup and Restore 3 When you are prompted save the backup Backups are saved as a single archive that contains all of the files from the sensor Gocator 1300 Series Gocator Web Interface System Management and Maintenance 61 Factory Restore
19. Closure Library Website http code google com closure library index html License Gocator 1300 Series Software Licenses 334 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 1300 Series Software Licenses 335 Licensed under the License
20. Minimum Surface length mm Maximum Surface length mm Element Type MaxLength 64 MaxLength min 64 MaxLength max 64f Rotational Rotational Child Elements Description Maximum surface length mm Minimum value for maximum surface length mm Maximum value for maximum surface length mm Element Type Description Circumference 64f Circumference mm Circumference min 64f Minimum circumference mm Circumference max 64f Maximum circumference mm ProfileGeneration The ProfileGeneration element contains settings related to profile generation ProfileGeneration Child Elements Element Type Description Type 32s Profile generation type 0 Continuous 1 Fixed length 2 Variable length Rotational FixedLength Section See FixedLength below VariableLength Section See VariableLength on the next page Rotational Section See Rotational on the next page FixedLength FixedLength Child Elements Element Type Description StartTrigger 32s Start trigger condition 0 Sequential 1 Digital input Length 64f Profile length mm Length min 64f Minimum Profile length mm Length max 64f Maximum Profile length mm Gocator 1300 Series Gocator Device Files Job Files 178 VariableLength VariableLength Child Elements Element Type Description MaxLength 64f Maximum surface length mm MaxLength min 64f Minimum value for maximum Profile length mm MaxLength max 64f Maximum val
21. Replay Mode Enabled Data displayed is simulated from a recording Press Play to begin simulation When Replay Protection is on you cannot switch from Replay mode Settings that do not affect replay data can be changed Gocator 1300 Series Gocator Emulator Running the Emulator 157 Replay Protection is by default Stopping and Restarting the Emulator To stop the emulator e Click Stop Emulation Replay Protection Restart Emulation Stop Emulation Stopping the emulator returns you to the launch screen To restart the emulator when it is running e Click Restart Emulation Restarting the emulator restarts the currently running simulation Working with Jobs and Data The following topics describe how to work with jobs and replay data data recorded from a physical sensor in the emulator Creating Saving and Loading Jobs Changes saved to job files in the emulator are not persistent they are lost when you close or restart the emulator To keep jobs permanently you must first save the job in the emulator and then download the job file to a client computer See below for more information on creating saving and switching jobs For information on downloading and uploading jobs between the emulator and a computer see Downloading and Uploading Jobs on page 162 The job drop down list in the toolbar shows the jobs available in the emulator The job that is currently active is listed at the top The job nam
22. Replay Protection Restart Emulation Stop Emulation 2 Use the Replay slider or the Step Forward Step Back or Play buttons to review data The Step Forward and Step Back buttons move and the current replay location backward and forward by a single frame respectively The Play button advances the replay location continuously animating the playback until the end of the replay data The Stop button replaces the Play button while playing can be used to pause the replay at a particular location The Replay slider or Replay Position box can be used to go to a specific replay frame To simulate measurements on replay data Gocator 1300 Series Gocator Emulator Working with Jobs and Data 159 1 Toggle Replay mode on by setting the slider to the right the Toolbar The slider s background turns blue To change the mode Replay Protection must be unchecked 2 Goto the Measure page Modify settings for existing measurements add new measurement tools or delete measurement tools as desired For information on adding and configuring measurements see Measurement on page 95 3 Usethe 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 the measurements that have been simulated can be viewed in the Dashboard page for more information
23. 0 Time 1 Encoder FrameRate 64 Frame rate for time trigger Hz FrameRate min 64 Minimum frame rate Hz FrameRate max 64f Maximum frame rate Hz FrameRate maxSource 32s Source of maximum frame rate limit 0 Imager 1 Surface generation MaxFrameRateEnabled Bool Enables maximum frame rate ignores FrameRate EncoderSpacing 64 Encoder spacing for encoder trigger mm EncoderSpacing min 64 Minimum encoder spacing mm EncoderSpacing max 64f Maximum encoder spacing mm EncoderSpacing minSource 32s Source of minimum encoder spacing 0 Resolution 1 Surface generation Gocator 1300 Series Gocator Device Files Job Files 0 Element Type Description EncoderTriggerMode 32s Encoder triggering mode 0 Tracking backward 1 Bidirectional 2 Ignore backward Delay 64f Trigger delay us or mm Delay min 64f Minimum trigger delay us or mm Delay max 64f Maximum trigger delay us or mm GateEnabled Bool Enables digital input gating GateEnabled used Bool True if this parameter can be configured GateEnabled value Bool Actual value if the parameter cannot be configured Layout Layout Child Elements Element Type Description DataSource 32s Data source of the layout output read only 0 Top 1 Bottom 2 Top left 3 Top right XSpacingCount 32u Number of points along X when data is resampled YSpacingCount 32u Number of points along Y when data is resampled TransformedDataRegion Region3D Transformed
24. A client sends firmware upgrade commands over the Upgrade TCP channel port 3192 The Control channel port 3190 and the Upgrade channel can be connected simultaneously For more information on Control commands see Control Commands on page 212 After connecting to a Gocator device you can use the Get Protocol Version command to retrieve the protocol version Gocator 1300 Series Protocols Gocator Protocol 240 Protocol version refers to the version of the Gocator Protocol supported by the connected sensor the sensor to which a command connection is established and consists of major and minor parts The minor part is updated when backward compatible additions are made to the Gocator Protocol The major part is updated when breaking changes are made to the Gocator Protocol Start Upgrade The Start Upgrade command begins a firmware upgrade for the sensors in a system All sensors automatically reset 3 seconds after the upgrade process is complete Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 00000 length 32u 6 Length of the upgrade package bytes data length byte 10 Upgrade package data Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x0000 status 32s 6 Reply status For a list of status codes see Commands on page Start Upgrade Extended The Start Upgrade Ext
25. Currentinvalid 64f Current value for invalid measurement value mA Currentinvalid min 64f Minimum value for invalid current mA Gocator 1300 Series Gocator Device Files Job Files 203 Element Type Description Currentinvalid max 64f Maximum value for invalid current mA DataScaleMin 64f Measurement value corresponding to minimum current DataScaleMax 64f Measurement value corresponding to maximum current Delay 64f Output delay us or mm depending on delay domain defined below DelayDomain 32s Output delay domain 0 Time us 1 Encoder mm Measurement 32u Selected measurement source Measurement options 32u CSV List of available measurement sources D The delay specifies the time or position at which the analog output activates Upon activation there is an additional delay before the analog output settles at the correct value Serial The Serial element defines settings for Serial output Serial Child Elements Element Type Description Protocol 32s Serial protocol 0 ASCII 1 Selcom Protocol options 32s CSV List of available protocols Selcom Section See Selcom below Ascii Section See Ascii on the next page Measurements 32u CSV Selected measurement sources Measurements options 32u CSV List of available measurement sources Selcom Selcom Child Elements Element Type Description Rate 32u Output bit rate Rate options 32u CSV List of available rates Format 32s Output format 0
26. Gocator 1300 Series USER MANUAL Firmware version 4 3 x xx Document revision D Copyright Copyright O 2015 by LMI Technologies Inc All rights reserved Proprietary This document submitted in confidence contains proprietary information which shall not be reproduced or transferred to other documents or disclosed to others or used for manufacturing or any other purpose without prior written permission of LMI Technologies Inc No part of this publication may be copied photocopied reproduced transmitted transcribed or reduced to any electronic medium or machine readable form without prior written consent of LMI Technologies Inc Trademarks and Restrictions Gocator is a registered trademark of LMI Technologies Inc Any other company or product names mentioned herein may be trademarks of their respective owners Information contained within this manual is subject to change This product is designated for use solely as a component and as such it does not comply with the standards relating to laser products specified in U S FDA CFR Title 21 Part 1040 Contact Information For more information please contact LMI Technologies LMI Technologies Inc 1673 Cliveden Ave Delta BC V3M 6V5 Canada Telephone 1 604 636 1011 Facsimile 1 604 516 8368 www mi3D com Table of Contents Copyright 2 Table of Contents 3 Introduction 9
27. Restore sensor to factory settings This will erase all saved jobs and settings Factory Restore To restore from a backup 1 Goto the Manage page and click on the Maintenance category 2 Clickthe Restore button under Backup and Restore 3 When you are prompted select a backup file to restore The backup file is uploaded and then used to restore the sensor Any files that were on the sensor before the restore operation will be lost To restore a sensor to its factory default settings 1 Goto the Manage page and click on Maintenance 2 Consider making a backup Before proceeding you should perform a backup Restoring to factory defaults cannot be undone 3 Clickthe Factory Restore button under Factory Restore You will be prompted whether you want to proceed LMI recommends routinely updating firmware to ensure that Gocator sensors always have the latest features and fixes In order for the Main and Buddy sensors to work together they must be use the same firmware D version This can be achieved by upgrading through the Main sensor or by upgrading each sensor individually Firmware Upgrade firmware and check for latest release Current Version 4 0 9 84 Upgrade Check Updates To download the latest firmware 1 Goto the Manage page and click on the Maintenance category 2 Clickthe Check Updates button in the Firmware section 3 Download the latest firmware Gocator 1300 Series Go
28. To run a scenario 1 If you want to filter the scenarios listed in Available Scenarios do one or both of the following Gocator 1300 Series Gocator Emulator Running the Emulator 156 e Choose model family the Model drop down e Choose Standalone or Buddy to limit the scenarios to single sensor or dual sensor scenarios respect ively 2 Selecta scenario in the Available Scenarios list and click Start Removing a Scenario from the Emulator You can easily remove a scenario from the emulator D You can only remove user added scenarios To remove a scenario r s Stop Emulation If the emulator is running a scenario click P to stop it N In the Available Scenarios list scroll to the scenario you want to remove Available Scenarios 2375 Profile Mode Standalone 2380 Profile Mode Standalone 2380B Profile Mode Standalone 2880 Profile Mode Standalone 3110 Surface Mode Standard Target Standalone productionRun01 Standalone Sensor running in surface mode Contains Surface Stud and Countersunk Hole measurements in addition to scan data 3 Click the button next to the scenario you want to remove The scenario is removed from the emulator Using Replay Protection Because making changes to certain settings on the Scan page causes the emulator to flush replay data you can use the Replay Protection option to protect replay data Replay Protection Restart Emulation Stop Emulation
29. else length 0 Memory Set64s 0 length if length 10000 Output Set length 1 else Output Set length 0 Gocator 1300 Series Gocator Web Interface Measurement 137 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 ranges and measurement results to various external devices using several output interface options Up to two outputs can have scheduling enabled with ASCII as the Serial output protocol When D Selcom is the current Serial output protocol only one other output can have scheduling x T Wi Speed 5 Measure 57101 Dashboard Jl 8 777101 1 Replay gt 1 Gocator 2 Digital 1 Information Data and pase won The Gocator Protocol uses TCP messages to command the Send Name ID 3 04 Digital 2 sensor and to transmit data and measurement results to 3 Ranges Trigger event and pulse width dient computer The user selects which measurements and 4 t 5 pan what type of scan data to send Video 3D Intensity 3D data 4 4 p 8 i can be in the form of Ranges Profiles or Surfaces depending Range Intensities rigger event and current scaling Senes Serlal 5 E Protocol and data selection All of the tasks that can be acc
30. status 32s 6 Reply status For a list of status codes see Commands on page 208 Clear Alignment The Clear Alignment command clears sensor alignment Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x4102 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4102 status 32s 6 Reply status For a list of status codes see Commands on page 208 Gocator 1300 Series Protocols Gocator Protocol 222 Get Timestamp The Get Timestamp command retrieves the sensor s timestamp in clock ticks All devices in a system are synchronized with the system clock this value can be used for diagnostic purposes or used to synchronize the start time of the system Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0 100 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0 100 status 32s 6 Reply status For a list of status codes see Commands on page 208 timestamp 64u 10 Timestamp in clock ticks Get Encoder This command retrieves the current system encoder value Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x101C
31. 12 bit 1 12 bit with search 2 14 bit 3 14 bit with search Format options 32s CSV List of available formats DataScaleMin 64 Measurement value corresponding to minimum word value DataScaleMax 64f Measurement value corresponding to maximum word value Gocator 1300 Series Gocator Device Files Job Files 204 Ascii Ascii Child Elements Element Type Description Delimiter String Field delimiter Terminator String Line terminator InvalidValue String String for invalid output CustomDataFormat String Custom data format CustomFormatEnabled Bool Enables custom data format Transform The transformation component contains information about the physical system setup that is used to e Transform data from sensor coordinate system to another coordinate system e g world e Define encoder resolution for encoder based triggering e Define the travel offset Y offset between sensors for staggered operation You can access the Transform component of the active job as an XML file either using path notation via Jive job transform xml or directly via _live tfm You can access the Transform component in user created job files in non volatile storage for example productionRun01 job transform xml You can only access transformations in user created job files using path notation See the following sections for the elements contained in this component Transformation Example xml version 1 0 encoding UTF 8
32. 7 Specify if the output is immediate or scheduled An analog output can become active immediately or scheduled Check the Scheduled option if the output needs to be scheduled A scheduled output becomes active after a specified delay from the start of Gocator exposure A scheduled output can be used to track the decisions for multiple objects as these objects travel from the sensor to the eject gates The delay specifies the distance from the sensor to the eject gates An Immediate output becomes active as soon as the measurement results are available The output activates after the Gocator finishes processing the data As a result the time between the start of Gocator 1300 Series Gocator Web Interface Output 146 Gocator exposure and output activates depends on the processing latency The latency is reported in the dashboard and in the health messages eo Specify a delay The delay specifies the time or spatial location between the start of Gocator exposure and the output becomes active The delay should be larger than the time needed to process the data inside the Gocator It should be set to a value that is larger than the processing latency reported in the dashboard and in the health messages The unit of the delay is configured in the trigger panel See Triggers on page 67 for details D The analog output takes about 75 us to reach 9096 of the target value for a maximum change then another 40 us to settle completely To respond
33. 8 Void TiltEnabled Boolean Setting for tilt compensation 0 Disabled 1 Enabled SupportWidth 64f Support width of edge mm TransitionWidth 64f Transition width of edge mm MinWidth 64f Minimum strip width mm MinHeight 64f Minimum strip height mm MaxVoidWidth 64f Void max mm Region ProfileRegion2d Region containing the strip Measurements X Strip tool X measurement measurement Measurements Z Strip tool Z measurement measurement Measurements Width Strip tool Width measurement measurement Measurements Height Strip tool Width measurement measurement Gocator 1300 Series Gocator Device Files Job Files 197 Strip Tool Measurement Element Type Description id 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing window Scale 64 Output scaling factor Offset 64 Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold SelectType 32s Method of selecting a groove when multiple grooves are found 0 Best 1 Ordinal from left 2 Ordinal from right SelectIndex 32s Index when SelectType is set to 1 or 2 Location 32s Setting for groove location to return from X Z and H
34. Ethernet Only on page 266 for an explanation of the operation modes 5 Selectthe data format from the Data Format drop down Select Standard to use the default result format of the ASCII protocol Select the measurement to send by placing a check in the corresponding checkbox See Standard Result Format on page 273 for an explanation of the standard result mode Select Custom to enable the custom format editor and then use the replacement patterns listed in Replacement Patterns to create a custom format in the editor 6 Setthe special characters in the Special Characters tab Set the command delimiter delimiter termination and invalid value characters Special characters are used in commands and standard format data results 7 Setthe TCP ports in the Ports tab Select the TCP ports for the control data and health channels If the port numbers of two channels are the same the messages for both channels are transmitted on the same port Digital Output Gocator sensors can convert measurement decisions or software commands to digital output pulses which can then be used to output to a PLC or to control external devices such as indicator lights or air Gocator 1300 Series Gocator Web Interface Output 142 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
35. List of available scan modes OcclusionReductionEnabled Bool Enables occlusion reduction OcclusionReductionEnabled Bool Whether or not property is used used OcclusionReductionEnabled Bool Actual value used if not configurable value UniformSpacingEnabled Bool Enables uniform spacing UniformSpacingEnabled use Bool Whether or not property is used d Gocator 1300 Series Gocator Device Files Job Files 7 Element Type Description UniformSpacingEnabled valu e IntensityEnabled IntensityEnabled used IntensityEnabled value ExternallnputZPulseEnabled Filters Trigger Layout Alignment Devices SurfaceGeneration ProfileGeneration PartDetection PartMatching Custom Filters Bool Bool Bool Bool Bool Section Section Section Section Collection Section Section Section Section Custom Actual value used if not configurable Enables intensity data collection Whether or not property is used Actual value used if not configurable Enables the External Input based encoder Z Pulse feature See Filters below Used by Gocator 2300 2880 and 3100 series sensors See Trigger on page 170 See Layout on page 171 See Alignment on page 172 A collection of two Device sections with roles main and buddy See Devices Device on page 173 See SurfaceGeneration on page 177 Used by Gocator 2300 and 2880 series sensors See ProfileGeneration on page 178 See PartDetection on
36. Live data 1 Recorded data uptimeSec 32s 38 Uptime whole seconds component uptimeMicrosec 32s 42 Uptime remaining microseconds component playbackPos 32s 46 Playback position playbackCount 32s 50 Playback frame count autoStartEnabled 32s 54 Auto start enable boolean Log In Out The Log In Out command is used to log in or out of a sensor Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 4003 0 userType 32s 6 Defines the user type Gocator 1300 Series 0 None log out Protocols Gocator Protocol 216 Field Type Offset Description 1 Administrator 2 Technician password 64 char 10 Password required for log in only Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4003 status 32s 6 Reply status For a list of status codes see Commands on page 208 Change Password The Change Password command is used to change log in credentials for a user Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 04004 user type 32s 6 Defines the user type 0 None log out 1 Administrator 2 Technician password 64 char 10 New password Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4004 status 32s 6 Reply sta
37. Safety and Maintenance 10 Laser Safety 10 Laser Classes 11 Precautions and Responsibilities 11 Class Responsibilities 12 Systems Sold or Used in the USA 13 Electrical Safety 13 Environment and Lighting 14 Sensor Maintenance 15 Getting Started 16 System 16 Standalone System 16 Dual Sensor System 16 Multi Sensor System 17 Hardware Overview 18 Side Mount 8688866 77 18 Mount Package 18 Gocator Cordsets 19 Master 100 19 Master 400 800 20 Master 1200 2400 21 Calibration Targets 22 Installati n 2 22 24 Grounding 24 Recommended Grounding Practices Cordsets 4 Grounding Master 400 800 1200 2400 25 Mounting Side Mount Package 25 Mounting Top Mount Package 26 27 Network Setup 30 Client
38. Trigger event and pulse width Send Name Id Rate 96000 t Digital 2 Measurements Trigger event and pulse width Format SLS t Range Position 2 0 Analog Data Scale J Trigger event and current scaling 10000 Serial Protocol and data selection To configure Selcom output 1 Goto the Output page 2 Click on Serial in the Output panel 3 Select Selcom in the Protocol option 4 Select the measurements to send To select an item for transmission place a check in the corresponding check box Measurements shown here correspond to measurements that have been programmed using the Measurements page 5 Select the baud rate in Rate 6 Select the Data Format See Selcom Protocol on page 275 for definitions of the formats 7 Specify Data Scale values The Data Scale values are specified in millimeters for dimensional measurements such as distance square millimeters for areas cubic millimeters for volumes and degrees for angle results The results are scaled according to the number of serial bits used to cover the data scale range For example the 12 bit output would break a 200 mm data scale range into 4096 increments 0 0488 mm bit and the 14 bit output would break a 200 mm data scale range into 16384 increments 0 0122 mm bit Gocator 1300 Series Gocator Web Interface Output 9 Dashboard The following sections describe the Dashboard page Dashboard Page Overview The Dashboard page summarize
39. k32u k32s k64s k64u k64f kBool kStatus klpAddress Description 8 bit unsigned integer 16 bit unsigned integer 16 bit signed integer 32 bit unsigned integer 32 bit signed integer 64 bit signed integer 64 bit unsigned integer 64 bit floating number Boolean value can be kTRUE or kFALSE Status value can be or KERROR IP address Output Types The following output types are available in the SDK Output Data Types Data Type Description GoDataMsg Represents a base message sourced from the data channel See GoDataSet Type on the next page for more information GoMeasurementMsg Represents a message containing a set of GoMeasurementData objects GoProfilelntensityMsg GoProfileMsg GoRangelntensityMsg GoRangeMsg GoResampledProfileMsg GoStampMsg GoSurfacelntensityMsg GoSurfaceMsg GoVideoMsg Represents a data message containing a set of profile intensity arrays Represents a data message containing a set of profile arrays Represents a data message containing a set of range intensity data Represents a data message containing a set of range data Represents a data message containing a set of resampled profile arrays Represents a message containing a set of acquisition stamps Represents a data message containing a surface intensity array Represents a data message containing a surface array Represents a data message containing a video image Refer to the GoSdkSamples sample code for examples of a
40. mm YMedian YMedian Child Elements Description Element Type Enabled Bool Window 64 Window min 64f Window max 64f XDecimation XDecimation Child Elements Enables filtering Window size mm Minimum window size mm Maximum window size mm Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm Gocator 1300 Series Gocator Device Files Job Files 169 YDecimation YDecimation Child Elements Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm Trigger The Trigger element contains settings related to trigger source speed and encoder resolution Gocator 1300 series sensors are limited to sending data at 10 kHz over the analog output channel Therefore if you configure a sensor so that it runs at a speed higher than 10 kHz and configure a measurement to be sent on the analog channel you will get analog data drops To achieve a 10 kHz analog output rate you must enable and configure scheduled output Trigger Child Elements Element Type Description Source 32s Trigger source 0 Time 1 Encoder 2 Digital Input 3 Software Source options 32s CSV List of available source options Units 32s Sensor triggering units when source is not clock or encoder
41. mm Surface Width 5 mm Surface Offset 2 mm Nominal Radius 2 mm Edge Angle Edge Type Tangent 1 Region 9 Right Flush 0551 1 2 Parameters Mete Filters Decision Min 0 Max 1mm The Flush tool uses a complex feature locating algorithm to find the flushness of the object it is being used on and then return measurements The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel See Gap and Flush Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm Measurements Measurement Illustration Flush Measures the flushness between two surfaces The Flush surface edges can be curved or sharp Flush Gocator 1300 Series Gocator Web Interface Measurement 5 Direction 2 Surface Point The Data Viewer displays the flush measurement in real time It also displays the results from the intermediate steps in the algorithm Position The Position tool finds the X or Z axis position of a feature point The feature type must be specified and is one of the following Max Z Min Z Max X Min X Corner Average the mean X and Z of the data points Rising Edge Falling Edge Any Edge Top Corner Bottom Corner Left Corner Right Corner or Median median X and Z of the data points The measurement value can be compared with minimum and maximum constraints to yi
42. open wire end 30864 20m 25m cordset open wire end 30864 25m 2m Power and Ethernet cordset 1x open wire end 1x RJ45 end 30861 2m 5m Power and Ethernet cordset 1x open wire end 1x RJ45 end 30859 10m Power and Ethernet cordset 1x open wire end 1x RJ45 end 30860 15m Power and Ethernet cordset 1x open wire end 1x RJ45 end 30861 15m 20m Power and Ethernet cordset 1x open wire end 1x RJ45 end 30861 20m 25m Power and Ethernet cordset 1x open wire end 1x RJ45 end 30861 25m 2m Power and Ethernet to Master cordset 2x RJ45 ends 30858 2m 5m Power and Ethernet to Master cordset 2x RJ45 ends 30856 10m Power and Ethernet to Master cordset 2x RJ45 ends 30857 15m Power and Ethernet to Master cordset 2x RJ45 ends 30858 15m 20m Power and Ethernet to Master cordset 2x RJ45 ends 30858 20m 25m Power and Ethernet to Master cordset 2x RJ45 ends 30858 25m Contact LMI for information on creating cordsets with custom length or connector orientation The maximum cordset length is 60 m Gocator 1300 Series 330 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 R MA number Carefully package the sensor in its original shipping materials or equivalent and ship the sensor prepaid to your designated LMI location Please ensure that the RMA number is clearly written on the outside of the package In
43. or to set one as a default or clear a default 1 Goto the Manage page and click on the Jobs category 2 Selecta job in the Jobs list 3 Click on the appropriate button for the operation Gocator sensors can be secured with passwords to prevent unauthorized access Each sensor has two accounts Administrator and Technician Lee id w 9 Sensor System Administrator Layout and Buddy assignment Networking Password IP address settings Confirm Password Motion and Alignment Change Password Encoder resolution and travel speed ET Technician Jobs Download upload and set default Password Security Confirm Password Admin and Technician passwords Maintenance Upgrade backup restore reset Support Manual support file and SDK Change Password Gocator Account Types Account Description Administrator The Administrator account has privileges to use the toolbar loading and saving jobs recording and viewing replay data to view all pages and edit all settings and to perform setup procedures such as sensor alignment Technician The Technician account has privileges to use the toolbar loading and saving jobs recording and viewing replay data to view the Dashboard page and to start or stop the sensor Gocator 1300 Series Gocator Web Interface System Management and Maintenance 59 The Administrator and Technician accounts can
44. profile starts immediately For correct length measurement you should ensure that motion is calibrated i e encoder resolution for encoder triggers or travel speed for time triggers For more information on connecting external input to a Gocator sensor see on page 318 Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 85 You can optionally enable part detection to process the profile after it has been generated but the generation itself does not depend on the detection logic To do this check Enabled in the Part Detection panel Rotational The sensor reorders ranges within a profile to be aligned with the index pulse That is regardless of the radial position the sensor is started at the generated profile always starts at the position of the index pulse If the index pulse is not detected and the rotation circumference is met the profile is dropped and the Encoder Index Drop indicator will be incremented To scan exactly one revolution of a circular target without knowing the circumference manually set the encoder resolution page 56 to 1 the encoder trigger spacing page 67 to number of encoder ticks per revolution number of desired profiles per revolution and Encoder Resolution in the Profile Generation panel to the number of encoder ticks per revolution You can optionally enable part detection to process the profile after it has been g
45. scans e g when the sensor is mounted in a permanent position over a conveyor belt Moving Moving is used when the sensor s position relative to the object scanned is always changing e g when the sensor is mounted on a robot arm moving to different scanning locations Alignment With and Without Encoder Calibration For systems that use an encoder encoder calibration can be performed while aligning sensors The table below summarizes the differences between performing alignment with and without encoder calibration calibration With encoder calibration Without encoder calibration Target Type Calibration bar Flat surface or calibration bar Target Sensor Motion Linear motion Stationary Calibrates Z axis Offset Yes Yes Calibrates Encoder Yes No Calibrates Travel Speed Yes No See Coordinate Systems on page 40 for definitions of coordinate axes See Calibration Targets on page 22 for descriptions of calibration disks and bars See Aligning Sensors on the next page for the procedure to perform alignment After alignment the coordinate system for laser ranges will change from sensor coordinates to system coordinates Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 80 Alignment can be used to compensate mounting inaccuracies by aligning sensor data to a common reference surface often a conveyor belt Alignment O Stationary 4r 4 gt Target Flat Surfa
46. scenario in the emulator D You can add support files downloaded from any series of Gocator sensors to the emulator To add a scenario 1 Launch the emulator if it isn t running already 2 Clickthe Add button and choose a previously saved support file gs extension in the Choose File to Upload dialog Gocator 1300 Series Gocator Emulator Running the Emulator 155 Available Scenarios 2340 Profile Position 23 Standalone 2340 Surface 23xx Standalone 3 Optional In Description type a description Available Scenarios 2375 Profile Mode Standalone 2380 Profile Mode Standalone 23808 Profile Mode Standalone 2880 Profile Mode Standalone 3110 Surface Mode Standard Target Standalone productionRun01 Standalone Sensor running in surface mode Contains Surface Stud and Countersunk Hole measurements in addition to scan data D You can only add descriptions for user added scenarios Running a Scenario After you have added a virtual sensor by uploading a support file to the emulator you can run it from the Available Scenarios list on the emulator launch screen You can also run any of the scenarios included in the installation Filter Standalone Available Scenarios LS 1320 Profile Mode Fan Blades 13xx Standalone 1320 Range Mode Fan Blades Standalone 2320 Profile Mode Standalone 2330 Profile Mode Demo Target Standalone 2330 Surface Mode Demo Target Standalone 2330 Surface Mode Hinges Standalone
47. the queue Buffer Overflow Indicator 0 No overflow 1 Overflow Reserved bytes Measurement value in 0x80000000 if invalid Measurement decision A bit mask where Bit 0 1 Pass 0 Fail Bits 1 7 0 Measurement value OK 1 Invalid value 2 Invalid anchor Measurement value in 0x80000000 if invalid Measurement decision A bit mask where Bit 0 1 Pass 0 Fail Bits 1 7 0 Measurement value OK 1 Invalid value 2 Invalid anchor 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 If buffering is enabled in the Ethernet Output panel reading the Extended Sample State Assembly Object automatically advances the buffer See See Ethernet Output on page 139 for information on the Output panel Gocator 1300 Series Protocols EtherNet IP Protocol 264 ASCII Protocol This section describes the ASCII protocol The ASCII protocol is available over either serial output or Ethernet output Over serial output communication is asynchronous measurement results are automatically sent on the Data channel when the sensor is in th
48. 101 Circle The Circle tool provides measurements that find the best fitted circle to the live profile and measure various characteristics of the circle The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools on page 96 for instructions on how to add measurement tools Gocator 1300 Series Gocator Web Interface Measurement 113 Source op Region Radius Id 2 Output Filters Decision Min 44 mm 46 Measurements Measurement Illustration Radius Measures the radius of the circle Radius X Finds the circle center position in the X axis 4 2 2 Finds the circle center position in the Z axis Parameters Parameter Description Decision See Decisions on page 100 Region See Regions on page 99 Output See Filters on page 101 Dimension The Dimension tool provides Width Height Distance Center X and Center Z measurements See Adding and Removing Tools on page 96 for instructions on how to add measurement tools Gocator 1300 Series Gocator Web Interface Measurement 114 Distance m Id 4 Filters Decision Min 14 mm Max 15 mm The tool s measurements require two feature points See Feature Points on page 107 for information on point types and how to configure them Measurements Measurement Width Determines the difference along the X axis
49. 109 79 Bounding BOX 2 112 Alignment States 80 113 Alignment 80 Dimension 114 Alignment With and Without Encoder 0 REN 116 7860 68 eee eee 00 Intersect LLL 120 Aligning 5605085 81 HT 121 Clearing Alignment 83 Panel 123 Profile Generation 84 123 Part Detection 2 0 87 E OETA 124 Data VIBEWeFr 89 LLL 126 Data Viewer Controls 89 LE 127 Video Mode 89 131 Spots and Dropouts 89 131 Range Mode 90 Script 6850076760 132 Profile Mode 91 Built in Functions 133 Region Definition 93 138 Intensity Output 94 Output Page Overview 138 Measurement 95 Ethernet Output 139 Measure Page Overview 95 Digital Output 142 Data Viewer 95 Analog 0 145 96 147 Measurement Tool Management
50. 2 Top Left 3 Top Right XSpacingCount 32u Number of resampled points along X read only YSpacingCount 32u Number of resampled points along Y read only ActiveArea Region3D Active area Contains min and max attributes for each element TransformedDataRegion Region3D Active area after transformation read only Gocator 1300 Series Gocator Device Files Job Files 3 Element Type Description PatternSequenceType 32s G3 projection sequence for video mode 0 Normal 100 Nine Lines PatternSequenceType optio 32s CSV List of available projection sequences ns PatternSequenceType used Bool Whether or not the type can be selected PatternSequenceCount 32u Number of frames in the active sequence read only FrontCamera Window Front camera window read only BackCamera Window Back camera window read only BackCamera used Bool Whether or not this field is used ExposureMode 32s Exposure mode 0 Single exposure 2 Dynamic exposure ExposureMode options 32s CSV List of available exposure modes Exposure 64f Single exposure Us Exposure min 64f Minimum exposure ps Exposure max 64f Maximum exposure us DynamicExposureMin 64f Dynamic exposure range minimum ps DynamicExposureMax 64f Dynamic exposure range maximum ps ExposureSteps 641 CSV Mutiple exposure list us ExposureSteps countMin 32u Minimum number of exposure steps ExposureSteps countMax 32u Maximum number of exposure steps IntensityStepIndex 32u I
51. 32s SurfaceGeneration Determines if the setting s value is currently used Value in use by the sensor useful for determining value when used is false Minimum value Maximum value Dynamic exposure control threshold If the detected number of spots is fewer than this number the exposure will be increased Determines if the setting s value is currently used Value in use by the sensor useful for determining value when used is false Minimum value Maximum value Gamma type Value in use by the sensor useful for determining value when used is false Determines if the setting s value is currently used The SurfaceGeneration element contains settings related to surface generation This element is used by Gocator 2300 and 2880 series sensors SurfaceGeneration Child Elements Element Type Description Type 32s Surface generation type 0 Continuous 1 Fixed length 2 Variable length Rotational FixedLength Section See FixedLength below VariableLength Section See VariableLength on the next page Rotational Section See Rotational on the next page FixedLength FixedLength Child Elements Element Type Description StartTrigger 32s Start trigger condition 0 Sequential 1 Digital input Length 64f Surface length mm Gocator 1300 Series Gocator Device Files Job Files 177 Element Type Description Length min 64 Length max 64f VariableLength VariableLength Child Elements
52. 6 Reply status For a list of status codes see Commands on page Get Playback Source 208 The Get Playback Source command gets the data source for data playback Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 4524 0 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4524 status 32s 6 Reply status For a list of status codes see Commands on page 208 source 32s 10 Source 0 Live Set Playback Source 1 Replay buffer The Set Playback Source command sets the data source for data playback Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x4523 source 32s 6 Source 0 Live 1 Replay buffer Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4523 status 32s 6 Reply status For a list of status codes see Commands on page Gocator 1300 Series 208 Protocols Gocator Protocol 232 Simulate The Simulate command simulates the last frame if playback source is live or the current frame if playback source is the replay buffer Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x4522 source 32s 6 Source 0
53. AND CONTRIBUTORS AS 15 AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THEIMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE Gocator 1300 Series 332 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
54. Development Kit SDK click Download 3 Choose the location for the SDK on the client computer D For more information on the SDK see Software Development Kit on page 277 Gocator 1300 Series Gocator Web Interface System Management and Maintenance 65 Scan Setup and Alignment The following sections describe the steps to configure Gocator sensors for laser ranging using the Scan page Setup and alignment should be performed before adding and configuring measurements or outputs Scan Page Overview The Scan page lets you configure sensors and perform alignment x CPU 0 4 Speed 0 Hz WM Manage Measure Output Dashboard 4 Dia Die 1051 default M tfm Replay A Range Scan Mode View Range Top x mo m5 Video Profile 5 Optlon Acquire Intensity 2 Trigger Max Frame Rate Sensor 3 Alignment 3 4 e Element Description 1 Scan Mode panel Contains settings for the current scan mode Video or Range and other options See Scan Modes on the next page 2 Trigger panel Contains trigger source and trigger related settings See Triggers on the next page 3 Sensor panel Contains settings for an individual sensor such as active area or exposure See Sensor on page 73 4 Alignment panel Used to perform alignment See Alignment on page 79 5 Data Viewer Displays sensor da
55. LASER EMITTER SERIAL NUMBER POWER RANGE AND LASER INDICATOR CONNECTOR POWER LAN CONNECTOR Item Description Camera Observes laser light reflected from target surfaces Laser Emitter Emits structured light for laser ranging Connector Accepts input and output signals Power LAN Connector Accepts power and laser safety signals and connects to 1000 Mbit s Ethernet network Power Indicator Illuminates when power is applied blue Range Indicator Illuminates when camera detects laser light and is within the target range green Laser Indicator Illuminates when laser safety input is active amber Serial Number Unique sensor serial number Top Mount Package 1 0 CONNECTOR RJ POWER LAN CONNECTOR SERIAL NUMBER POWER RANGE LASER INDICATORS Gocator 1300 Series Getting Started Hardware Overview 18 Item Description Camera Observes laser light reflected from target surfaces Laser Emitter Emits structured light for laser ranging Connector Accepts input and output signals Power LAN Connector Accepts power and laser safety signals and connects to 1000 Mbit s Ethernet network Power Indicator Illuminates when power is applied blue Range Indicator Illuminates when camera detects laser light and is within the target range green Laser Indicator Illuminates when laser safety input is active amber Serial Number Unique sensor serial number 006800 5 Gocator 130
56. LOW 0 VDC to 0 1VDC Logical HIGH 43 5 VDC to 6 5VDC A When using a Master 1200 2400 its chassis must be well grounded The 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected Gocator 1300 Series Specifications Master 1200 2400 328 The Power Draw specification is based on a Master with no sensors attached Every sensor has its own power requirements which need to be considered when calculating total system power requirements Master 1200 2400 Dimensions The dimensions of Master 1200 and Master 2400 are the same 482 6 448 6 mE mE OOO06900000000000000009066860606000009098600090090900900006086660606000060060660600000 Y Y 44 Master 1200 em Gocator 1300 Series Specifications Master 1200 2400 329 Accessories Masters Description Part Number Master 100 for single sensor development only 30705 Master 400 for networking up to 4 sensors 30680 Master 800 for networking up to 8 sensors 30681 Master 1200 for networking up to 12 sensors 30649 Master 2400 for networking up to 24 sensors 30650 Cordsets Description Part Number 2m cordset open wire end 30864 2m 5m cordset open wire end 30862 10m cordset open wire end 30863 15m cordset open wire 30864 15m 20m cordset
57. Last Valid Holds the last valid value when the measurement is invalid Measurement is invalid if there is no valid value Smoothing Applies moving window averaging to reduce random noise in a measurement output The averaging window is configured in number of frames If Hold Last Valid is enabled smoothing uses the output of the Hold Last Valid filter Filters Scale 1 Offset 0 Hold Last Valid Smoothing S 1 Samples To configure the filters l 2 Go to the Scan page by clicking on the Scan icon Choose Range or Profile mode in the Scan Mode panel depending on the type of measurement whose filters you need to configure If one of these modes is not selected tools will not be available in the Measure panel Go to the Measure page by clicking on the Measure icon In the Tools panel click on a tool in the tool list In the measurement list select a measurement To select a measurement it must be enabled See Enabling and Disabling Measurements on page 97 for instructions on how to enable a measurement Click on the Output tab For some measurements only the Output tab is displayed Expand the Filters panel by clicking on the panel header or the button Configure the filters Refer to the table above for a list of the filters Measurement Anchoring Measurement anchoring is used to track the movement of parts within the field of view of the sensor compensating for variations in the height and
58. Layout and Buddy assignment Networking IP address settings Version 4 3 3 141 Motion and Allgnment Master Encoder resolution and travel speed Layout Jobs Download upload and set default Ba 8 Admin and Technician passwords 5 backup restore reset Support e Manual support file and SDK Element 1 Sensor System 2 Networking 3 Motion and Alignment 4 Jobs 5 Security 6 Maintenance 7 Support Gocator 1300 Series Model 1350 Status Model Serial 12078 Version Serial Autostart Master Main sensor Visible Sensors Serial Model Version State Description Contains settings for configuring sensor system and layout and boot up See Sensor System on the next page Contains settings for configuring the network See Networking on page 55 Contains settings to configure the encoder See Motion and Alignment on page 55 Lets you manage jobs stored on the sensor See Jobs on page 57 Lets you change passwords See Security on page 59 Lets you upgrade firmware create restore backups and reset sensors See Maintenance on page 60 Lets you open an HTML version or download a PDF version Gocator Web Interface System Management and Maintenance 0 Element Description of the manual download the SDK or save a support file Also provides device information See Support on page 63 Sensor System The following sections
59. Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing window Scale 64 Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Absolute Boolean Setting for selecting absolute or signed result Gocator 1300 Series 0 Signed 1 Absolute Gocator Device Files Job Files 195 ProfilePosition A ProfilePosition element defines settings for a profile position tool and one or more of its measurements ProfilePosition Child Elements Element Type Description Name String Tool name Source 32s Profile source Anchor WX String CSV The X measurements IDs used for anchoring AnchorW options Anchor Z Anchor Z options String CSV String CSV String CSV The X measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements 105 available for anchoring Feature ProfileFeature Element for feature detection Measurements X Position tool X measurement measurement Measurements Z Position tool Z measurement measurement Position Tool Measurement Element Type Description id attribute 32s Measurement ID Optiona
60. Prevent unintentional reflections Required under special conditions Required Required for operator and maintenance personnel LMI Class 3B laser components do not incorporate these laser safety items These items must be added and completed by customers in their system design Class 3B Responsibilities LMI Technologies has filed reports with the FDA to assist customers in achieving certification of laser products These reports can be referenced by an accession number provided upon request Detailed descriptions of the safety items that must be added to the system design are listed below Remote Interlock Aremote interlock connection must be present in Class 3B laser systems This permits remote switches to be attached in serial with the keylock switch on the controls The deactivation of any remote switches must prevent power from being supplied to any lasers Key Control A key operated master control to the lasers is required that prevents any power from being supplied to the lasers while in the OFF position The key can be removed in the OFF position but the switch must not allow the key to be removed from the lock while in the ON position Power On Delays A delay circuit is required that illuminates warning indicators for a short period of time before supplying power to the lasers Beam Attenuators Apermanently attached method of preventing human access to laser radiation other than switches power connectors or key
61. Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x101C status 32s 6 Reply status For a list of status codes see Commands on page 208 encoder 64s 10 Current encoder position in ticks Reset Encoder The Reset Encoder command is used to reset the current encoder value D The encoder value can be reset only when the encoder is connected directly to a sensor When the encoder is connected to the master the value cannot be reset via this command Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier Ox101E Gocator 1300 Series Protocols Gocator Protocol 223 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x101E status 32s 6 Reply status For a list of status codes see Commands on page 208 Start The Start command starts the sensor system system enters the Running state For more information on states see Control Commands on page 212 Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0 100 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x100D status 32s 6 Reply status For a list of status codes see Commands on page
62. SDK from within the Web interface Software Development SDK Download To download the SDK 1 Goto the Manage page and click on the Support category 2 Nextto Software Development Kit SDK click Download 3 Choose the location for the SDK on the client computer Applications compiled with previous versions of the SDK are compatible with Gocator firmware if the major version numbers of the protocols match For example an application compiled with version 4 0 of the SDK which uses protocol version 4 0 will be compatible with a Gocator running firmware version 4 1 which uses protocol version 4 1 However any new features in firmware version 4 1 would not be available If the major version number of the protocol is different for example an application compiled using SDK version 3 x being used with a Gocator running firmware 4 x you must rewrite the application with the SDK version corresponding to the sensor firmware in use The Gocator API included in the SDK is a C language library that provides support for the commands and data formats used with Gocator sensors The API is written in standard C to allow the code to be compiled for any operating system A pre built DLL is provided to support 32 bit and 64 bit Windows operating systems Projects and makefiles are included to support other editions of Windows and Linux For Windows users code examples explaining how to wrap the calls in and VB NET are provided in the t
63. 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 2 GND 48VDC 3 GND 48VDC 4 Safety Control 5 Safety Control 6 D The 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected D The Safety Control requires a voltage differential 12VDC to 48VDC across the pin to enable the laser Digital Input 16 pin connector Function Pin Input 1 1 Input 1 GND 2 Reserved 3 Reserved 4 Reserved 5 Gocator 1300 Series Specifications Master 400 800 4 Function Pin Reserved 6 Reserved 7 Reserved 8 Reserved 9 Reserved 10 Reserved 11 Reserved 12 Reserved 13 Reserved 14 Reserved 15 Reserved 16 D This connector does not need to be wired up for proper operation Encoder 8 pin connector Function Pin Encoder A 1 Encoder A Encoder Encoder B Encoder 2 Encoder Z GND co N 5 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 12to 48VDC Encoder signal voltage range RS4
64. Set 48 us Use Auto Set estimate the optimal exposure To enable single exposure 1 Place a representative target in view of the sensor The target surface should be similar to the material that will normally be measured Go to the Scan page Expand the Sensor panel by clicking on the panel header Click the button corresponding to the sensor you want to configure The button is labeled Top Bottom Top Left or Top Right depending on the system Exposure can be configured separately for each sensor Click on the Exposure tab Select Single from the Exposure Mode drop down Edit the Exposure setting You can automatically tune the exposure by pressing the Auto Set button which causes the sensor to turn on and tune the exposure time Run the sensor and check that laser ranging is satisfactory If laser ranging is not satisfactory adjust the exposure values manually Switch to Video mode to use video to help tune the exposure see Exposure on the previous page for details Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 76 Dynamic Exposure The sensor automatically uses past range information to adjust the exposure to yield the best range This is used when the target surface changes from scan to scan Sensor Top 19225 Active Area Material Exposure Mode Dynamic 3 Auto Set Min Auto Set Min 6 Max 96 ps aj Use Auto Set to estimate the optimal e
65. Setting Description Threshold Direction Gap Length Padding Length Min Part Length Max Part Length Frame of Reference To setup part detection Determines if parts should be detected above or below the height threshold Determines the minimum separation between objects on the Y axis If parts are closer than the gap interval they will be merged into a single part Determines the amount of extra data on the Y axis from the surface surrounding the detected part that will be included This is mostly useful when processing part data with third party software such as HexSight Halcon etc Determines the minimum length of the part object 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 surface measurements When Profile Generation is set to Continuous only Part is available See Profile Generation on page 84 for more information Sensor When Frame of Reference is set to Sensor the sensor s frame of reference is used The way the sensor s frame of reference is defined changes depending on the profile generation Type setting see on page 84 for more information e When parts are segmented from a continuous surface the profile generation Type setting is set to Continuous measurement value
66. Spots and Dropouts on page 89 for more information Alignment EE Gocator sensors are pre calibrated and ready to deliver ranges in engineering units mm out of the box However alignment procedures are required to compensate for sensor mounting inaccuracies to align multiple sensors into a common coordinate system and to determine the resolution with encoder and speed of the transport system Alignment is performed using the Alignment panel on the Scan page Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 79 Once alignment has been completed the derived transformation values be displayed under Transformations in the Sensor panel see Transformations on page 74 for details Alignment States A Gocator can be in one of three alignment states None Manual or Auto Alignment State State Explanation None Sensor is not aligned Ranges are reported in default sensor coordinates Manual Transformations See on page 74 or encoder resolution see on page 71 have been manually edited Auto Sensor is aligned using the alignment procedure see on the next page An indicator on the Alignment panel will display ALIGNED or UNALIGNED depending on the Gocator s state Alignment Types Gocator sensors support two types of alignment which are related to whether the target is stationary or moving Type Description Stationary Stationary is used when the sensor mounting is constant over time and between
67. String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring Region ProfileRegion2d Measurement region Measurements WX Circle tool X measurement measurement Measurements Circle tool Z measurement measurement Measurements Radius Circle tool Radius measurement measurement Circle Tool Measurement Element Type Description id 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Gocator 1300 Series Gocator Device Files Job Files 188 ProfileDimension A ProfileDimension element defines settings for a profile dimension tool and one or more of its measurements ProfileDimension Child Elements Element Type Description Name String Tool name Source 32s Profile source Anchor WX String CSV The X measurements IDs used for anchoring AnchorW options Anchor MZ Anchor Z options RefFeature Feature Measurements Width Measurements Height Measurements Distance String CSV String CSV St
68. This is a fail decision 1 The measurement is invalid for example the target is not within range Provides the reason for the failure 2 The tool containing the measurement is anchored and has received invalid measurement data from one of its anchors Provides the reason for the failure Refer to the SetupMeasurement example for details on how to add and configure tools and measurements Refer to the ReceiveMeasurement example for details on how to receive measurement decisions and values D You should check a decision against lt 0 for failure or invalid measurement Gocator 1300 Series Software Development Kit 281 One 600010561 object can contain data from multiple frames Each message has a Count property that specifies how many frames of data are included The following illustrates the data structure when three frames of data are contained inside a GoDataSet object The batching size is dynamically adjusted to ensure the sensor s CPU keeps up with the messages delivered with the shortest latency Operation Workflow Applications created using the SDK typically use the following programming sequence Gocator 1300 Series Software Development Kit 282 D See Setup and Locations on page 277 for more information on the code samples referenced below D Sensors must be connected before the system can enable the data channel All data functions are named Go lt Object gt _ lt Function gt for example GoSensor_Connect Fo
69. Width 0 mm Min Depth 0 mm Surface Width 5 mm Surface Offset 2 mm Nominal Radius 2 mm Edge Angle Edge Type Tangent Region Right Gap 4311 Id Parameter Output Measurement Axis Edge The Gap tool uses a complex feature locating algorithm to find the gap and then return measurements The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel See Gap and Flush Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm and the parameters Gocator 1300 Series Gocator Web Interface Measurement 3 Measurements Measurement Illustration Gap Gap Measures the distance between two surfaces The surface edges can be curved or sharp Gap The Data Viewer displays the gap measurement in real time It also displays the results from the intermediate steps in the algorihtm Edge Region Surface Region Edge Points Flush The Flush measurement provides the flushness between the edges of two surfaces The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools on page 96 for instructions on how to add measurement tools Gocator 1300 Series Gocator Web Interface Measurement 4 Reference Side Lef Max Gap Width 0 mm em Max Void Width Min Depth 0
70. and Countersunk Hole measurements in addition to scan data from the current production run When you create a scenario from a support file in the emulator the filename you provide here is displayed Download Go to the Manage page and click on the Support category In Filename type the name you want to use for the support file in the emulator s scenario list Support files end with the gs extension but you do not need to type the extension in Filename Gocator 1300 Series Optional In Description type a description of the support file Gocator Web Interface System Management and Maintenance 64 When you create a scenario from a support file in the emulator the description is displayed below the emulator s scenario list 4 Click Download and then when prompted click Save Manual Access You can access the Gocator manuals from within the Web interface User Manual Open HTML Download PDF To access the manuals 1 Goto the Manage page and click on the Support category 2 Nextto User Manual click one of the following e Open HTML Opens the HTML version of the manual in your default browser e Download PDF Downloads the PDF version of the manual to the client computer Software Development Kit You can download the Gocator SDK from within the Web interface Software Development Kit SDK Download To download the SDK 1 Goto the Manage page and click on the Support category 2 Next to Software
71. and maximum values might allow greater variation during one production run of a part but might allow less variation during another production run depending on the desired grade of the part Most of the settings that can be changed in the Gocator s web interface such as the ones in the Manage Measure and Output pages are temporary until saved in a job file Each sensor can have Gocator 1300 Series Gocator Web Interface User Interface Overview 43 multiple job files If there is a job file that is designated as the default it will be loaded automatically when the sensor is reset When you change sensor settings using the Gocator web interfacein the emulator some changes are saved automatically while other changes are temporary until you save them manually The following table lists the types of information that can be saved in a sensor Setting Type Behavior Job Most of the settings that can be changed in the Gocator s web interface such as the ones in the Manage Measure and Output pages are temporary until saved in a job file Each sensor can have multiple job files If there is a job file that is designated as the default it will be loaded automatically when the sensor is reset Alignment Alignment can either be fixed or dynamic as controlled by the Alignment Reference setting in Motion and Alignment in the Manage page Alignment is saved automatically at the end of the alignment procedure when Alignment Reference is set to F
72. as a Invalid with a red border in the data viewer when you run the sensor Gocator 1300 Series Gocator Web Interface Measurement 106 Outputs from multiple measurement tools can be used as inputs to the script 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 data is not The script engine is not powerful enough to process the data itself Only one script can be created Profile Measurement This section describes the profile measurement tools available in Gocator sensors that are equipped with these tools Most measurement detect and compare feature points or lines found within laser profile data Measurement values are compared against minimum and maximum thresholds to yield decisions The following types of points can be identified Point Type Examples Max Z MaxZ Finds the point with the maximum Z value in the region of interest Min Z Finds the point with the minimum Z value in the region of interest Finds the point with the minimum X value in the region of 6 interest Finds the point with the maximum X value in the region of interest 9 9 MaxX Average Determines the average location of points in the region o
73. at the start and end of movement The Travel Speed setting is used to correctly scale scans in the direction of travel in systems that lack an encoder but have a conveyor system that is controlled to move at constant speed Establishing the correct travel speed is required for correct scaling of the scan in the direction of travel Speed Travel Speed 100 mm s Travel speed is expressed in millimeters per second To manually configure travel speed 1 Goto the Manage page and click on the Motion and Alignment category 2 Inthe Speed section enter a value in the Travel Speed field Travel speed can also be set automatically by performing an alignment with Type set to Moving see Aligning Sensors on page 81 The Jobs category on the Manage page lets you manage the jobs stored on a sensor Gocator 1300 Series Gocator Web Interface System Management and Maintenance 57 Manage Sensor System Jobs Layout and Buddy assignment Job1 loaded default Download Networking Job2 ob2 IP address settings Upload Motion and Alignment Encoder resolution and travel speed Download upload and set default Delete Security Admin and Technician passwords Maintenance Upgrade backup restore reset 2 Support e Manual support file and SDK Name Save Element Description Name field Used to provide a job name when saving files Jobs list Displays the jobs that are currently saved
74. be flushed Protocol Output The emulator simulates output for all of Gocator s Ethernet based protocols e Gocator ASCII e Modbus e EtherNet IP To access the simulated output connect to localhost 127 0 0 1 and use the protocols as you would with a physical sensor Gocator Device Files This section describes the user accessible device files stored on a Gocator Live Files Various live files stored on a Gocator sensor represent the sensor s active settings and transformations represented together as job files the active replay data if any and the sensor log By changing the live job file you can change how the sensor behaves For example to make settings and transformations active write to or copy to the _live job file You can also save active settings or transformations to a client computer orto a file on the sensor by reading from or copying these files respectively The live files are stored in volatile storage Only user created job files are stored in non volatile storage The following table lists the live files Gocator 1300 Series Gocator Device Files Protocol Output 164 Live Files Name Read Write Description _live job Read Write The active job This file contains a Configuration component containing the current settings If Alignment Reference in the active job is set to Dynamic it also contains a Transform component containing transformations For more information
75. 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 users apply than for 3B lasers IEC 60825 1 2007 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 LASER RADIATION DO NOT STARE INTO THE BEAM OR VIEW DIRECTLY WITH OPTICAL INSTRUMENTS OR MAGNIFIERS CLASS 2M LASER PRODUCT PEAK POWER 1 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 DIRECT EYE EXPOSURE CLASS 3R LASER PRODUCT 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 par
76. between two feature points The difference can be calculated as an absolute or signed result The difference is calculated by Width Feature 2 4 Feature 1 X position X position Height Determines the difference along the Z axis between two feature points The difference can be expressed as an absolute or signed result The difference is calculated by Height Feature 2 Feature 1 Z position Z position Distance Determines the Euclidean distance between two feature points Gocator 1300 Series Illustration Gocator Web Interface Measurement 115 Measurement Center X Finds the average location of two features and measures the X axis position of the average location Center Z Finds the average location of two features and measures the Z axis position of the average location Illustration Center X Center 7 Parameters Parameter Description Absolute Determines if the result will be expressed as an Width and Height measurements only Decision Region Output Groove absolute or a signed value See Decisions on page 100 See Regions on page 99 See Filters on page 101 The Groove tool provides measurements of V shape U shape or open shape grooves The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools on page 96 for instr
77. bit representation available for given protocol Analog output mA falls outside of acceptable range 0 20 mA When a measurement value overflow occurs the value is set to the null value appropriate for the given protocol s measurement value output type The Overflow health indicator increments Additional undocumented indicator values may be included in addition to the indicators defined above Gocator 1300 Series Protocols Gocator Protocol 252 Modbus Protocol Modbus is designed to allow industrial equipment such as Programmable Logic Controllers PLCs sensors and physical input output devices to communicate over an Ethernet network Modbus embeds a Modbus frame into a TCP frame in a simple manner This is a connection oriented transaction and every query expects a response This section describes the Modbus TCP commands and data formats Modbus TCP communication lets the client e Switch jobs e Align and run sensors e Receive measurement results sensor states and stamps To use the Modbus protocol it must be enabled and configured in the active job The Gocator 4 x firmware uses mm mm mm3 and degrees as standard units In all protocols values are scaled by 1000 as values in the protocols are represented as integers This results in effective units of mm 1000 mm 1 000 mm 1 000 and deg 1000 in the protocols If buffering is enabled with the Modbus protocol the PLC must read the Buffer Advanc
78. configured Buddy Progressive Reply Some commands send replies progressively as multiple messages This allows the sensor to stream data without buffering it first and allows the client to obtain progress information on the stream A progressive reply begins with an initial standard reply message If the status field of the reply indicates success the reply is followed by a series of continue reply messages Gocator 1300 Series Protocols Gocator Protocol 212 continue reply message contains a block of data of variable size as well status and progress information The series of continue messages is ended by either an error or a continue message containing O bytes of data Protocol Version The Protocol Version command returns the protocol version of the connected sensor Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 04511 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4511 status 32s 6 Reply status For a list of status codes see Commands on page 208 majorVersion 8u 10 Major version minorVersion 80 11 Minor version Get Address The Get Address command is used to get a sensor address Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 03012 Reply Fie
79. current job Discard changes Discard Cancel Do one of the following e Click Discard to discard any unsaved changes The Upload menu appears Upload Upload and Merge e Click Cancel to return to the main window to save your changes 2 Inthe Upload menu choose one of the following e Upload Unloads the current job and creates a new unsaved and untitled job from the content of the replay data file e Upload and merge Uploads the replay data and merges the data s associated job with the current job Specifically the settings on the Scan page are overwritten but all other settings of the current job are preserved including any measurements 3 Navigate to the replay data to upload from the client computer and click OK The replay data is loaded and a new unsaved and untitled job is created Gocator 1300 Series Gocator Web Interface User Interface Overview 47 Replay data can be exported using the CSV format If you have enabled Acquire Intensity in the Scan Mode panel on the Scan page the exported CSV file includes intensity data Job1 default El Range data as CSV To export replay data in the CSV format 1 Clickthe Export button 7 and select Export Range Data as CSV In Profile mode all data in the record buffer is exported data atthe current replay location is exported Use the playback control buttons to move to a different replay location for information on pl
80. data region of the layout output Orientation 32s Sensor orientation 0 Wide 1 Opposite 2 Reverse Orientation options 32s CSV List of available orientation options Orientation value 32s Actual value used if not configurable MultiplexBuddyEnabled Bool Enables multiplexing for buddies MultiplexSingleEnabled Bool Enables multiplexing for a single sensor configuration MultiplexSingleExposureDur 64f Exposure duration in ps currently rounded to integer when read by the ation sensor MultiplexSingleDelay 64f Delay in us Currently gets rounded up when read by the sensor MultiplexSinglePeriod 64f Period in us Currently gets rounded up when read by the sensor MultiplexSinglePeriod min 64 Minimum period in us Region3D Child Elements Element Type Description 64 X start mm Gocator 1300 Series Gocator Device Files Job Files 171 Element Type Description Y 64f Y start mm Z 64f Z start mm Width 64f X extent mm Length 64f Y extent mm Height 64f Z extent mm Alignment The Alignment element contains settings related to alignment and encoder calibration Alignment Child Elements Element Type Description InputTriggerEnabled Bool Enables digital input triggered alignment operation InputTriggerEnabled used Bool Whether or not this feature can be enabled This feature is available only on some sensor models InputTriggerEnabled value Bool Actual feature status Type 32s Type of alignment oper
81. details Configure the characteristics of the target Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 82 Alignment UNALIGNED Type Moving Target Bar Height 10 mm Width 100 mm Hole Count 1 Hole Diameter 5 mm Hole Distance 0 mm Encoder Calibration m Align Clear Alignment 5 Place the target under the sensor 6 Ifthe system uses an encoder and you want to calibrate it check the Encoder Calibration checkbox 7 Clickthe Align button The sensors will start and then wait for the calibration target to pass through the laser plane Alignment is performed simultaneously for all sensors If the sensors do not align check and adjust the exposure settings page 75 D Alignment uses the exposure defined for single exposure mode regardless of the current exposure mode 8 Engage the transport system When the calibration target has passed completely through the laser plane the calibration process will complete automatically To properly calibrate the travel speed the transport system must be running atthe production operating speed before the target passes through the laser plane 9 Use Range mode to inspect alignment results Laser ranges from all sensors should now be aligned to the alignment target surface The base of the alignment target or target surface provides the origin for the system Z axis Clearing Alignment Alignment can be cleared to revert th
82. firmware sending the Start Upgrade command see page 241 Firmware upgrade files are available from the downloads section under the support tab on the LMI web site For more information on getting the latest firmware see Firmware Upgrade on page 62 Every Gocator sensor contains factory backup firmware If a firmware upgrade command fails e g power is interrupted the factory backup firmware will be loaded when the sensor is reset or power cycled In this case the sensors will fall back to the factory default IP address To avoid IP address conflicts in a multi sensor system connect to one sensor at a time and re attempt the firmware upgrade Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x4002 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes Gocator 1300 Series Protocols Gocator Protocol 214 Field id status locallnfo remoteCount remotelnfo remoteCount Sensor Info Field deviceld address 4 modelName 32 firmwareVersion 4 state role buddyld Get States Type 16u 32s Sensor info 32u Sensor Info Type 32u byte char byte 32s 32s 32s Offset 10 66 70 Offset 52 Description Reply identifier 0x4002 Reply status For a list of status codes see Commands on page 208 Info for this device Number of di
83. groove tool is dynamic meaning that it can contain multiple measurements of the same type in the Measurements element ProfileGroove Child Elements Element Type Description Name String Tool name Source 32s Profile source String CSV The X measurements IDs used for anchoring AnchorW options Anchor Z Anchor Z options Shape MinDepth MinWidth MaxWidth Region Measurements X Measurements Z Measurements Width Measurements Depth Gocator 1300 Series String CSV String CSV String CSV 32s 64f 64f 64f ProfileRegion2d Groove tool measurement Groove tool measurement Groove tool measurement Groove tool measurement The X measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Shape 0 U shape 1 V shape 2 Open Minimum depth Minimum width Maximum width Measurement region X measurement Z measurement Width measurement Depth measurement Gocator Device Files Job Files 190 Groove Tool Measurement Element Type Description id 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32
84. in the Sensor s flash storage Save button Saves current settings to the job using the name in theJob Name field Load button Loads the job that is selected in the job list Reloading the current job discards any unsaved changes Delete button Deletes the job that is selected in the job list Set as Default Sets the selected job as the default to be loaded when the sensor starts When the default job is button selected this button is used to clear the default Download Downloads the selected job to the client computer button Upload button Uploads a job from the client computer Jobs can be loaded currently activated in sensor memory and set as default independently For example Job1 could be loaded while Job2 is set as the default Default jobs load automatically when a sensor is power cycled or reset Jobs Job1 loaded Job2 default Unsaved jobs are indicated by unsaved Jobs Job1 Job2 loaded default unsaved Gocator 1300 Series Gocator Web Interface System Management and Maintenance 58 save job 1 Goto the Manage page and click on the Jobs category 2 Provide a name in the Name field To save an existing job under a different name click on itin the Jobs list and then modify itin the Name field 3 Click on the Save button or press Enter Saving a job automatically sets it as the default that is the job loaded when then sensor is restarted To download load or delete a job
85. is a target in position Gocator 1300 Series 2 5 gt gt 6 o Gocator Web Interface Scan Setup and Alignment 70 Example Software Trigger Robot Software triggering can be used to produce a snapshot for range measurement A software trigger can be used in systems that use external software to control the activities of system components Trigger Settings The trigger source is selected using the Trigger panel in the Scan page Frame Rate Max Speed Hz Gate on External input te 31030 303 us Time ps Time Gate on External Input Trigger Delay Y After specifying a trigger source the Trigger panel shows the parameters that can be configured Gocator 1300 series sensors are limited to sending data at 10 kHz over the analog output channel Therefore if you configure a sensor so that it runs at a speed higher than 10 kHz in the Trigger panel on the Scan page and configure a measurement to be sent on the analog channel under Analog on the Output page you will get analog data drops To achieve a 10 kHz analog output rate you must check Scheduled on the Output page and configure scheduled output Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 71 Parameter Trigger Source Description Source Frame Rate Gate on External Input Behavior
86. is furnished to do so subject to the following conditions The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software THE SOFTWARE IS PROVIDED AS IS WITHOUT WARRANTY OF ANY KIND EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY FITNESS FORA PARTICULAR PURPOSE AND NONINFRINGEMENT IN NO EVENT SHALL SIMON TATHAM BE LIABLE FOR ANY CLAIM DAMAGES OR OTHER LIABILITY WHETHER IN AN ACTION OF CONTRACT TORT OR OTHERWISE ARISING FROM OUT OF ORIN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE 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 1300 Series Software Licenses 333 The above copyright notice and this permission notice shall be included in all copies substantial portions of the Software THE SOFTWARE IS PROVIDED AS IS WITHOUT WARRANTY OF ANY KIND EXPRESS OR IMPLIED INCLUDING BUT NOT LIMIT
87. length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x5000 status 32s 6 Reply status For a list of status codes see Commands on page 208 progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress size 32u 18 Size of the chunk in byes data size byte 22 Chunk data Export CSV Progressive The progressive Export CSV command exports replay data as a CSV stream This command returns an initial reply followed by a series of continue replies if the initial reply s status field indicates success The continue replies contain the actual data and have 0x5000 as their identifier Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x4507 Initial Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4507 status 32s 6 Reply status For a list of status codes see Commands on page 208 progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress Continue Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x5000 status 32s 6 Reply status For a list of status codes see Commands on page 208 progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress size 32u 18 Size
88. long long Stamp EncoderZ unsigned int Stamp Inputs Math Functions Function float sqrt float x float sin float x float cos float x float tan float x float asin float x float acos float x float atan float x float pow float x float y float fabs float x Example Accumulated Length Gets the frame index of the current frame Gets the time stamp of the current frame Gets the encoder position of the current frame Gets the encoder index position of the current frame Gets the digital input state of the current frame Description Calculates square root of x Calculates sin x x in radians Calculates cos x x in radians Calculates tan x x in radians Calculates asin x x in radians Calculates acos x x in radians Calculates atan x x in radians Calculates the exponential value x is the base y is the exponent Calculates the absolute value of x The following example shows how to create a custom measurement that is based on the values from other measurements and persistent values The example calculates the length of the target using a series of position Z measurement tool values Measurement ID 1 Encoder Spacing is 0 5mm 2 position measurement ID is set to 1 long long encoder spacing long long length Memory Get64s 0 if Measurement Valid 1 length length encoder spacing Gocator 1300 Series Gocator Web Interface Measurement 136
89. moving alignment process Byte 1 of the sensor state assembly will be set to 1 busy until the alignment process is complete then back to zero 4 Clear Alignment Clear the alignment 5 Load Job Load the job Set bytes 1 31 to the file name one character per byte including the extension 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 0 4 Instance 0x320 Attribute Number 3 Length 100 bytes Supported Service OxOE GetAttributeSingle Attributes 1 and 2 are not implemented as they are not required for the static assembly object Attribute 3 Attribute Name Type Value Description Access 3 Command Byte See below Sensor state information See below for more Get Array details Sensor State Information Byte Name Type Description 0 Sensor s Sensor state state 0 Ready 1 Running 1 Command Command busy status in progress 0 Not busy 1 Busy performing the last command Bytes 2 to 43 below are only valid when there is no command in progress 2 Alignment Alignment status state Gocator 1300 Series Protocols EtherNet IP Protocol 262 Byte Name 3 10 Encoder 11 18 Time 19 Current Job Filename Length 20 43 Current Job Filename 44 99 Reserved Type 64s 64s 16u Description 0 Not aligned 1 Aligned The value is only valid when byte is
90. multiple connections up to a total of 16 connections for all ports Over serial Gocator ASCII communication uses the following connection settings Gocator 1300 Series Protocols ASCII Protocol 265 Serial Connection Settings for ASCII Parameter Value Start Bits 1 Stop Bits 1 Parity None Data Bits 8 Baud Rate b s 115200 Format ASCII Delimiter CR Up to 16 users can connect to the sensor for ASCII interfacing at a time Any additional connections will remove the oldest connected user Polling Operation Commands Ethernet Only On the Ethernet output the Data channel can operate asynchronously or by polling Under asynchronous operation measurement results are automatically sent on the Data channel when the sensor is in the running state and results become available The result is sent on all connected data channels Under polling operation a client can e Switch to a different job e Align run and trigger sensors Receive sensor states health indicators stamps and measurement results Gocator sends Control Data and Health messages over separate channels The Control channel is used for commands such as starting and stopping the sensor loading jobs and performing alignment see Control Commands on the next page The Data channel is used to receive and poll for measurement results When the sensor receives a Result command it will send the latest measurement results on the same data channel that th
91. of the chunk in byes data size byte 22 Chunk data All recorded range or profile data is exported to the CSV stream Gocator 1300 Series Protocols Gocator Protocol 239 Export Bitmap Progressive The progressive Export Bitmap command exports replay data as a bitmap stream This command returns an initial reply followed by a series of continue replies if the initial reply s status field indicates success The continue replies contain the actual data and have 0x5000 as their identifier Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0 4508 type 32s 6 Data type 0 Range or video 1 Intensity source 32s 10 Data source to export Initial Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4508 status 32s 6 Reply status For a list of status codes see Commands on page 208 progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress Continue Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x5000 status 32s 6 Reply status For a list of status codes see Commands on page 208 progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress size 32u 18 Size of the chunk in byes data size byte 22 Chunk data
92. on job files live and user created accessing their components and their structure see Job Files on the next page _live cfg Read Write A standalone representation of the Configuration component contained _ live job Used primarily for backwards compatibility _live tfm Read Write If Alignment Reference of the active job is set to Dynamic A copy of the Transform component live job Used primarily for backwards compatibility If Alignment Reference of the active job is set to Fixed The transformations that are used for all jobs whose Alignment Reference setting is set to Fixed _live log Read A sensor log containing various messages For more information on the log file see Log File below _live rec Read Write The active replay simulation data Extendedld xml Read Sensor identification Log File The log file contains log messages generated by the sensor The root element is Log To access the log file use the Read File command passing _live log to the command The log file is read only Log Child Elements Element Type Description List of Info Warning List An ordered list of log entries Error Log nfo Log Warning Log Error Elements Element Type Description time 64u Log time in uptime ps value String Log content may contain printf style format specifiers e g u List of IntArg FloatArg List An ordered list of arguments Arg IntArg Integer argument FloatArg Floating
93. one of these modes is not selected tools will not be available in the Measure panel 3 Onthe Measure page add a suitable tool to act as an anchor A suitable tool is one that returns an X Y or Z position as a measurement value 4 Adgjustthe anchor tool s settings and measurement region You can adjust the measurement region graphically in the data viewer or manually by expanding the Gocator 1300 Series Gocator Web Interface Measurement 103 Regions area The position and size of the anchor tool s measurement regions define the zone within which movement will be tracked See Feature Points on page 107 for more information on feature types 5 Addthe tool that will be anchored Any tool can be anchored 6 Adjustthe tool and measurement settings as well as the measurement regions 7 Clickonthe tool s Anchoring tab 8 Choose ananchor from the X Y or Z drop down box When you choose an anchor a white bulls eye indicator shows the position of the anchor in the data viewer If the sensor is running the anchored tool s measurement regions are shown in white to indicate the regions are locked to the anchor The measurement regions of anchored tools cannot be adjusted The anchored tool s measurement regions are now tracked and will move with the target s position under the sensor as long as the anchor measurement produces a valid measurement value If the anchor measurement is invalid for example if there is no target under t
94. or in the health messages The unit of the delay is configured with the Delay Domain setting To output a measurement valid signal 1 2 Go to the Output page Click on Digital 1 or Digital 2 in the Output panel Set Trigger Event to Measurement In Configuration set Assert On to Always Select the measurements The output activates when the selected decisions produce results The output activates only once for each frame even if multiple decision sources are selected Specify a pulse width using the slider The pulse width determines the duration of the digital output pulse in microseconds To respond to software scheduled commands 1 2 Go to the Output page Click on Digital 1 or Digital 2 in the Output panel Set Trigger Event to Software Specify a Signal type The signal type specifies whether the digital output is a continuous signal or a pulsed signal If the signal is continuous its state is maintained until the next transition occurs If the signal is pulsed user specifies the pulse width and the delay Gocator 1300 Series Gocator Web Interface Output 4 5 Specify a Pulse Width The pulse width determines the duration of the digital output pulse in microseconds 6 Specify if the output is Immediate or Scheduled A pulsed signal can become active immediately or scheduled Continuous signal always becomes active immediately Immediate output becomes active as soon as a scheduled digital output
95. page 179 See PartMatching on page 181 Used by Gocator 2300 2880 and 3100 series sensors Used by specialized sensors The Filters element contains settings related to post processing profiles before they are output or used by measurement tools This element is used by Gocator 2300 2880 and 3100 series sensors XSmoothing XSmoothing Child Elements Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64 Minimum window size mm Window max 64f Maximum window size mm YSmoothing YSmoothing Child Elements Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm Gocator 1300 Series Gocator Device Files Job Files 168 XGapFilling XGapFilling Child Elements Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm YGapFilling YGapFilling Child Elements Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm XMedian XMedian Child Elements Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size
96. position of parts The movement is calculated as an offset Gocator 1300 Series Gocator Web Interface Measurement 102 from the position of a measured feature where the offset is then used to correct the positions of measurement regions of other measurement tools This ensures that the regions used to measure features are correctly positioned for every part Top 350 uS Parameter oring Distance 117 077 Filters Decision Min 110 mm Max 125 mm Anchoring is not required in order to use measurement tools This is an optional feature that helps make measurements more robust when the position and the height of the target varies from target to target Any X Y or Z measurement can be used as an anchor for a tool Several anchors can be created to run in parallel For example you could anchor some measurements relative to the left edge of a target at the same time as some other measurements are anchored relative to the right edge of a target To anchor a profile tool to a measurement 1 Puta representative target object in the field of view The target should be similar to the objects that will be measured later In Profile mode a Usethe Start or Snapshot button to view live profile data to help position the target a Start the sensor scan the target and then stop the sensor 2 Onthe Scan page in the Scan Mode panel choose Range or Profile mode depending on the type of measurement you are using If
97. result is ready A digital output can also act as a strobe signal to allow external devices to synchronize to the timing at which the sensor exposes In this mode the sensor outputs a digital pulse when the sensor exposes Each sensor supports two digital output channels See Digital Outputs on page 317 for information on wiring digital outputs to external devices Trigger conditions and pulse width are then configured within the panel Output Ethernet Trigger Event Measurement Protocol and data selection Digital 1 Configuration Data Trigger event and pulse width Send Name Id Assert On Pass Digital 2 Decisions Trigger event and pulse width Signal Pulsed Range Position 2 0 y Analog d ys Trigger event and current scaling Ifi scheduled Serlal Protocol and data selection To output measurement decisions ide 2 Go to the Output page Click on Digital 1 or Digital 2 in the Output panel Set Trigger Event to Measurement In Configuration set Assert On and select the measurements that should be combined to determine the output If multiple measurement decisions are selected and Assert On is set to Pass the output is activated when all selected measurements pass If Assert On is set to Fail the output is activated when any one of the selected measurements fails Set the Signal option The signal type specifies whether the digital output is a continuous signal or a pulse
98. see on page 227 is received Scheduled output becomes active at a specific target time or position given by the Scheduled Digital Output command Commands that schedule event in the past will be ignored An encoder value is in the future if the value will be reached by moving in the forward direction the direction that encoder calibration was performed in To output an exposure signal 1 Goto the Output page 2 Click on Digital 1 or Digital 2 in the Output panel 3 SetTrigger Event to Exposure Begin or Exposure End 4 Setthe Pulse Width option The pulse width determines the duration of the digital output pulse in microseconds Analog Output Gocator sensors can convert a measurement result or software request to an analog output Each sensor supports one analog output channel Gocator 1300 series sensors are limited to sending data at 10 kHz over the analog output channel Therefore if you configure a sensor so that it runs at a speed higher than 10 kHz in the Trigger panel on the Scan page and configure a measurement to be sent on the analog channel under Analog on the Output page you will get analog data drops To achieve a 10 kHz analog output rate you must check Scheduled on the Output page and configure scheduled output See Analog Output on page 320 for information on wiring analog output to an external device Gocator 1300 Series Gocator Web Interface Output 145 Output Ethernet Trigger Event Measure
99. spots in the last profile Protocols Gocator Protocol 250 Indicator Max Spot Count Scan Count Laser Overheat Laser Overheat Duration Playback Position Playback Count FireSync Version Processing Drops Last IO Latency Max IO Latency Ethernet Output Ethernet Rate Ethernet Drops Trigger Drops Output Drops Host Server Drops ASCII Server Drops Range Valid Count Range Invalid Count Anchor Invalid Count Z Index Drop Count Gocator 1300 Series 20004 20005 20020 20021 20023 20024 20600 21000 21001 21002 21003 21004 21005 21010 21011 21012 21013 21100 21101 21200 22000 Instance Value Maximum number of spots that can be found Number of surfaces detected from a top device Indicates whether laser overheat has occurred 0 Has not overheated 1 Has overheated Only available on certain 3B laser devices The length of time in which the laser overheating state occurred Only available on certain 3B laser devices The current replay playback position The number of frames present in the replay The FireSync version used by the Gocator build Number of dropped frames The sum of various processing drop related indicators Last delay from camera exposure to when rich IO scheduling occurs Valid only if rich IO is enabled Maximum delay from camera exposure to when rich IO scheduling occurs Valid only if rich IO is enabled Reset on start
100. the Type Manual Networking category and click the Save button 192 168 1 11 When you click the Save button you will be prompted to see confirm your selection Save Gocator 1300 Series Getting Started Network Setup 34 10 11 12 Turn off the sensors re connect the Main sensor s Ethernet connection and power cycle the sensors After changing network configuration the sensors must be reset or power cycled before the change will take effect 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 Manage page Go to Manage page Sensor System panel and select the Visible Sensors panel The serial number of the Buddy sensor is listed in the Available Sensors panel Select the Buddy sensor and click the Assign button The Buddy sensor will be assigned to the Main sensor and its status will be updated in the System panel Gocator 1300 Series CORDSET POWER AND ETHERNET CORDSET 9 x hitip 192 168 1 10 gt 2340 15776 Administrator X Visible Sensors Serial Model Version State Gocator1350 4 0 9 94 Getting Started Network Setup 35 1
101. the laser point 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 Gocator 1300 series sensors can create profiles by combining a series of range values captured along the direction of travel 38 Resolution and Accuracy Z Resolution Z resolution is the variability of the height measurement with the target at a fixed position This variability is caused by camera imager and sensor electronics Profile Variation in Time Z resolution is better at the close range and worse at the far range This is reflected in the Gocator data sheet as the two numbers quoted gt Time 2 resolution e Variati e e Z Resolution gives an indication of the smallest detectable height difference 2 Linearity 2 Linearity is the difference between the actual distance to the target and the measured 1 ideal measurement distance to the target throughout the D m rement range 5 2 Linearity is expressed in the Gocator data ne 2 ae sheet as a percentage of the total Se measurement range 2 Linearity gives an indication of the sensor s Target Distance ability to measure absolute distance Gocator 1300 Series Theory of Operation 3D Acquisition 39 Range Output Goca
102. 0 1380 1390 Clearance Distance mm 40 162 5 200 562 237 5 127 500 Measurement 20 95 200 375 412 5 1651 2000 Range MR mm Linearity Z 96 of MR 0 05 0 05 0 05 0 11 0 07 0 18 0 10 Linearity Z mm 0 010 0 05 0 100 0 4 0 3 3 0 2 0 Resolution Z mm 0 0004 0 0005 0 0015 0 0025 0 0025 0 0100 0 0250 0 0004 0 0010 0 0035 0 0040 0 0070 0 0450 0 0600 Spot Size mm 0 11 0 37 0 50 1 80 0 90 2 60 2 60 Recommended Laser 3R 3B 3B 3B 3B 3B 3B Class Other Laser Class 2M 3R Recommended Package Side Mount Side Mount Side Mount Side Mount Side Mount Side Mount Side Mount Dimensions mm 30x120x149 30x120x149 30x120x149 30x120x220 30x120x149 30x120x149 30x120x277 Other Package Top Mount Dimensions mm 49x75x162 Weight kg 0 8 0 8 0 75 0 8 121 0 8 0 8 1 4 Optical models laser classes and packages can be customized Contact LMI for more details Specifications stated are based on standard laser classes Linearity Z and Resolution Z may vary for other laser classes All specification measurements are performed on LMI s standard calibration target a diffuse painted white surface Linearity Z is the worst case difference in average height measured compared to the actual position over the measurement range Resolution Z is the maximum variability of height measurements across multiple frames with 9596 confidence See Resolution and Accuracy on page 39 for more information ALL 1300 SERIES MODELS Scan Rate
103. 0 REAR 0 POWER AND SAFETY ENCODER INPUT Item Description Sensor Ports Ground Connection Laser Safety Encoder Input Master connection for Gocator sensors no specific order required Earth ground connection point Laser safety connection Accepts encoder signal Accepts digital input See Master 400 800 on page 324 for pinout details Master 1200 2400 The Master 1200 and the Master 2400 allow you to connect more than two sensors The Master 1200 accepts twelve sensors and the Master 2400 accepts twenty four sensors Gocator 1300 Series Getting Started Hardware Overview 21 SENSOR PORTS 1 12 LED INDICATORS Master 0 0 MASTER 1200 FRONT pulp W 1200 gt e We SENSOR PORTS 13 24 2400 ONLY SENSOR PORTS 1 12 LED INDICATORS wr x x x 2 un r n 2 Master 4 5 MASTER 1200 2400 REAR e o GROUND CONNECTIO POWER AND SAFETY ENCODER INPUT Item Description Sensor Ports Master connection for Gocator sensors no specific order required Ground Connection Earth ground connection point Laser Safety Laser safety connection Encoder Accepts encoder sig
104. 0 sensors use two types of cordsets The Power amp Ethernet cordset is used for sensor communication via 1000 Mbit s Ethernet over a standard RJ45 connector The Master version of the Power amp Ethernet cordset provides electrical connection between the sensor and a Master 400 800 1200 2400 The Gocator I O cordset provides power and laser safety interlock to sensors It also provides digital I O connections an encoder interface RS 485 serial connection and an analog output CORDSET GOCATOR I 0 Xm CORDSET POWER amp ETHERNET Xm CORDSET GOCATOR POWER amp ETHERNET TO MASTER Xm 2 SN 3 BS 220 A PIGTAILED LEADS 2 45 8 PIN JACK PIGTAILED LEADS 7a M16 I O CONNECTOR 19 PIN MALE M16 CONNECTOR M16 CONNECTOR 14 PIN FEMALE 14 PIN FEMALE See Accessories on page 330 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 1300 series standalone system setup Gocator 1300 Series Getting Started Hardware Overview 19 Item Master Ethernet Port Master Power Port Sensor 1 Port Master Host Port Power Power Switch Laser Safety Switch Trigger Encoder Digital Output Master Ethernet Port 7 ETHERNET Master Power Port ff 7 Master 1 00 Master Host Port T 48 P
105. 00 mm Hole Count 1 Hole Diameter 5 mm Hole Distance mm Align Place the target under the sensor Click the Align button The sensors will start and the alignment process will take place Alignment is performed simultaneously for all sensors If the sensors do not align check and adjust the exposure settings page 75 D Alignment uses the exposure defined for single exposure mode regardless of the current exposure mode Use Range or Profile mode to inspect alignment results Laser ranges from all sensors should now be aligned to the alignment target surface The base of the alignment target or target surface provides the origin for the system Z axis To perform alignment for moving targets 1 Do one of the following if you have not already done so e If the system uses an encoder configure encoder resolution See Encoder Resolution on page 56 for more information e If the system does not use an encoder configure travel speed See Travel Speed on page 57 for more information In the Alignment panel select Moving as the Type Clear the previous alignment if present Press the Clear Alignment button to remove an existing alignment Select an alignment Target e Select one of the disk Disk options to use a disk as the alignment reference e Select Bar to use a custom calibration bar If using a calibration bar specify the bar dimensions and reference hole layout See Calibration Targets on page 22 for
106. 2s 6 Reply status For a list of status codes see Commands on page 208 If a non zero value is specified for timeout the client must send another ping command before the timeout elapses otherwise the server would close the connection The timer is reset and updated with every command Reset The Reset command reboots the Main sensor and any Buddy sensors All sensors will automatically reset 3 seconds after the reply to this command is transmitted Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 04300 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4300 status 32s 6 Reply status For a list of status codes see Commands on page 208 Backup The Backup command creates a backup of all files stored on the connected sensor and downloads the backup to the client Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x1013 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1013 status 32s 6 Reply status For a list of status codes see Commands on page 208 length 32u 10 Data length data length byte 14 Data content Gocator 1300 Series Protocols Gocator Protocol 229 Restore The Restore co
107. 3 14 15 16 17 18 The firmware on and Buddy sensors must be the same for Buddy assignment to be successful If the firmware is different connect the Main and Buddy sensor one at a time and follow the steps in Firmware Upgrade on page 62 to upgrade the sensors Ensure that the Laser Safety Switch is enabled or the Laser Safety input is high Ensure that Replay mode is off the slider is set to the left Go to the the Scan page POWER SAFETY ENCODER mm Cmm mo eru mme Tos 2 4 6 de Master 400 800 1200 2400 Replay off Snapshot Press the Start or the Snapshot button on the 9 Replay Toolbarto start the sensors The Start button is used to run sensors continuously while the Snapshot button is used to trigger a single measurement Move a target into the laser plane If a target object is within the sensor s measurement range the data viewer will display the distance to the target and the sensor s range indicator will illuminate If you cannot see the laser or if a range is not displayed in the Data Viewer see Troubleshooting on page 290 Press the Stop button if you used the Start button to start the sensors The laser should turn off x Next Steps After you complete the steps in this section the Gocator measurement system is ready to be configured for an applicatio
108. 300 Connector 320 ANALOG OUTPUT Analog out Analog out ANALOG ANALOG Analog out1 Analog out1 ANALOG ANALOG Current Mode Voltage Mode To configure for voltage output connect 500 Ohm Watt resistor between Analog out and Analog_ out and measure the voltage across the resistor To reduce the noise in the output we recommend using an RC filter as shown below ANALOG OUTPUT 10K ANALOG Analog_out 5002 15n Analog_out ANALOG Gocator 1300 Series Specifications Gocator 1300 I O Connector 1 Master 100 The Master 100 accepts connections for power safety and encoder and provides digital output NU aeter Master Ethernet Port En ww 2 HOST zx a Master Host Port Master Power Port POWER 7 48V Power Supply Pin 1 Encoder Output Port D Contact LMI for information regarding this type of power supply Connect the Master Power port to the Gocator s Power LAN connector using the Gocator Power LAN to Master cordset Connect power RJ45 end of the cordset to the Master Power port The Ethernet RJ45 end of the cordset can be connected directly to the Ethernet switch or connect to the Master Ethernet port If the Master Ethernet port is used connect the Master Host port to the Ethernet switch with a CAT5e Ethe
109. 32kHz Interface Gigabit Ethernet Inputs Differential Encoder Laser Safety Enable Trigger Outputs 2x Digital Output RS 485 Serial Selcom Serial 1x Analog Output 4 20 mA Gocator 1300 Series Specifications Gocator 1300 Series 293 ALL 1300 SERIES MODELS Input Voltage Power Housing Operating Temp Storage Temp 24 to 48 13 Watts Ripple 10 Gasketed Aluminum Enclosure IP67 0 to 50 C 30 to 70 C EY CLEARANCE DISTANCE CD ee MEASUREMENT RANGE MR 21 Gocator 1320 Side Mount Package Field of View Measurement Range Gocator 1300 Series 21 Specifications Gocator 1300 Series 294 Dimensions gu THREADED MOUNTING HOLE OPTION THRU MOUNTING HOLE OPTION 3X 5 THRU ALL M6X1 0 6H THRU ALL Envelope 19 3 Gocator 1300 Series Specifications Gocator 1300 Series 295 Gocator 1340 Side Mount Package Field of View Measurement Range 210 47 5 0 ok 47 5 Dimensions 21 HO amp THREADED MOUNTING HOLE OPTION THRU MOUNTING HOLE OPTION 3X 5 THRU ALL 3X M6X1 0 6H THRU ALL 84 135 Gocator 1300 Series Specifications Gocator 1300 Series 296 Envelope Gocator 1300 Series Specifications Gocator 1300 Series 297 Gocator 1350 Side Mount Package Field of View Measurement Range
110. 4 Bit 15 Last message flag Bits 0 14 Message type identifier For this message set to 3 attributeSize 16u 6 Size of attributes in bytes min 20 current 20 count C 32u 8 Number of profile arrays zScale 32u 12 Z scale nm zOffset 32s 16 Z offset um source 80 20 Source 0 Top 1 Bottom 2 Top Left 3 Top Right exposure 32u 21 Exposure ns reserved 3 8u 25 Reserved range C 16s 28 Range values Range Intensity Field Type Offset Description size 32u 0 Count of bytes in message including this field control 160 4 Bit 15 Last message flag Bits 0 14 Message type identifier For this message set to 4 attributeSize 16u 6 Size of attributes in bytes min 12 current 12 count C 32u 8 Number of profile arrays source 8u 12 Source 0 Top 1 Bottom 2 Top Left 3 Top Right Gocator 1300 Series Protocols Gocator Protocol 245 Field Type Offset Description exposure 32u 13 Exposure ns reserved 3 8u 17 Reserved range C 8u 20 Range intensity values Profile Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier For this message set to 5 attributeSize 16u 6 Size of attributes in bytes min 32 current 32 count C 32u 8 Number of profile arrays width W 32u 12 Number of points per profile array xScale 32u 16 X scale nm zScale 32u 20 Z scale nm xOffset 32s 24 X
111. 400 800 Dimensions 326 Master 1200 2400 327 Master 1200 2400 Electrical Specifications 328 Master 1200 2400 Dimensions 329 Accessories 330 Return Policy 331 Software Licenses 332 Support osuere Der eI Bassists 338 Contact oscure ds 339 Gocator 1300 Series Introduction The Gocator 1300 series of laser displacement sensors is designed for 3D measurement and control applications Gocator sensors are configured using a web browser and can be connected to a variety of input and output devices This documentation describes how to connect configure and use a Gocator It also contains reference information on the device s protocols and job files Notational Conventions This guide uses the following notational conventions AN Follow these safety guidelines to avoid potential injury or property damage D Consider this information in order to make best use of the product Safety and Maintenance The following sections describe the safe use and maintenance of Gocator sensors Laser Safety Gocator sensors contain semiconductor lasers that emit visible or invisible light and are designated as Class 2M Class 3R or Class 3B depending on the chosen laser option See Laser Classes on the next page for more information on the laser classes used in Gocator sensors Gocator senso
112. 400 ONLY SENSOR PORTS 1 12 LED INDICATORS MASTER 2400 FRONT E Master 2400 MASTER 1200 2400 REAR GROUND CONNECTION POWER AND SAFETY ENCODER INPUT Power and Safety 6 pin connector Function Pin 48VDC 1 48VDC 2 GND 48VDC 3 GND 48VDC 4 Safety Control 5 Safety Control 6 D The 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected D The Safety Control requires a voltage differential 12VDC to 48VDC across the pin to enable the laser Digital Input 16 pin connector Function Pin Input 1 1 Input 1 GND 2 Reserved 3 Reserved 4 Gocator 1300 Series Specifications Master 1200 2400 327 Function Pin Reserved 5 Reserved 6 Reserved 7 Reserved 8 Reserved 9 Reserved 10 Reserved 11 Reserved 12 This connector does not need to be wired up for proper operation Encoder 8 pin connector Function Pin Encoder 1 Encoder A Encoder Encoder B Encoder 2 Encoder Z GND o N A W N 5VDC Master 1200 2400 Electrical Specifications Electrical Specifications for Master 1200 2400 Master 1200 2400 Power Supply Voltage 48VDC Power Supply current Max 10A Power Draw Min 15W Safety Voltage 12 to 48VDC Encoder signal voltage range RS485 Differential Digital input voltage range Logical
113. 6 Reply status For a list of status codes see Commands on page 208 D The command returns after the scan has been captured and transmitted Acquire Unaligned The Acquire Unaligned command acquires a new scan without performing alignment transformation Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x4527 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4527 status 32s 6 Reply status For a list of status codes see Commands on page 208 D The command returns after the scan has been captured and transmitted Create Model The Create Model command creates a new part model from the active simulation scan Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 04602 modelName 64 char 6 Name of the new model without mdl extension Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes Gocator 1300 Series Protocols Gocator Protocol 236 Field Type Offset Description id 16u 4 Reply identifier 0x4602 status 32s 6 Reply status For a list of status codes see Commands on page 208 Detect Edges The Detect Edges command detects and updates the edge points of a part model Command Field Type Offset Description length 32
114. 7 Web server port propertyCount 8u 99 Number of sensor ID properties properties Property 100 List of sensor ID properties propertyCount Property Field Type Description nameLength 8u Length of the name name nameLength char Name string valueLength 8u Length of the value value valueLength char Value string A client sends control commands for most operations over the Control TCP channel port 3190 The Control channel and the Upgrade channel port 3192 can be connected simultaneously For more information on Upgrade commands see Upgrade Commands on page 240 States A Gocator system can be in one of three states Conflict Ready or Running The client sends the Start and Stop control commands to change the system s current state to Running and Ready respectively The sensor can also be configured to boot in either the Ready or Running state by enabling or disabling autostart respectively using the Set Auto Start Enabled command In the Ready state a sensor can be configured In the Running state a sensor responds to input signals performs measurements drives its outputs and sends data messages to the client The state of the sensor can be retrieved using the Get States or Get System Info command 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 Set Buddy command is used to remove the
115. 85 Differential Digital input voltage range Logical LOW 0 VDC to 0 1VDC Logical HIGH 11 VDC to 22 5VDC When using a Master 400 800 its chassis must be well grounded Gocator 1300 Series Specifications Master 400 800 325 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 own power requirements which need to be considered when calculating total system power requirements Master 400 800 Dimensions The dimensions of Master 400 and Master 800 are the same 483 9 466 7 1 x ACRI 44 31 8 7 1 400 E3E3EES 7 UM 99999999 0 d 99 289 7 1 o o o 0 H 295 44 36 0 Gocator 1300 Series Specifications Master 400 800 326 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 states to all devices on a sensor network SENSOR PORTS 1 12 LED INDICATORS MASTER 1200 FRONT 200 _ EL ALME HE da SENSOR PORTS 13 24 2
116. DC 24 48V See Gocator 1300 Series on page 293 for the sensor s power requirement Apply ground to 24 48VDC Power requirements Function Pins Min Max DC 24 48V A 24V 48 V GND_24 48VDC L 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 24 48 Safety in G OV 0v Confirm the wiring of Safety in before starting the sensor Wiring DC 24 48V into Safety in may damage the sensor Gocator 1300 Series Specifications Gocator Power LAN Connector 316 Gocator 1300 I O Connector The Gocator 1300 connector is a 19 pin M16 style connector that provides encoder digital input digital outputs serial output and analog output signals 0 This connector is rated IP67 only when a cable is connected or when a protective is used This section defines the electrical specifications for Gocator 1 connector pins organized by function Gocator Connector Pins Function Pin Lead Color on Cordset Trigger in D Grey Trigger in H Pink Out 1 Digital Output 0 N Red Out 1 Digital Output 0 0 Blue Out 2 Digital Output 1 S Tan Out 2 Digital Output 1 Orange Encoder M White Brown amp Black Encoder A U Brown Black Encoder Black U M
117. Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier For this message set to 2 attributesSize 16u 6 Size of attributes in bytes min 20 current 20 height H 32u 8 Image height in pixels width W 32u 12 Image width in pixels pixelSize 8u 16 Pixel size in bytes pixelFormat 8u 17 Pixel format 1 8 bit greyscale 2 8 bit color filter 3 8 bits per channel color B G R X colorFilter 8u 18 Color filter array alignment 0 None 1 Bayer BG GR 2 Bayer GB RG 3 Bayer RG GB 4 Bayer GR BG source 8u 19 Source 0 Top 1 Bottom 2 Top Left 3 Top Right cameralndex 8u 20 Camera index exposurelndex 8u 21 Exposure index exposure 32u 22 Exposure ns flippedX 8u 26 Indicates whether the video data must be flipped horizontally to match up with profile data flippedY 8u 27 Indicates whether the video data must be flipped vertically to match up with profile data pixels H W Variable 28 Image pixels Depends on pixelSize above Gocator 1300 Series Protocols Gocator Protocol 244 flippedX 8u 26 Indicates whether the video data must flipped horizontally to match up with profile data flippedY 8u 27 Indicates whether the video data must be flipped vertically to match up with profile data Range Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u
118. ED TO THE WARRANTIES OF MERCHANT ABILITY FITNESS FORA PARTICULAR PURPOSE AND NONINFRINGEMENT IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM DAMAGES OR OTHER LIABILITY WHETHER IN AN ACTION OF CONTRACT TORT OR OTHERWISE ARISING FROM OUT OF ORIN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE jQuery Website http jquery com License Copyright c 2011 John Resig http jquery com Permission is hereby granted free of charge to any person obtaining a copy of this software and associated documentation files the Software to deal in the Software 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
119. Gocator A network command can be used to send a software trigger See Protocols on page 207 for more information For examples of typical real world scenarios see on the next page For information on the settings used with each trigger source see on page 71 Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 69 Example Encoder Conveyor Encoder triggering is used to perform range measurements at a uniform spacing The speed of the conveyor can vary while the object is being measured an encoder ensures that the measurement spacing is consistent independent of conveyor speed Example Time Conveyor Time triggering can be used instead of encoder triggering to perform range 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 range 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
120. I characters the special characters can also contain the following format values Format values for Special Characters Format Value Explanation 9ot Tab New line Carriage return 9696 Percentage 96 symbol 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 Start The Start command starts the sensor system causes it to enter the Running state This command is only valid when the system is in the Ready state If a start target is specified the sensor starts at the target time or encoder depending on the trigger mode Formats Message Format Command Start start target The start target optional is the time or encoder position at which the sensor will be started The time and encoder target value should be set by adding a delay to the time or encoder position returned by the Stamp command The delay should be set such that it covers the command response time of the Start command Reply OK or ERROR Error Message Examples Gocator 1300 Series Protocols ASCII Protocol 267 Command Start Reply OK Command Start 1000000 Reply OK Command Start Reply ERROR Could not start the sensor Stop The stop command stops the sensor system causes it to enter the Ready state This command is valid when the system is in the Ready or Running state Formats Message Format Com
121. Info command is used to retrieve sensor information Command Field Type Offset Description length 64u 0 Command length type 64s 8 Command type 0x5 signature 64u 16 Message signature 0x0000504455494DAC deviceld 64u 24 Serial number of the device whose address information is queried 0 selects all devices Reply Field Type Offset Description length 64u 0 Reply length type 64s 8 Reply type 0x1005 status 64s 16 Operation status For a list of status codes see Commands on page 208 signature 64u 24 Message signature 0x0000504455494DAC attrCount 16u 32 Byte count of the attributes begins after this field and ends before propertyCount id 32u 34 Serial number version 32u 38 Version as a 4 byte integer encoded in little endian uptime 64u 42 Sensor uptime microseconds ipNegotiation byte 50 IP negotiation type 0 Static 1 DHCP addressVersion byte 51 IP address version always 4 address 4 byte 52 IP address reserved 12 byte 56 Reserved prefixLength 32u 68 Subnet prefix length in number of bits gatewayVersion byte 72 Gateway address version always 4 Gocator 1300 Series Protocols Gocator Protocol 211 Field Type Offset Description gatewayAddress 4 byte 73 Gateway address reserved 12 byte 77 Reserved controlPort 16u 89 Control channel port upgradePort 16u 91 Upgrade channel port healthPort 16u 93 Health channel port dataPort 16u 95 Data channel port webPort 16u 9
122. Live 1 Replay buffer Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4522 status 32s 6 Reply status For a list of status codes see Commands on page 208 bufferValid 8u 10 Whether or not the buffer is valid A reply status of 996 means that the current configuration mode sensor type etc does not support simulation A reply status of 992 means that the simulation buffer is empty Note that the buffer can be valid even if the simulation buffer is actually empty due to optimization choices This scenario means that the simulation buffer would be valid if data were recorded Seek Playback The Seek Playback command seeks to any position in the current playback dataset The frame is then sent Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x4503 frame 32u 6 Frame index Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4503 status 32s 6 Gocator 1300 Series Reply status For a list of status codes see Commands on page 208 Protocols Gocator Protocol 233 Step Playback The Step Playback command advances playback by one frame Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x4501 directi
123. Number of bytes transmitted The average number of bytes per second being transmitted Number of dropped Ethernet packets Number of dropped triggers The sum of various triggering related drop indicators Number of dropped output data The sum of all output drops analog digital serial host server and ASCII server The number of bytes dropped by the host data server Not currently emitted The number of bytes dropped by the ASCII Ethernet data server Not currently emitted Number of valid ranges Number of invalid ranges Number of frames with anchoring invalid The number of dropped surfaces due to a lack of z encoder pulse during rotational part detection Protocols Gocator Protocol 251 Indicator Value Pass Fail Max Min Average Std Dev Invalid Count Overflow 30000 30001 30002 30003 30004 30005 30006 30007 30008 Instance Measurement ID Measurement ID Measurement ID Measurement ID Measurement ID Measurement ID Measurement ID Measurement ID Measurement ID Value Measurement Value Number of pass decision Number of fail decision Maximum measurement value Minimum measurement value Average measurement value Measurement value standard deviation Number of invalid values Number of times this measurement has overflown on any output Multiple simultaneous overflows result in only a sinlge increment to this counter Overflow conditions include Value exceeds
124. Protocol 230 Get Recording Enabled The Get Recording Enabled command retrieves whether recording is enabled Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x4517 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4517 status 32s 6 Reply status For a list of status codes see Commands on page 208 enable 8u 10 0 disabled 1 enabled Set Recording Enabled The Set Recording Enabled command enables recording for replay later Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 4516 0 enable 8u 6 0 disabled 1 enabled Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4516 status 32s 6 Clear Replay Data Reply status For a list of status codes see Commands on page 208 The Clear Replay Data command clears the sensors replay data Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 4513 0 Gocator 1300 Series Protocols Gocator Protocol 231 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4513 status 32s
125. SHORT Gocator Gocator product name Get Name STRING 32 TCP IP Object Class OxF5 The TCP IP Object contains read only network configuration attributes such as 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 Attribute Name Type Value Description Access 1 Status UDINT 0 TCP interface status Get 2 Configuration UINT 0 Get Capability 3 Configuration UINT 0 Product code Get Control 4 Physical Link Structure See See 5 3 3 2 4 of CIP Specification Volume 2 Get Object description Path size UINT Path Padded EPATH 5 Interface Structure See See 5 3 3 2 5 of CIP Specification Volume 2 Get Configuration description IP address UDINT Network mask UDINT Gateway address UDINT Name server UDINT Secondary name UDINT Domain name UDINT Ethernet Link Object Class 0xF6 The Ethernet Link Object contains read only attributes such as MAC Address Attribute 3 See Volume 2 Chapter 5 4 of the CIP Specification for a complete listing of Ethernet Link object attributes Gocator 1300 Series Protocols EtherNet IP Protocol 260 Attribute Name Type Value Description Access 1 Interface 1000 Ethernet interface data rate mbps Get Speed 2 Interface Flags UDINT See 5 4 3 2 1 of CIP Specification Volume 2 Get Bit 0 Link Status 0 Inactive 1 Active Bit 1 Duplex 0 Half Dupl
126. Scheduled Start 208 The scheduled start command starts the sensor system system enters the Running state at target time or encoder value depending on the trigger mode For more information on states see Control Commands on page 212 Command Field Type Offset Description length 32u 0 Command size in bytes id 16 4 Command identifier 0 100 target 64s 6 Target scheduled start value in ticks or us depending on the trigger type Reply Field Type Offset Description length 32u 0 Reply size in bytes id 16u 4 Reply identifier 0x100F status 32s 6 Reply status For a list of status codes see Commands on page Gocator 1300 Series 208 Protocols Gocator Protocol 224 Stop The Stop command stops the sensor system system enters the Ready state For more information on states see Control Commands on page 212 Command Field Type Type Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0 1001 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1001 status 32s 6 Reply status For a list of status codes see Commands on page Get Auto Start Enabled The Get Auto Start Enabled command returns whether the system automatically starts after booting 208 Command Field Type Offset Description length 32u 0 Command size including this field in bytes
127. See individual data result sections GDP messages are always sent in groups The Last Message flag in the control field is used to indicate the final message in a group If there is only one message per group this bit will be set in each message Stamp Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier For this message set to 1 count C 32u 6 Count of stamps in this message size 16u 10 Stamp size in bytes min 56 current 56 source 8u 12 Source 0 Main 1 Buddy reserved 8u 13 Reserved stamps C Stamp 14 Array of stamps see below Stamp Field Type Offset Description framelndex 64u 0 Frame index counts up from zero timestamp 64u 8 Timestamp us encoder 64s 16 Current encoder value ticks encoderAtZ 64s 24 Encoder value latched at z index mark ticks status 64u 32 Bit field containing various frame information Gocator 1300 Series Bit 0 sensor digital input state Bit 4 master digital input state Bit 8 9 inter frame digital pulse trigger Master digital input if master is connected otherwise sensor digital input Value is cleared after each frame and clamped at 3 if more than 3 pulses Protocols Gocator Protocol 243 Field Type Offset Description are received serialNumber 32u 40 Sensor serial number main if buddied reserved 2 320 44 Reserved Video Field Type Offset
128. Spacing Units Trigger Delay All Time Time Encoder Encoder Encoder External Input Software External Input To configure the trigger source 1 Gotothe Scan page Selects the trigger source Time Encoder External Input or Software Controls the frame rate Select Max Speed from the drop down to lock to the maximum frame rate Fractional values are supported For example 0 1 can be entered to run at 1 frame every 10 seconds External input can be used to enable or disable ranging in a sensor When this option is enabled the sensor will respond to time or encoder triggers only when the external input is asserted See See Digital Inputs on page 318 for more information on connecting external input to Gocator sensors Specifies how the Gocator sensor is triggered when the target moves Can be Track Backward Ignore Backward or Bi Directional See Triggers on page 67 for more information on these behaviors Specifies the distance between triggers mm Internally the Gocator sensor rounds the spacing to a multiple of the encoder resolution Specifies whether the trigger delay output delay and output scheduled command operate in the time or the encoder domain The unit is implicitly set to microseconds with Time trigger source and millimeters with Encoder trigger source Controls the amount of time or the distance the sensor waits before producing a frame after the external input is activated Thi
129. State 0 Stopped 1 Running 301 Busy Busy State 0 Not busy 1 Busy Registers 302 to 363 below are only valid when the Busy State is not Busy 302 Alignment State Current Alignment State 0 Not aligned 1 Aligned 303 306 Encoder Value 64s Current Encoder value ticks 307 310 Time 64s Current time us 311 Job File Name Length 16u Number of characters in the current job file name 312 371 Live Job Name Current Job Name Name of currently loaded job file Does not include the extension Each 16 bit register contains a single character Stamp Stamps contain trigger timing information used for synchronizing a PLC s actions A PLC can also use this information to match up data from multiple Gocator sensors Stamps are updated after each range data is processed Gocator 1300 Series Protocols Modbus Protocol 6 Stamp Register Map Register Address 976 977 978 979 980 981 982 983 984 985 986 987 988 989 990 991 992 993 994 995 996 997 998 999 Name Type Buffer Advance Buffer Counter Buffer Overflow Inputs zPosition High 64s zPosition zPosition zPosition Low Exposure High 32u Exposure Low Temperature High 32u Temperature Low Position High 64s Position Position Position Low Time Low 64u Time Time Time Low Frame Index High 64u Frame Index Frame Index Fame Index Low Measurement Registers Measurement results are reported in pairs of values a
130. The bars indicate how close the target is to the near end more bars farther to the right or the far end fewer bars farther to the left of the measurement range In the image below the bars indicate that at 45 773 mm the target is close to the near end of the measurement range of that sensor The Intensity value is on a scale of 0 to 255 and indicates the intensity at the laser point The bars provide a graphical representation of this value The Acquire Intensity option must be enabled in the Scan Mode panel for the Intensity value and bar to be displayed The Measurement value indicates the measured value of the target If the measured value falls between the Min and Max decision values a pass decision the measurement and bars are green The bars indicate graphically where between the Min and Max decision values the measured value falls If the measured value falls outside the Min and Max decision values a fail decision the measurement is red and no bars are displayed If the measurement is invalid a indicator is displayed instead of a value and the bars and this indicator are red Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 90 1 Range Range Position 21 View Range v Top du In a dual sensor system the sensor used to display ranges can be selected Range Range Thickness Thickness View Range Right To manually select the display vi
131. V Selected profile sources 0 Top 1 Bottom 2 Top left 3 Top right Profiles options 32s CSV List of available profile sources see above Surfaces 32s CSV Selected surface sources 0 Top 1 Bottom 2 Top left 3 Top right Surfaces options 32s CSV List of available surface sources see above Rangelntensities 32s CSV Selected range intensity sources Gocator 1300 Series Gocator Device Files Job Files 200 Element Type Description 0 Top 1 Bottom 2 Top left 3 Top right Rangelntensities options 32s CSV List of available range intensity sources see above Profilelntensities 32s CSV Selected profile intensity sources 0 1 Bottom 2 Top left 3 Top right Profilelntensities options 32s CSV List of available profile intensity sources see above Surfacelntensities 32s CSV Selected surface intensity sources 0 Top 1 Bottom 2 Top left 3 Top right Surfacelntensities options 32s CSV List of available surface intensity sources see above Measurements 32u CSV Selected measurement sources Measurements options 32u CSV List of available measurement sources Ascii Ascii Child Elements Element Type Description Operation 32s Operation mode 0 Asynchronous 1 Polled ControlPort 32u Control service port number HealthPort 32u Health service port number DataPort 32u Data service port number Delimiter String Field delimiter Terminator String Line terminato
132. a strip and then return measurements See Strip Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel The Strip tool lets you add multiple measurements of the same type to receive measurements and set decisions for multiple strips Multiple measurements are added by using the drop down above the list of measurements and clicking on the Add button For example if a target has three strips by adding two measurements choosing Index From The Left in the Select Type setting and providing values of 1 and 3 in the Index of field of the measurements respectively the Strip tool will return measurements and decisions for the first and third strip Measurements Measurement Illustration Width Width 7 Measures the width of a strip Gocator 1300 Series Gocator Web Interface Measurement 128 Measurement Illustration Height Measures the height of a strip Height Height A Lr Height amp 2 Measures the X position of a strip J 2 2 Measures the 2 position of a strip X Z p Parameters 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 Wh
133. age Differential Threshold Voltage Function Pins Max Data Rate Min Max Min Typ Max Encoder A ZV 12V 200 mV 125 mV 50 mV 1 MHz Encoder B LK 7 12V 200 mV 125 mV 50 mV 1 MHz Ecnoder Z L 7V 12V 200 mV 125 mV 50 mV 1 MHz D Gocator only supports differential RS485 signalling Both and signals must be connected Encoders are normally specified in pulses per revolution where each pulse is made up of the four quadrature signals A B B Because Gocator reads each of the four quadrature signals you should choose an encoder accordingly given the resolution required for your application Gocator 1300 Series Specifications Gocator 1300 Connector 319 Serial Output Serial RS 485 output is connected to Serial out as shown below Function Pins Serial out B C SERIAL OUTPUT Serial out SERIAL Serial out SERIAL Selcom Serial Output Serial RS 485 output is connected to Serial_out and Serial_out2 as shown below Function Pins Serial_out data B C Serial_out2 clock E G SELCOM_SERIAL_CLOCK_OUTPUT Serial_out SERIAL Serial 00 SERIAL SELCOM SERIAL DATA 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 P F 4 20 Gocator 1300 Series Specifications Gocator 1
134. amage to the serial and encoder connections See Gocator 1300 I O Connector on page 317 for a description of connector pins Use a suitable power supply The 24 to 48 VDC power supply used with Gocator sensors should be an isolated supply with inrush current protection or be able to handle a high capacitive load Use care when handling powered devices Wires connecting to the sensor should not be handled while the sensor is powered Doing so may cause electrical shock to the user or damage to the equipment Environment and Lighting Avoid strong ambient light sources The imager used in this product is highly sensitive to ambient light hence stray light may have adverse effects on measurement Do not operate this device near windows or lighting fixtures that could influence measurement If the unit must be installed in an environment with high ambient light levels a lighting shield or similar device may need to be installed to prevent light from affecting measurement Avoid installing sensors in hazardous environments To ensure reliable operation and to prevent damage to Gocator sensors avoid installing the sensor in locations e that are humid dusty or poorly ventilated e with a high temperature such as places exposed to direct sunlight e where there 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 elec
135. ar Replay Data 231 Get Playback Source 232 Set Playback Source 232 Sim late 2 233 Seek Playback 233 Step Playback 234 Playback Position 234 Clear Measurement Stats 234 Clear Eo RES 235 Simulate Unaligned 235 ACQUIING 235 Acquire Unaligned 236 Create Model 236 Detect SOS 220 237 237 Add Measurement 237 Read File Progressive 238 Export CSV Progressive 239 Export Bitmap Progressive 240 Upgrade Commands 240 Start Upgrade 241 Start Upgrade Extended 241 Get Upgrade Status 241 Get Upgrade Log 242 20121440 242 Data 242 243 244 245 Rangelntensity gt 245 Profile 246 Profile Intensity 246 Measuremient 247 Alignment Result 247 Exposure Calibration Result 248 Health Results 248 6 Modbus Protocol 253 Concepts
136. arious methods to generate a profile see on page 84 Part detection can be enabled on a profile to identify discrete parts see on page 87 Video images are processed internally to produce laser profiles and cross sectional measurements Acquire Intensity When this option is enabled an intensity value will be produced for each laser range Atrigger is an event that causes a sensor to take a single picture Triggers are configured in the Trigger panel on the Scan page Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 67 When a trigger is processed the laser is 5070060 and the camera exposes to produce an image The resulting image is processed inside the sensor to yield a laser range distance information which can then be used for measurement The laser and camera inside a sensor can be triggered by one of the following sources Trigger Source Description Time Sensors have an internal clock that can be used to generate fixed frequency triggers The external input can be used to enable or disable the time triggers Encoder An encoder can be connected to provide triggers in response to motion Three encoder triggering behaviors are supported These behaviors are set using the Behavior setting Track Backward A scanis triggered when the target object moves forward If the target object moves backward it must move forward by at least the distance that the target travelled backward this distance backward
137. as what is shown above Out 1 Out1 R SE USER GND USER GND Digital Inputs Every Gocator sensor has a single optically isolated input To use this input without an external resistor supply 3 3 24 V to Pin D and GND to Pin H Trigger in 3 3V to 24V Digital Input Vdata HD 5 USER GND Active High If the supplied voltage is greater than 24 V connect an external resistor in series to Pin D The resistor value should Vin 1 2V 10mA 680 Gocator 1300 Series Specifications Gocator 1300 Connector 318 Digital Input Vdata Trigger 3 3V to 24V VIN Active Low To assert the signal the digital input voltage should be set to draw a current of 3 mAto 40 mA from Trigger In The current that passes through Trigger is Vin 1 2 Vdata 680 To reduce noise sensitivity we recommend leaving a 2096 margin for current variation i e uses a digital input voltage that draws 4mA to 25mA Function Pins Min Voltage Max Voltage Min Current Current Min Pulse Width Trigger in DH 33V 24 3mA 40 mA 20 us Encoder Input Encoder input is provided by an external encoder and consists of three RS 485 signals These signals are connected to Encoder A Encoder B and Encoder 7 B Encoder_B B Encoder_B Z Encoder_Z 7 2 Encoder A Encoder A Common Mode Volt
138. assed by values Pointers are not supported Measurement Functions Function Description int Measurement Exists int id int Measurement Valid int id double Measurement Value int id int Measurement Decision int id Gocator 1300 Series Determines if a measurement exists by ID Parameters id Measurement ID Returns 0 measurement does not exist 1 measurement exists Determines if a measurement value is valid by its ID Parameters id Measurement ID Returns 0 Measurement is invalid 1 Measurement is valid Gets the value of a measurement by its ID Parameters id Measurement ID Returns Value of the measurement 0 if measurement does not exist 1 if measurement exists Gets the decision of a measurement by its ID Parameters ID Measurement ID Returns Decision of the measurement 0 if measurement decision is false 1 If measurement decision is true Gocator Web Interface Measurement 133 Function Description int Measurement NamekExists char toolName Determines if a measurement exist by name char measurementName int Measurement Id char toolName char measurementName Output Functions Function void Output_Set double value int decision void Output_SetAt unsigned int index double value int decision void Output Setld int id double value int decision Gocator 1300 Series Parameter toolName Tool name measurementName Measurem
139. ateway 0 0 0 use Set Address Refresh Factory Restore Any sensors that are discovered on the network will be displayed in the Devices list To change the network address of a sensor 1 Tochange the network address of a sensor 2 Selectthe Custom option 3 Enterthe new network address information 4 Pressthe Set Address button To restore a sensor to factory defaults 1 Selectthe sensor serial number in the Devices list 2 Pressthe Factory Restore button Confirm when prompted 287 The Sensor Discovery tool uses UDP broadcast messages to reach sensors different 0 subnets This enables the Sensor Discovery tool to locate and re configure sensors even when the sensor IP address or subnet configuration is unknown CSV Converter Tool After you have exported recorded data to CSV you can use the Gocator CSV Converter Tool to convert the exported part data into the following formats e ASCII XYZI e 16 bit BMP e 16 bit PNG e GenTL e e STL e HexSight HIG e ODSCAD s OMC format You can get the tool package 14405 x x x x_SOFTWARE_GO_Tools zip from the LMI Technologies website at http Imi3d com support downloads Click on the link for your sensor click on Product User Area and log in For more information on exporting recorded data see see Downloading Uploading and Exporting Replay Data on page 46 After downloading the tool package unzip the file and run th
140. ation 0 Stationary 1 Moving Type options 32s CSV List of available alignment types StationaryTarget 32s Stationary alignment target 0 None 1 Disk 2 Bar 3 Plate StationaryTarget options 32s CSV List of available stationary alignment targets MovingTarget 32s Moving alignment target 0 None 1 Disk 2 Bar 3 Plate MovingTarget options 32s CSV List of available moving alignment targets EncoderCalibrateEnabled Bool Enables encoder resolution calibration Disk Section See Disk on the next page Bar Section See Bar on the next page Plate Section See Plate on the next page Gocator 1300 Series Gocator Device Files Job Files 172 Disk Devices Device Disk Child Elements Element Type Description Diameter 64f Disk diameter mm Height 64f Disk height mm Bar Bar Child Elements Element Type Description Width 64f Bar width mm Height 64f Bar height mm HoleCount 32u Number of holes HoleDistance 64f Distance between holes mm HoleDiameter 64f Diameter of holes mm Plate Plate Child Elements Element Type Description Height 64f Plate height mm HoleCount 32u Number of holes RefHoleDiameter 64f Diameter of reference hole mm SecHoleDiameter 64f Diameter of secondary hole s mm Devices Device Child Elements Element Type Description role 32s Sensor role 0 Main 1 Buddy DataSource 32s Data source of device output read only 0 Top 1 Bottom
141. ation component of the active job as an XML file either using path notation live job config xml or directly live cfg You can access the Configuration component in user created job files in non volatile storage for example productionRunO1 job config xml You can only access configurations in user created job files using path notation See the following sections for the elements contained in this component Configuration Child Elements Element Type Description version 32u Configuration version 101 versionMinor 32u Configuration minor version 3 Setup Section See Setup below for a description of the Setup elements ToolOptions Section List of available tool types and their information See Too Options on page 182 for details Tools Collection Collection of sections Each section is an instance of tool and is named by the type of the tool it describes For more information see the sections for each tool under Tools on page 182 Tools options String CSV List of available tool types Output Section See Output on page 199 for a description of the Output elements The Setup element contains settings related to system and sensor setup Setup Child Elements Element Type Description TemperatureSafetyEnabled Bool Enables laser temperature safety control TemperatureSafetyEnabled Bool Whether or not this property is used used ScanMode 32s The default scan mode ScanMode options String CSV
142. ator 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 on page 52 for more information on orientations Standalone Orientations Single sensor above conveyor Gocator 1300 Series Getting Started Installation 27 Single sensor on robot arm Dual Sensor System Orientations MAIN BUDDY CLEARANCE DISTANCE CD 2 2 MEASUREMENT RANGE MR 2208 Side by side for wide area measurement Wide Main must be on the left side when looking into the connector of the Buddy Wide Gocator 1300 Series Getting Started Installation 28 J 1 CLEARANCE DISTANCE CD 4 MEASUREMENT RANGE MR x EY CLEARANCE DISTANCE CD BUDDY Above below for two sided measurement Opposite Main must be on the top with Buddy at the bottom Opposite Gocator 1300 Series Getting Started Installation 29 Network Setup The following sections provide procedures for client PC and Gocator network setup Client Setup Sensors are shipped with the f
143. ay 64 Output delay us mm depending on delay domain defined below DelayDomain 32s Output delay domain 0 Time us 1 Encoder mm Measurements 32u CSV Selected measurement sources Measurements options 32u CSV List of available measurement sources Analog The Analog element defines settings for analog output The range of valid measurement values DataScaleMin DataScaleMax is scaled linearly to the specified current range CurrentMin Current Max Only one Value or Decision source can be selected at a time Gocator 1300 series sensors are limited to sending data at 10 kHz over the analog output channel Therefore if you configure a sensor so that it runs at a speed higher than 10 kHz and configure a measurement to be sent on the analog channel you will get analog data drops To achieve a 10 kHz analog output rate you must enable and configure scheduled output Analog Child Elements Element Type Description Event 32s Triggering event 0 None disabled 1 Measurements 2 Software ScheduleEnabled Bool Enables scheduling CurrentMin 64f Minimum current mA CurrentMin min 64f Minimum value of minimum current mA CurrentMin max 64f Maximum value of minimum current mA CurrentMax 64f Maximum current mA CurrentMax min 64f Minimum value of maximum current mA CurrentMax max 64f Maximum value of maximum current mA CurrentInvalidEnabled Bool Enables special current value for invalid measurement value
144. ayback see To replay data in Recording Playback and Measurement Simulation on page 45 Optionally convert exported data to another format using the CSV Converter Tool For information on this tool see CSV Converter Tool on page 288 N Log The log located at the bottom of the web interface is a centralized location for all messages that the Gocator displays including warnings and errors Clear Log Errors Warnings Information o 7 8 2014 2 22 57 PM Error message 7 8 2014 2 23 23 Warning message 7 8 2014 2 23 40 PM Infomation message A number indicates the number of unread messages To use the log 1 Click on the Log open button at the bottom of the web interface 2 Click on the appropriate tab for the information you need The Metrics area displays two important sensor performance metrics CPU load and speed current frame rate Gocator 1300 Series Gocator Web Interface User Interface Overview 48 The CPU bar the Metrics panel at the top of the interface displays how much of the CPU is being utilized A warning symbol amp will appear next to the CPU bar if the sensor drops rangesbecause the CPU is over loaded CPU 100 96 A CPU Warning x Sp m 199 Hz Processing drops detected CPU at 10096 CPU warning message The Speed bar displays the frame rate of the sensor A warning symbol will appear next to it if triggers external input or encoder are dropped be
145. be assigned unique passwords By default passwords are blank empty To setor change the password for the Administrator account 1 Goto the Manage page and click on the Security category 2 Inthe Administrator section enter the Administrator account password and password confirmation 3 Click Change Password The new password will be required the next time that an administrator logs in to the sensor set or change the password for the Technician account 1 Goto the Manage page and click on the Security category 2 Inthe Technician section enter the Technician account password and password confirmation 3 Click Change Password The new password will be required the next time that a technician logs in to the sensor If the administrator or technician password is misplaced the sensor can be recovered using a special software tool See Sensor Recovery Tool on page 287 for more information Maintenance The Maintenance category in the Manage page is used to do the following e upgrade the firmware and check for firmware updates e backup and restore all saved jobs and recorded data e restore the sensor to factory defaults e reset the sensor Gocator 1300 Series Gocator Web Interface System Management and Maintenance 60 Sensor System Firmware Layout and Buddy assignment Upgrade firmware and check for latest release Networking IP address settings Current Version 4 3 3 141 Motion and Alignment Upgrade
146. bnet Mask 255 255 255 0 Gateway 0 0 0 0 disabled Use the Get Address and Set Address commands to modify a sensor s network configuration These commands are UDP broadcast messages Destination Address Destination Port 255 255 255 255 3220 When a sensor accepts a discovery command it will send a UDP broadcast response Destination Address Destination Port 255 255 255 255 Port of command sender The use of UDP broadcasts for discovery enables a client computer to locate a sensor when the senor and client are configured for different subnets All you need to know is the serial number of the sensor in order to locate it on an IP network Get Address The Get Address command is used to discover Gocator sensors across subnets Command Field Type Offset Description length 64u 0 Command length type 64s 8 Command type 0x1 signature 64u 16 Message signature 0x0000504455494DAC deviceld 64u 24 Serial number of the device whose address information is queried 0 selects all devices Gocator 1300 Series Protocols Gocator Protocol 209 Reply Field Type Offset Description length 64u 0 Reply length type 64s 8 Reply type 0x1001 status 64s 16 Operation status signature 64u 24 Message signature 0x0000504455494DAC deviceld 64u 32 Serial number dhcpEnabled 64u 40 0 Disabled 1 Enabled reserved 4 byte 48 Reserved address 4 byte 52 The IP address in left to right order reserved 4 byte 56 Reserve
147. cally see on page 93 Tools Panel The Tools panel lets you add configure and manage tools Tools contain related measurements Some settings apply to tools and therefore to all measurements whereas some settings apply to specific measurements See Range Measurement on page 104 for information on the measurement tools and their settings D Tool names in the user interface include the scan mode but not in the manual So for example you will see Range Position in the user interface but simply Position in the manual Adding and Removing Tools Adding a tool adds all of the tool s measurements to the Tools panel which can then be enabled and configured selectively Tools Range Position Add Range Thickness Script To add tool 1 Goto the Scan page by clicking on the Scan icon 2 Choose Range mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 3 Goto the Measure page by clicking on the Measure icon 4 Inthe Tools panel select the tool you want to add from the drop down list of tools 5 Click on the Add button in the Tools panel The tool and its available measurements will be added to the tool list The tool parameters will be listed in the configuration area below the tool list To remove a tool 1 Goto the Scan page by clicking on the Scan icon 2 Choose Range mode in the Scan Mode panel If this modeone of these modes is not selected too
148. can test jobs evaluate data and even learn more about new features rather than take a physical device off the production line to do this You can also use a virtual sensor to familiarize yourself with the overall interface if you are new to Gocator D The Gocator emulator is only supported on Windows 7 and 8 Gocator Emulator cole Gocator Emulator Replay Protection Data displayed is simulated from recording Manage scan 7 1 Output Dashboard Press Play to begin simulation ES Replay Mode Enabled Ww e 501 default 1 5 5 5 2 67014 Replay GN Decision Emulator showing a range in recorded data A measurement is applied to the recorded data Limitations In most ways the emulator behaves like a real sensor especially when visualizing data setting up models and part matching and adding and configuring measurement tools The following are some of the limitations of the emulator e Changes to job files in the emulator are not persistent they are lost when you close or restart the emulator However you can keep modified jobs by first saving them and then downloading them from the Jobs list on the Manage page to a client computer The job files can then be loaded into the emulator at a later time or even onto a physical sensor for final testing e Performing alignment in the emulator has no effect and will never complete e Only one instance can be run at a time Fo
149. cator Web Interface System Management and Maintenance 62 If a new version of the firmware is available follow the instructions to download it to the client computer If the client computer is not connected to the Internet firmware can be downloaded and transferred to the client computer by using another computer to download the firmware from LMI s website http www Imi3D com support downloads To upgrade the firmware 1 2 Go to the Manage page and click on the Maintenance category Click the Upgrade button in the Firmware section 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 The Support category in the Manage page is used to e open an HTML version or download a PDF version of the manual e download the SDK e Save a support file e get device information Manage Sensor System Device Information Layout and Buddy assignment Part Number 311320 2M 01 Serial 13434 Networking IP address settings Version 4 3 3 138 speed Download a support file which contains all jobs data and current state of the sensor Jobs Download upload and set default Filename support Security Description Admin and Technician passwords Maintenance Upgrade backup restore reset Support Manual support file and SDK Downl
150. cause the external rate exceeds the maximum frame rate In both cases a warning message will be temporarily displayed in the lower right corner of the web interface Click on the warning symbol to redisplay the warning message Open the log for details on the warning See Log on the previous page for more information The data viewer is displayed in both the Scan and the Measure pages but displays different information depending on which page is active When the Scan page is active the data viewer displays sensor data and can be used to adjust regions of interest Depending on the selected operation mode page 67 the data viewer can display video images or ranges 3D profiles For details see Data Viewer on page 89 When the Measure page is active the data viewer displays sensor data onto which representations of measurement tools and their measurements are superimposed For details see Data Viewer on page 95 Gocator 1300 Series Gocator Web Interface User Interface Overview 49 System Management and Maintenance The following sections describe how to set up the sensor connections and networking how to calibrate encoders and choose alignment reference and how to perform maintenance tasks Manage Page Overview Gocator s system and maintenance tasks are performed on the Manage page 0 9 CPU Speed Manage Scan Measure Output Dashboard a xS s Job5 default Sensor System Main
151. ce Align To prepare for alignment 1 Choose an alignment reference in the Manage page if you have not already done so See Alignment Reference on page 56 for more information 2 Gotothe Scan page 3 Choose Range or Profile mode in the Scan Mode panel depending on the type of measurement whose decision you need to configure If one of these modes is not selected tools will not be available in the Measure panel 4 Expandthe Alignment panel by clicking on the panel header or the button 5 Ensure that all sensors have a clear view of the target surface Remove any irregular objects from the sensor s field of view that might interfere with alignment To perform alignment for stationary targets 1 Inthe Alignment panel select Stationary as the Type 2 Clearthe previous alignment if present Press the Clear Alignment button to remove an existing alignment 3 Select an alignment Target e Select Flat Surface to use the conveyor surface or other flat surface as the alignment reference e Select Bar to use a custom calibration bar If using a calibration bar specify the bar dimensions and reference hole layout See Calibration Targets on page 22 for details Configure the characteristics of the target Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 81 4 5 75 Alignment UNALIGNED Type Stationary E Target Bar Height 10 mm Width 1
152. censes 337 Support For assistance regarding a component or product please contact LMI Technologies World Email support Imi3D com Web http www mi3D com North America Phone 1 604 636 1011 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 1300 Series 338 Contact Americas EMEAR ASIA PACIFIC LMI Technologies Head Office LMI Technologies GmbH LMI Shanghai Trading Co Ltd Vancouver Canada Berlin Germany Shanghai China 1 604 636 1011 49 0 3328 9360 0 86 21 5441 0711 LMI Technologies has sales offices and distributors worldwide All contact information is listed at Imi3D com contact locations Gocator 1300 Series 339
153. con 2 Choose Range or Profile mode in the Scan Mode panel depending on the type of measurement whose regions you need to configure If one of these modes is not selected tools will not be available in the Measure panel 3 Goto the Measure page by clicking on the Measure icon 4 Inthe Tools panel click on a tool in the tool list 5 Expandthe region area by clicking on the expand button Some region settings are found within other settings in this area 6 Configure the region using the fields or graphically using the mouse in the data viewer Decisions Results from a measurement can be compared against minimum and maximum thresholds to generate pass fail decisions The decision state is pass if a measurement value is between the minimum and maximum threshold In the user interface these values are displayed in green Otherwise the decision state is fail In the user interface these values are displayed in red Filters Decision Min 1 mm Max mm Value 5 736 within decision thresholds Min 5 Max 6 Decision Pass Gocator 1300 Series Gocator Web Interface Measurement 100 Filters Decision Min 13 mm Max 12 mm Value 13 880 outside decision thresholds Min 13 Max 12 Decision Fail Along with measurement values decisions can be sent to external programs and devices In particular decisions are often used with digital outputs to trigger an external event in
154. 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 Gocator 1300 Series Safety and Maintenance Laser Safety 12 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 a location that would require human exposure to the laser emissions User must ensure that the emission indicator if supplied by OEM is visible when viewed through protective eyewear Warning Signs Laser warning signs must be located in the vicinity of the sensor such that they will be readily observed Examples of laser warning signs are as follows CAUTION INVISIBLE AND OR VISIBLE LASER RADIATION AVOID DIRECT EXPOSURE TO BEAM CLASS 3B LASER LIGHT AVOID EXPOSURE PEAK POWER 100mw IEC 60825 1 2007 TO THE BEAM WAVELENGTH 600 780 CLASS LASER PRODUCT FDA warning sign example IEC warning sign example Systems Sold Used the USA Systems that incorporate laser components or laser products manufactured by LMI Technologies require certificatio
155. cquiring data using these data types D See Setup and Locations on page 277 for more information on the code samples Gocator 1300 Series Software Development Kit 280 GoDataSet Data are passed to the data handler a GoDataSet object The GoDataSet object is a container that can contain any type of data including scan data ranges measurements and results from various operations Data inside the GoDataSet object are represented as messages The following illustrates the content of a GoDataSet object of a range mode setup with two measurements GoDataSet Header GoStampMsg GoRangeMsg GoMeasurementMsg for measurement ID 0 GoMeasurementMsg for measurement ID 1 After receiving the GoDataSet object you should call GoDestroy to dispose the GoDataSet object You do not need to dispose objects within the GoDataSet object individually All objects that are explicitly created by the user or passed via callbacks should be destroyed D by using the GoDestroy function Measurement Values and Decisions Measurement values and decisions are 32 bit signed values k32s See Value Types on the previous page for more information on value types The following table lists the decisions that can be returned Measurement Decisions Decision Description 1 The measurement value is between the maximum and minimum decision values This is a pass decision 0 The measurement value is outside the maximum and minimum
156. d subnetMask 4 byte 60 The subnet mask in left to right order reserved 4 byte 64 Reserved gateway 4 byte 68 The gateway address in left to right order reserved 4 byte 72 Reserved reserved 4 byte 76 Reserved Set Address The Set Address command modifies the network configuration of a Gocator sensor On receiving the command the Gocator will perform a reset You should wait 30 seconds before re connecting to the Gocator Command Field Type Offset Description length 64u 0 Command length type 64s 8 Command type 0x2 signature 64u 16 Message signature 0x0000504455494DAC deviceld 64u 24 Serial number of the device whose address information is queried 0 selects all devices dhcpEnabled 64u 32 0 Disabled 1 Enabled reserved 4 byte 40 Reserved address 4 byte 44 The IP address in left to right order reserved 4 byte 48 Reserved subnetMask 4 byte 52 The subnet mask in left to right order reserved 4 byte 56 Reserved gateway 4 byte 60 The gateway address in left to right order reserved 4 byte 64 Reserved reserved 4 byte 68 Reserved Gocator 1300 Series Protocols Gocator Protocol 210 Reply Field Type Offset Description length 64u 0 Reply length type 64s 8 Reply type 0x1002 status 64s 16 Operation status For a list of status codes see Commands on page 208 signature 64u 24 Message signature 0x0000504455494DAC deviceld 64u 32 Serial number Get Info The Get
157. d signal If Signal is set to Continuous the signal state is maintained until the next transition occurs If Signal is set to is Pulsed you must specify the pulse width and how it is scheduled Gocator 1300 Series Gocator Web Interface Output 143 Specify a pulse width using the slider The pulse width is the duration of the digital output pulse in microseconds Specify whether the output is immediate or scheduled Check the Scheduled option if the output needs to be scheduled A scheduled output becomes active after a specified delay from the start of Gocator exposure A scheduled output can be used to track the decisions for multiple objects as these objects travel from the sensor to the eject gates The Delay setting specifies the distance from the sensor to the eject gates An immediate output becomes active as soon as measurement results are available The output activates after the sensor finishes processing the data As a result the time between the start of sensor exposure and output activates can vary and is dependent on the processing latency The latency is reported in the dashboard and in the health messages Specify a delay The delay specifies the time or spatial location between the start of sensor exposure and when the output becomes active The delay should be larger than the time needed to process the data inside the sensor It should be set to a value that is larger than the processing latency reported in the dashboard
158. dX Area tool CentroidX measurement measurement Measurements CentroidZ Area tool CentroidZ measurement measurement Area Tool Measurement Element Type Description id 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold ProfileBoundingBox A ProfileBoundingBox element defines settings for a profile bounding box tool and one or more of its measurements ProfileBoundingBox Child Elements Element Type Description Name String Tool name Gocator 1300 Series Gocator Device Files Job Files 186 Element Type Description Source 32s Profile source Anchor WX String CSV The X measurements IDs used for anchoring AnchorW options Anchor Z Anchor Z options RegionEnabled Region Measurements X Measurements Z Measurements Width Measurements Height Measurements GlobalX String CSV String CSV String CSV Bool ProfileRegion2d Bounding Box tool measurement Bounding Box tool measurement Bounding Box tool measurement Bounding Box tool measurement
159. describe the Sensor System category on the Manage page This category lets you choose the layout standalone or dual sensor systems and provides other system settings Sensor System Main Buddy Layout and Buddy assignment Status Model 1320 status TZ Model IP address settings Version 4 3 3 141 Serial 13434 Version Serial Motion and Alignment Master Bl Autostart Master Encoder resolution and travel speed Layout Visible Sensors Jobs Download upload and set default Normal Serial Model Version State Security Admin and Technician passwords Maintenance Upgrade backup restore reset 2 Support Main sensor e Manual support file and SDK 4 D Dual sensor layouts are only displayed when a Buddy sensor has been assigned Sensor Autostart With the Autostart setting enabled laser ranging profiling and measurement functions will begin automatically when the sensor is powered on Autostart must be enabled if the sensor will be used without being connected to a computer Main Status Model 1350 Version 4 3 3 141 Serial 12078 Master Autostart To enable disable Autostart 1 Goto the Manage page and click on the Sensor System category 2 Check uncheck the Autostart option in the Main section Gocator 1300 Series Gocator Web Interface System Management and Maintenance 51 Dual Sensor System Layout Mounting orientations must be specified for a dual
160. e Description lt Tool Names gt Collection collection of tool name elements An element for each tool type is present Tool Name Child Elements Element Type Description displayName String Display name of the tool isCustom Bool Reserved for future use MeasurementOptions Collection See MeasurementOptions below MeasurementOptions MeasurementOptions Child Elements Element Type Description Measurement Names Collection A collection of measurement name elements An element for each measurement is present Measurement Name Child Elements Element Type Description displayName String Display name of the tool minCount 32u Minimum number of instances in a tool maxCount 32u Maximum number of instances in a tool Tools The Tools element contains measurement tools The following sections describe each tool and its available measurements Tools Child Elements Element Type Description options String CSV A list of the tools available in the currently selected scan mode lt ToolType gt Section An element for each added tool Profile Types The following types are used by various measurement tools ProfileFeature An element of type ProfileFeature defines the settings for detecting a feature within an area of interest Gocator 1300 Series Gocator Device Files Job Files 182 ProfileFeature Child Elements Element Type Description Type 32s Determine how the feature is det
161. e Gocator CSV Converter tool bin gt win32 gt kCsvConverter exe r Gocator CSV Converter Tool Setup CSV C WhiholTools playgroundYCsvToAsciidata replay part csv Intensity B Output Format ASCII txt x Convert File C chiho Tools playground CsvToAsci data veplay part txt Select input CSV and intensity files and then press the Convert button Close Is 4 D The software tool supports data exported from Surface mode To convert exported CSV into different formats 1 Select the CSV file to convert 2 If intensity information is required check the Intensity box and select the intensity bitmap Intensity information is only used when converting to ASCII or GenTL format If intensity is not selected Gocator 1300 Series Tools CSV Converter Tool 288 the ASCII format will only contain the point coordinates XYZ 3 Ifa dual sensor system was used use the Image spin box to select the source sensor Use 0 for the Main sensor 1 for the Buddy sensor 4 Selectthe 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 5 Press the Convert button Gocator 1300 Series Tools CSV Converter Tool 289 Troubleshooting Review the guidance in this chapter if you are experiencing difficulty with a Gocator sensor syste
162. e Jobs category on the Manage page lets you manage the jobs in the emulator Manage Sensor System Jobs Layout and Buddy assignment Job1 loaded default Download Job2 Networking IP address settings Upload Motion and Alignment Encoder resolution and travel speed Jobs Load Download upload and set default Delete Security Admin and Technician passwords Maintenance Upgrade backup restore reset 2 Support e Manual support file and SDK Name Save Element Description Name field Used to provide a job name when saving files Jobs list Displays the jobs that are currently saved in the emulator Save button Saves current settings to the job using the name in the Job Name field Changes to job files are not persistent in the emulator To keep changes first save changes in the job file and then download the job file to a client computer See the procedures below for instructions Load button Loads the job that is selected in the job list Reloading the current job discards any unsaved changes Delete Deletes the job that is selected in the job list button Set as Setting a different job as the default is not persistent in the emulator The job set as default when the Default support file used to create a virtual sensor was downloaded is used as the default whenever the button emulator is started Download Downloads the selected job to the client computer button Upload U
163. e Snapshot button instead of the Start button to capture a laser range If the laser flashes when you use the Snapshot button but not when you use the Start button then the problem could be related to trig gering See Triggers on page 67 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 1300 Series 290 e Verify that the measurement target is within the sensor s field of view and measurement range See Spe cifications on page 292 to review the measurement specifications for your sensor model e Check that the exposure time is set to a reasonable level See Exposure on page 75 for more information on configuring exposure time Performance The sensor CPU level is near 10096 e Consider reducing the speed If you are using a time or encoder trigger source see Triggers on page 67 for information on reducing the speed If you are using an external input or software trigger consider reducing the rate at which you apply triggers e Review the measurements that you have programmed and eliminate any unnecessary measurements Gocator 1300 Series Troubleshooting 291 Specifications The following sections describe the specifications of the Gocator and its associated hardware 292 Gocator 1300 Series The Gocator 1300 series consists of the sensor models defined below MODEL 1320 1340 1350 1365 137
164. e Upload menu choose one of the following e Upload Unloads the current job and creates a new unsaved and untitled job from the content of the replay data file e Upload and merge Uploads the replay data and merges the data s associated job with the current job Specifically the settings on the Scan page are overwritten but all other settings of the current job are preserved including any measurements 3 Navigate to the replay data to upload from the client computer and click OK The replay data is loaded and a new unsaved and untitled job is created Replay data can be exported using the CSV format If you have enabled Acquire Intensity in the Scan Mode panel on the Scan page the exported CSV file includes intensity data Job1 default E 3 eim 8 Range data as CSV 4l To export replay data in the CSV format 1 Click the Export button 7 and select Export Range Data as CSV In Profile mode all data in the record buffer is exported data atthe current replay location is exported Use the playback control buttons to move to a different replay location for information on playback see To replay data in Playback and Measurement Simulation on page 159 Gocator 1300 Series Gocator Emulator Working with Jobs and Data 161 2 Optionally convert exported data to another format using the CSV Converter Tool For information on this tool see CSV Converter Tool on page 288 Downloading and Uploading Jobs Th
165. e output register see on page 256 to advance the queue before reading the measurement results For information on configuring the protocol using the Web interface see Ethernet Output on page 139 A PLC sends a command to start each Gocator The PLCthen 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 protocol uses TCP for connection and messaging The PLC makes a TCP connection to the Gocator on port 502 Control and data messages are communicated on this TCP connection Up to eight clients can be connected to the Gocator simultaneously A connection closes 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 payload 4 gt a gt MBAP Header MBAP Data The MBAP header contains the following fields Gocator 1300 Series Protocols Modbus Protocol 3 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 Length 1 Byte count of the rest of the message including the Unit identifier a
166. e request is received on See Data Commands on page 270 for more information The Health channel is used to receive health indicators see Health Commands on page 273 Commands are sent from the client to the Gocator Command strings are not case sensitive The command format is lt COMMAND gt lt DELIMITER gt lt PARAMETER gt lt TERMINATION gt If acommand has more than one parameter each parameter is separated by the delimiter Similarly the reply has the following format lt STATUS gt lt DELIMITER gt lt OPTIONAL RESULTS gt lt DELIMITER gt Gocator 1300 Series Protocols ASCII Protocol 266 The status can either be OK ERROR The optional results can be relevant data 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 ASCI
167. e running state and results become available Over Ethernet communication can be asynchronous or use polling For more information on polling commands see The protocol communicates using ASCII strings The output result format from the sensor is user configurable To use the ASCII protocol it must be enabled and configured in the active job 2 The Gocator 4 x firmware uses mm mm mm3 and degrees as standard units In all protocols D values are scaled by 1000 as values in the protocols are represented as integers This results in effective units of mm 1000 mm 1 000 mm 1 000 and deg 1000 in the protocols For information on configuring the protocol with the Web interface when using the protocol over Ethernet see Ethernet Output on page 139 For information on configuring the protocol with the Web interface when using the protocol over Serial see Serial Output on page 147 Connection Settings With Ethernet ASCII output you can set the connection port numbers of the three channels used for communication Control Data and Health Ethernet Ports for ASCII Name Description Default Port Control To send commands to control the 0 sensor Data To retrieve measurement output 8190 Health To retrieve specific health indicator 0 values Channels can share the same port or operate on individual ports The following port numbers are reserved for Gocator internal use 2016 2017 2018 and 2019 Each port can accept
168. e sensor to sensor coordinates Stationary Flat Surface Clear Alignment Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 83 To clear alignment 1 Goto the Scan page 2 Choose Range or Profile mode in the Scan Mode panel depending on the type of measurement whose decision you need to configure If one of these modes is not selected tools will not be available in the Measure panel 3 Expandthe Alignment panel by clicking on the panel header or the button 4 Clickthe Clear Alignment button The alignment will be erased and sensors will revert to using sensor coordinates Profile Generation The sensor can generate a profile by combining a series of ranges gathered along the direction of travel The sensor uses different methods to generate a profile depending on the needs of the application Profile generation is configured in the Profile Generation panel on the Scan page Profile Generation O Profile Generation O Type Continuous t Type Fixed Length t Ti 5 t Part Detection is enabled SIBI Ser Seguenxia L Length 100 mm Profile Generation O Profile Generation Variable Length t Type Rotational Length 100 mm Encoder Resolution 11320755 ticks rev Assuming one millimeter per degree S The following types correspond to the Type setting in the panel When Type is set to Continuous
169. e will be marked with unsaved to indicate any unsaved changes new 5 E Job drop down Save To create a job 1 Choose New in the job drop down list and type a name for the job 2 Click the Save button or press Enter to save the job The job is saved to the emulator using the name you provided To save a job e Click the Save button Pl The job is saved to the emulator Gocator 1300 Series Gocator Emulator Working with Jobs and Data 158 To load switch jobs e Select an existing file name in the job drop down list The job is activated If there are any unsaved changes in the current job you will be asked whether you want to discard those changes Playback and Measurement Simulation The emulator can replay scan data previously recorded by a physical sensor and also simulate measurement tools on recorded data This feature is most often used for troubleshooting and fine tuning measurements but can also be helpful during setup Playback is controlled by using the toolbar controls D Recording is not functional in the emulator Replay Mode Enabled Data displayed ts simulated from a recording Press Play to begin simulation Replay Step on forward Step back Play Playback controls when replay is on To replay data 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background turns blue To change the mode you must uncheck Replay Protection
170. easurement Centroid X Determines the X position of the centroid of the area Centroid Z Determines the Z position of the centroid of the area Parameters Illustration Dual sensor setup in Opposite orientation Centroid Object Baseline User defined line Parameter Type Baseline Line Decision Region Filters Gocator 1300 Series Description Object area type is for convex shapes above the baseline Regions below the baseline are ignored Clearance area type is for concave shapes below the baseline Regions above the baseline are ignored Baseline is the fit line that represents the line above which Object clearance type or below which Clearance area type the cross sectional area is measured When this parameter is set to Line you must define a line in the Line parameter See Fit Lines on page 109 for more information on fit lines When this parameter is set to X Axis the baseline is set 02 0 When Baseline is set to Line you must set this parameter See Fit Lines on page 109 for more information on fit lines See Decisions on page 100 See Regions on page 99 See Filters on page 101 Gocator Web Interface Measurement 111 Bounding The Bounding Box tool provides measurements related to the smallest rectangle box that encapsulates the profile for example X position Z position width etc The measurement value can be compared w
171. easurement decision bitmask Bit 0 1 Pass 0 Fail Bits 1 7 0 Measurement value OK 1 Invalid value 2 Invalid anchor reserved 3 8u 5 Reserved Alignment Result Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Gocator 1300 Series Protocols Gocator Protocol 247 Field Type Offset Description Bits 0 14 Message type identifier For this message set to 11 attributesSize 16u 6 Size of attributes in bytes min 8 current 8 opld 32u 8 Operation ID status 32s 12 Operation status 1 OK 0 General failure 1 No data in the field of view for stationary alignment 2 No profiles with sufficient data for line fitting for travel alignment 3 Invalid target detected Examples include Calibration disk diameter too small Calibration disk touches both sides of the field of view Too few valid data points after outlier rejection 4 Target detected in an unexpected position 5 No reference hole detected in bar alignment 6 No change in encoder value during travel calibration 988 User aborted 993 Timed out 997 Invalid parameter Exposure Calibration Result Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier For this message set to 12 attributesSize 16u 6 Si
172. eating jobs performing alignment sending data and health information and software triggering etc can be accomplished programmatically by sending Gocator protocol control commands Gocator 1300 Series Gocator Web Interface Output 139 Output Ethernet Protocol Modbus Protocol and measurement selectio Digital 1 Configuration Map Trigger condition and pulse width Buffering Name Register 2 2 0 d pul dth The Modbus TCP Protocol can be used to operate a sensor Control rigger condition and pulse from a PLC Modbus TCP only supports a subset of the tasks Command 0 8 bit y Analog that can be accomplished in the web interface Start Stop Arguments 1 E Trigger condition and current scaling Align and Switch Job and only measurement results can be transmitted to the PLC State eria 155 Protocol and measurement selection Running 300 8 bit 7 Buffering should be enabled when part detection is used and Command in Progress 301 8 bit if multiple objects may be detected within a time frame shorter than the polling rate of the PLC Calibration State 302 8 bit Encoder Position 303 32 bit If buffering is enabled the PLC must read the Advance 8 307 register to advance the queue before reading the m AL measurement results Configuration Name Length 311 8 bit Configuration Name 312 var Stamp Inputs 979 8 bit Z Encoder 980 32 bit Exposure 984 16 bit Temperature 986 16 bit
173. ected within the area 0 MaxZ 1 MinZ 2 Max X 3 Min X 4 Corner 5 Average 6 Rising Edge 7 Falling Edge 8 Any Edge 9 Top Corner 10 Bottom Corner 11 Left Corner 12 Right Corner 13 Median Region ProfileRegion2D Element for feature detection area ProfileLine An element of type ProfileLine defines measurement areas used to calculate a line ProfileLine Child Elements Element Type Description RegionCount 32s Count of the regions Regions Collection The regions used to calculate a line Contains one or two Region elements of type ProfileRegion2D ProfileRegion2d An element of type ProfileRegion2d defines a rectangular area of interest ProfileRegion2d Child Elements Element Type Description X 64 Setting for profile region X position mm 2 64 Setting for profile region 2 position mm Width 64f Setting for profile region width mm Height 64f Setting for profile region height mm RangePosition A RangePosition element defines settings for a range position tool and its measurement RangePosition Child Elements Element Type Description Name String Tool name Gocator 1300 Series Gocator Device Files Job Files 3 Element Type Description Source 32s Range source Anchor Z String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements 105 available for anchoring Measurements Z Position tool Z measurement De
174. ed for anchoring The X measurements IDs available for anchoring The Z measurements 105 used for anchoring The Z measurements 105 available for anchoring Setting for reference side to use Setting for maximum gap width mm Element for left ede configuration Element for right edge configuration Gap measurement Flush measurement ProfilePanelEdge Element Type Description EdgeType 32s Edge type 0 Tangent 1 Corner MinDepth 64f Minimum depth MaxVoidWidth 64f Maximum void width SurfaceWidth 64f Surface width SurfaceOffset 64f Surface offset NominalRadius 64f Nominal radius EdgeAngle 64f Edge angle Region ProfileRegion2d Edge region Gap Measurement Element Type Description id 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state Gocator 1300 Series Gocator Device Files Job Files 194 Element Type Description 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Axis 32s Measurement axis 0 Edge 1 Surface 2 Distance Flush Measurement Element Type Description id 32s Measurement ID
175. eight measurements 0 Left only 1 Right 2 Center Script A Script element defines settings for a script measurement Script Child Elements Element Type Description Name String Tool name Code String Script code Measurements Output Collection Dynamic list of Output elements Gocator 1300 Series Gocator Device Files Job Files 198 Output Element Type Description id 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled 32u Measurement enabled The Output element contains the following sub elements Ethernet Serial Analog DigitalO and Digital1 Each of these sub elements defines the output settings for a different type of Gocator output For all sub elements the source identifiers used for measurement outputs correspond to the measurement identifiers defined in each tool s Measurements element For example in the following XML in the options attribute of the Measurements element 2 and 3 are the identifiers of measurements that are enabled and available for output The value of the Measurements element that is 2 means that only the measurement with id 2 Range Position Z will be sent to output lt RangePosition gt lt Measurements gt 2 14 2 lt RangeThickness gt lt Measurements gt lt Thickness id 3 gt lt Output gt lt Ethernet gt Measurements options 2 3 gt 2 lt Measurements gt Ethernet The Ethernet element defin
176. eld a decision See Adding and Removing Tools on page 96 for instructions on how to add measurement tools 1 ES Anchoring Source Top Feature Max X 5 0 357 ID Filters Decision Min mm Max mm Gocator 1300 Series Gocator Web Interface Measurement 126 Measurements Measurement Illustration X Finds the position of a feature on the X axis Position X Z Position 2 Finds the position of a feature on the 7 axis Parameters Parameter Description Feature Type Choose 2 Min Z Max X Min X Corner Average Rising Edge Falling Edge Any Edge Top Corner Bottom Corner Left Corner Right Corner or Median Decision See Decisions on page 100 Region See Regions on page 99 Output See Filters on page 101 Strip The Strip tool measures the width of a strip The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools on page 96 for instructions on how to add measurement tools Gocator 1300 Series Gocator Web Interface Measurement 127 Parame ter Anchoring Source op Base Type Flat Left Edge Right Edge Tilt Enabled iv Support Width 1 mm Transition Width 0 mm Min Width 0 mm Min Height 1 mm Max Void Width 1 Region 9 Add Width 10043 Id 12 Select Type ndex Left Index The Strip tool uses a complex feature locating algorithm to find
177. eld is used PaddingLength 64f Padding length mm PaddingLength min 64 Minimum padding length mm PaddingLength max 64f Maximum padding length mm PaddingLength used Bool Whether or not this field is used MinLength 64f Minimum length mm MinLength min 64f Minimum value of minimum length mm MinLength max 64f Maximum value of minimum length mm MinLength used Bool Whether or not this field is used MaxLength 64f Maximum length mm MaxLength min 64f Minimum value of maximum length mm MaxLength max 64f Maximum value of maximum length mm MaxLength used Bool Whether or not this field is used FrameOfReference 32s Part frame of reference 0 Sensor 1 Scan 2 Part FrameOfReference used Bool Whether or not this field is used FrameOfReference value 32s Actual value EdgeFiltering EdgeFiltering Child Elements Element Type Description used Bool Whether or not this section is used Enabled Bool Enables edge filtering PreservelnteriorEnabled Bool Enables preservation of interior ElementWidth 64f Element width mm ElementWidth min 64f Minimum element width mm ElementWidth max 64f Maximum element width mm ElementLength 64f Element length mm ElementLength min 64f Minimum element length mm ElementLength max 64f Maximum element length mm Gocator 1300 Series Gocator Device Files Job Files 180 PartMatching The PartMatching element contains settings related to part matching This element is used by Gocat
178. ement list uncheck the box of the measurement you want to disable The measurement will be disabled and the Output tab and the Parameters tab if it was available will be hidden Gocator 1300 Series Gocator Web Interface Measurement 97 Editing a Tool Measurement You can assign a name to each tool and measurement This allows multiple instances of tools and measurements of the same type to be more easily distinguished in the Gocator web interface The measurement name is also referenced by the Script tool To edit a tool name 1 Goto the Scan page by clicking on the Scan icon 2 Choose Range mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 3 Gotothe Measure page by clicking on the Measure icon 4 Inthe tool list double click on the tool name you want to change 5 Type new name in the ID field 6 Pressthe Tab or Enter key or click outside the name edit field The name will be changed To change a measurement name 1 Goto the Scan page by clicking on the Scan icon 2 Choose Range mode in the Scan Mode panel If this modeone of these modes is not selected tools will not be available in the Measure panel 3 Gotothe Measure page by clicking on the Measure icon 4 Inthe measurement list double click on the measurement name you want to change 5 Type new name in the ID field 6 Pressthe Tab or Enter key or Click outside of the name ed
179. en set to None only a point that deviates from a smooth strip support region is needed to find a rising or falling edge Gocator 1300 Series Gocator Web Interface Measurement 9 Parameter Location strip Height Strip X and Strip Z measurements only Left Edge Right Edge Select Type Index Min Height Support Width Transition Width Max Void Width Gocator 1300 Series Description Specifies the strip position from which the measurements are performed Left Left edge of the strip Right Right edge of the strip Center Center of the strip Specifies the features that will be considered as the strip s left and right edges You can select more than one condition Rising Rising edge detected based on the strip edge parameters Falling Falling edge detected based on the strip edge parameters Data end First valid profile data point in the measurement region Void Gap in the data that is larger than the maximum void threshold Gaps connected to the measurement region s boundary are not considered as a void See Strip Start and Terminate Conditions in the Gocator Measurement Tool Technical Manudl for the definitions of these conditions Specifies how a strip is selected when there are multiple strips within the measurement area Best The widest strip Index Left 0 based strip index counting from left to right Index Right 0 based strip index counting from right to left 0 08560 s
180. enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing window Scale 64 Output scaling factor Offset 64 Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold ProfileArea A ProfileArea element defines settings for a profile area tool and one or more of its measurements ProfileArea Child Elements Element Type Description Name String Tool name Source 32s Profile source String CSV The X measurements IDs used for anchoring AnchorW options String CSV The X measurements IDs available for anchoring Anchor MZ String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements 105 available for anchoring Type Boolean Area to measure 0 Object convex shape above the baseline 1 Clearance concave shape below the baseline Type used Boolean Whether or not field is used Baseline Boolean Baseline type 0 X axis 1 Line Baseline used Boolean Whether or not field is used Gocator 1300 Series Gocator Device Files Job Files 5 Element Type Description Region ProfileRegion2d Measurement region Line ProfileLine Line definition when Baseline is set to Line Measurements Area Area tool Area measurement measurement Measurements Centroi
181. ended command begins a firmware upgrade for the sensors in a system All sensors automatically reset 3 seconds after the upgrade process is complete 208 Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 00003 skipValidation byte 6 Whether or not to skip validation 0 do not skip 1 skip length 32u 7 Length of the upgrade package bytes data length byte 11 Upgrade package data Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x0003 status 32s 6 Reply status For a list of status codes see Commands on page Get Upgrade Status 208 The Get Upgrade Status command determines the progress of a firmware upgrade Gocator 1300 Series Protocols Gocator Protocol 241 Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x1 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1 status 32s 6 Reply status For a list of status codes see Commands on page 208 state 32s 10 Upgrade state 1 Failed 0 Completed 1 Running 2 Completed but should run again progress 32u 14 Upgrade progress valid when in the Running state Get Upgrade Log The Get Upgrade Log command can retrieve an upgrade log i
182. enerated but the generation itself does not depend Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 86 on the detection logic To do this check Enabled in the Part Detection panel To configure profile generation 1 Goto the Scan page and choose Profile in the Scan Mode panel If this mode is not selected you will not be able to configure surface generation 2 Expandthe Profile Generation panel by clicking on the panel header or the button 3 Choose an option from the Type drop down and any additional settings See the types and their settings described above Part Detection In Profile mode the Gocator sensor can analyze profiles created by combining range values to identify discrete objects Part Detection Enabled Frame Of Reference Height Threshold 5 mm Threshold Direction Above Gap Length 5 mm Padding Length 0 mm Min Part Length 0 mm Max Part Length 100 mm The following settings can be tuned to improve the accuracy and reliability of part detection Setting Description Height Threshold Determines the 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 Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 87
183. ent name Returns 0 measurement does not exist 1 measurement exists Gets the measurement ID by the measurement name Parameters toolName Tool name measurementName Measurement name Returns 1 measurement does not exist Other value Measurement ID Description Sets the output 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 beO or 1 Sets the output value and decision at the specified output index To output an invalid value the constant INVALID VALUE can be used e g Output SetAt 0 INVALID VALUE 0 Parameters index Script output index value value output by the script decision decision value output by the script Can only beO or 1 Sets the output value and decision at the specified script output ID To output an invalid value the constant INVALID VALUE can be used e g Output Setld 0 INVALID VALUE 0 Parameters id Script output ID Gocator Web Interface Measurement 134 Memory Functions Function Description void Memory Set64s int id long long value long long Memory Get64s int id void Memory Set64u int id unsigned long long value unsigned long long Memory Ge
184. erate a sensor from a PLC Ladder logic must be created Serlal on the PLC to actively poll for measurement results from the Draenei and data selection sensor EtherNet IP only supports a subset of the tasks that Running 0 8 bit be accomplished in the web interface Start Stop Align Command in Progress 1 8 bit and Switch Job and only measurement results can be Alignment State 2 8 bit transmitted to the PLC Encoder Position 3 64 bit Buffering should be enabled when part detection is used and Time 11 64 bit if multiple objects may be detected within a time frame shorter than the polling rate of the PLC Job Name Length 19 amp bit Job Name 20 var Stamp Inputs 0 16 bit Z Encoder 2 64 bit Exposure 10 32 bit Temperature 14 32 bit Encoder Position 18 64 bit receive commands and send results using EtherNet IP messages 1 Goto the Output page 2 Click on Ethernet in the Output panel 3 Select EtherNet IP in the Protocol option Unlike using the Gocator Protocol you don t select which measurement items to output The Ethernet panel will list the register addresses that are used for EtherNet IP messages communication The EtherNet IP protocol can be used to operate a sensor EtherNet IP only supports a subset of the tasks that can be accomplished in the web interface A sensor can only process EtherNet IP commands when the EtherNet IP is selected in the Protocol option 4 Checkthe Explicit Messa
185. erence is used to configure alignment reference GoSystem StartAlignment GoSensor SetAddress Configures a sensor s network address settings GoSensor ChangePassword 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 GoSensor_CopyFile function Fixed alignment should be used as a means to attach previously conducted alignment results to a job file eliminating the need to perform a new alignment Gocator 1300 Series Software Development Kit 286 Tools The following sections describe the tools you can use with a Gocator Sensor Recovery Tool If a sensor s network address or administrator password is forgotten the sensor can be discovered on the network and or restored to factory defaults by using a special software tool called the Sensor Discovery tool This software tool can be obtained from the downloads area of the LMI Technologies website http www lmi3D com After downloading the tool package 14405 x x x x SOFTWARE GO Tools zip unzip the file and run the Sensor Discovery Tool bin win32 kDiscovery exe Sensor Discovery Tool Devices Configuration 4683 O Default 9 Custom Address 192 168 62 10 Mask 255 255 0 0 G
186. ers on page 101 Tilt The strip may be tilted with respect to the sensor s coordinate X axis This could be caused by conveyor vibration If the Tilt option is enabled the tool will report the width and height measurements following the tilt angle of the strip as Script A Script measurement can be used to program a custom measurement using a simplified C based syntax A script measurement can produce multiple measurement values and decisions for the output See Adding and Removing Tools on page 96 for instructions on how to add measurement tools See Script Measurement on the next page for more information on scripts Gocator 1300 Series Gocator Web Interface Measurement 131 Code E double DimensionDistance Measurement Value 2 if Measurement Valid 2 Output Set DimensionDistance 10000 1 ise rg 1 Output SetAt 0 0 utton or Ctrl S to apply change exit full screen Output 0 10117 077 Id See Script Measurement below for more information on the script syntax To create or edit a Script measurement 1 Adda new Script tool or select an existing Script measurement 2 Edit the script code 3 Add script outputs using the Add button For each script output that is added an index will be added to the Output drop down and a unique ID will be generated To remove a script output click on the Q button next to it 4 Click the Save button to save the script code I
187. es settings for Ethernet output Inthe Ethernet element the source identifiers used for video range profile and surface output as well as range profile and surface intensity outputs correspond to the sensor that provides the data For example in the XML below the options attribute of the Ranges element shows that only two sources are available see the table below for the meanings of these values The value in this element 0O indicates that only data from that source will be sent to output lt Output gt lt Ethernet gt Ranges options 0 1 gt 0 lt Ranges gt lt Profiles options gt gt lt Surfaces options gt Gocator 1300 Series Gocator Device Files Job Files 199 Ethernet Child Elements Element Type Description Protocol 32s Ethernet protocol 0 Gocator 1 Modbus 2 EtherNet IP 3 ASCII TimeoutEnabled Boolean Enable or disable auto disconnection timeout Applies only to the Gocator protocol Timeout 64f Disconnection timeout seconds Ascii Section See Ascii on the next page EIP Section See EIP on page 202 Modbus Section See Modbus on page 202 Videos 32s CSV Selected video sources 0 Top 1 Bottom 2 Top left 3 Top right Videos options 32s CSV List of available video sources see above Ranges 32s CSV Selected range sources 0 Top 1 Bottom 2 Top left 3 Top right Ranges options 32s CSV List of available range sources see above Profiles 32s CS
188. essing of data can be modified to test their influence on scan data without modifying or clearing the data for example edge filtering and filters on the X axis Note that modifying the Y filters causes the buffer to be cleared For more information on these features see the Gocator 2300 and 2880 user manual For information on creating models and setting up part matching see Models and Part Matching in the Gocator 2300 and 2880 user manual For information on adding and configuring measurement tools see Measurement on page 95 Calculating Potential Maximum Frame Rate You can use the emulator to calculate the potential maximum frame rate you can achieve with different settings For example when you reduce the active area in the Active Area tab on the Sensor panel the maximum frame rate displayed on the Trigger panel is updated to reflect the increased speed that Gocator 1300 Series Gocator Emulator Scan Model and Measurement Settings 163 would be available in a physical Gocator sensor See Active Area page 73 for more information active area Similarly you can adjust exposure on the Exposure tab on the Sensor panel to see how this affects the maximum frame rate See Exposure on page 75 for more information on exposure D To adjust active area in the emulator Replay Protection must be turned off See Using Replay Protection on page 157 for more information D Saving changes to active area causes replay data to
189. ew the Scan page 1 Goto the Scan page and choose Range mode in the Scan Mode panel 2 Selectthe view in the data viewer When the Measure page is active the view of the display is set to the range source of the selected measurement tool see on page 95 When the Gocator is in Profile scan mode the data viewer displays profile plots Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 91 Profile View Profile mo Emm 350 u5 In a dual sensor system profiles from individual sensors from a combined view When in the Scan page selecting a panel e g Sensor or Alignment panel automatically sets the display to the most appropriate display view Top Profile Left Right View Profile Left amp Right Ta Left 400 5 Right 400 5 To manually select the display view in the Scan page 1 Goto the Scan page 2 Choose Profile mode in the Scan Mode panel 3 Select the view The view from an individual sensor or the combined view of two sensors can be selected from the drop down list at the top of the data viewer Top View from a single sensor from the top sensor in an opposite layout dual sensor system or the Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 92 combined view of sensors that have been aligned to use common coordinate system Bottom View from the bottom sensor in an opposite layou
190. ex 1 Full Duplex 3 Physical Array of MAC address for example 00 16 20 00 2E 42 Get Address 6 USINTS Assembly Object Class 0x04 The Gocator Ethernet IP object model includes the following assembly objects Command Sensor State and Sample State All assembly object instances are static Data in a data byte array in an assembly object are stored in the big endian format Command Assembly The command assembly object is used to start stop and align the sensor and also to switch jobs on the sensor Command Assembly Information Value Class 0 4 Instance 0x310 Attribute Number 3 Length 32 bytes Supported Service 0x10 SetAttributeSingle Attributes 1 and 2 are not implemented as they are not required for the static assembly object Attribute 3 Attribute Name Type Value Description Access 3 Command Byte See Below Command parameters Get Set Array Byte 0 Command See table below for specification of the values Command Definitions Value Name Description 0 Stop running Stop the sensor No action if the sensor is already stopped Gocator 1300 Series Protocols EtherNet IP Protocol 261 Value Name Description 1 Start Running Start the sensor No action if the sensor is already started 2 Stationary Alignment Start the stationary alignment process Byte 1 of the sensor state assembly will be set to 1 busy until the alignment process is complete then back to zero 3 Moving Alignment Start the
191. f interest Average Gocator 1300 Series Gocator Web Interface Measurement 107 Point Type 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 Right Corner Finds the right most corner in the region of interest where corner is defined as a change in profile shape Rising Edge Finds a rising edge in the region of interest Falling Edge Finds a falling edge in the region of interest Gocator 1300 Series Examples Os es e eem e eec e Bottom Corner Right Corner Rising Edge Q Falling Edge 20000000000 Gocator Web Interface Measurement 8 Point Type Examples Any Edge e Finds a rising or falling edge in the region of interest Q Edge e 45 000000 0 Edge 0000000090 Median e Determines the median location of points in the region
192. f 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 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 D Scripts must be less than 27000 characters long The following elements of the C language are supported Gocator 1300 Series Gocator Web Interface Measurement 2 Supported Elements Elements Supported Control Operators if while do for switch and return Data Types char int unsigned int float double long long 64 bit integer Arithmetic and Logical Standard C arithmetic operators except ternary operator i e condition trueValue Operator falseValue Explicit casting e g int a int a float is not supported Function Declarations Standard C function declarations with argument p
193. from a line connecting the edge points of the groove X Measures the X position of the bottom of a groove 2 Measures the 7 position of the bottom of a groove Parameters Parameter Description Shape Shape of the groove Gocator 1300 Series Illustration Width 4 LI X Z X Z Gocator Web Interface Measurement 118 Parameter Location Groove X and Groove 2 measurements only Select Type Index Minimum Depth Minimum Width Maximum Width Decision Region Gocator 1300 Series Description U Shape V Shape Open Shape Specifies the location type to return Bottom Groove bottom For a U shape and open shape groove the X position is at the centroid of the groove For a V shape groove the X position is at the intersection of lines fitted to the left and right sides of the groove See algorithm section below for more details 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 0 groove index counting from left to right Index from the Right 0 based groove index counting from right to left 0 08560 groove index Minimum depth for a groove to be considered valid Mini
194. g sensor is referred to as the Main sensor and the other sensor is referred to as the Buddy sensor Gocator s software recognizes three installation orientations Opposite Wide and Reverse A Master 400 800 1200 2400 must be used to connect two sensors in a dual sensor system Gocator Master cordsets are used to connect sensors to the Master 16 MAIN BUDDY GOCATOR GocaTOR POWER LASER SAFETY TRIGGER INPUTS ENCODER MASTER 400 800 1200 2400 GOCATOR 1 0 CORDSET GOCATOR POWER AND ETHERNET CORDSET 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 recommended GIGABIT ETHERNET SWITCH POWER LASER SAFETY TRIGGER INPUTS ENCODER GOCATOR MASTER 400 800 1200 2400 GOCATOR POWER AND ETHERNET TO MASTER CORDSET GIGABIT ETHERNET SWITCH CAT5E ETHERNET CABLE Gocator 1300 Series Getting Started System Overview 17 Hardware Overview The following sections describe Gocator and its associated hardware Side Mount Package CAMERA
195. ge Buffering checkbox if needed Buffering is needed for example in Surface mode if multiple objects are detected within a time frame shorter than the polling rate of the PLC If buffering is enabled with the EtherNet IP protocol the buffer is automatically advanced when the Sample State Assembly Object see on page 263 is read 5 Choose the byte order in the Byte Order dropdown Gocator 1300 Series Gocator Web Interface Output 141 Output Ethernet Protocol ASCII Protocol and measurement selectio Digital 1 Configuration Data Trigger condition and pulse width Send Name Id Asynchronous Digital 2 Measurements Trigger condition and pulse width Data Format Standard t v Range Position Z 0 y Analog time 96value id decisions id Trigger condition and current scaling Serial Protocol and measurement selection _5 Ports Command Delimeter Delimeter Termination Invalid Value INVALID To receive commands and send results using ASCII messages 1 Goto the Output page 2 Click on Ethernet in the Output panel 3 Select ASCII as the protocol in the Protocol drop down 4 Setthe operation mode in the Operation drop down In asynchronous mode the data results are transmitted when they are available In polling mode users send commands on the data channel to request the latest result See Polling Operation Commands
196. h 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4526 status 32s 6 Reply status For a list of status codes see Commands on page 208 Clear Log The Clear Log command clears the sensor s log Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x101D Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x101D status 32s 6 Reply status For a list of status codes see Commands on page Simulate Unaligned 208 The Simulate Unaligned command simulates data before alignment transformation Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0 452 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4524 status 32s 6 Reply status For a list of status codes see Commands on page 208 Acquire The Acquire command acquires a new scan Gocator 1300 Series Protocols Gocator Protocol 235 Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x4528 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4528 status 32s
197. has completed or failed The command is timed out if there has been no progress after one minute Formats Message Format Command MovingAlignment Reply If no arguments are specified OK or ERROR Error Message Examples Command MovingAlignment Reply OK Command MovingAlignment Reply ERROR ALIGNMENT FAILED Clear Alignment The Clear Alignment command clears the alignment record generated by the alignment process Formats Message Format Command ClearAlignment Reply OK or ERROR Error Message Examples Command ClearAlignment Reply OK Optional parameters are shown in italic The placeholder for data is surrounded by brackets lt gt In the examples the delimiter is set to Gocator 1300 Series Protocols ASCII Protocol 270 Result The Result command retrieves measurement values and decisions Formats Message Format Command Result measurement ID measurement ID Reply If no arguments are specified the custom format data string is used OK custom data string ERROR Error Message If arguments are specified OK data string in standard format ERROR Error Message 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 fo
198. he extension in Filename 3 Optional In Description type a description of the support file When you create a scenario from a support file in the emulator the description is displayed below the emulator s scenario list 4 Click Download and then when prompted click Save Running the Emulator The emulator is contained in the Gocator tools package 14405 x x x x SOFTWARE GO Tools zip You can download the package by going to http Imi3d com support downloads selecting a product type and dicking on the Product User Area link To run the emulator unzip the package and double click on Emulator bin win32 GoEmulator exe Gocator 1300 Series Gocator Emulator Downloading a Support File 154 Wf Gocator Emulator Wi Gocator Emulator Filter Model Standalone Available Scenarios 1320 Profile Mode Fan Blades Standalone 1320 Range Mode Fan Blades Standalone 2320 Profile Mode Standalone 2330 Profile Mode Demo Target Standalone 2330 Surface Mode Demo Target Standalone 2330 Surface Mode Hinges Standalone Emulator launch screen You can change the language of the emulator s interface from the launch screen To change the language choose a language option from the top drop down Gocator Emulator Selecting the emulator interface language Adding a Scenario to the Emulator To simulate a physical sensor using a support file downloaded from a sensor you must add it as a
199. he sensor the anchored tool will not show the measurement regions at all and an Invalid Anchor message will be displayed in the tool panel To remove an anchor from a tool 1 Click on the anchored tool s Anchoring tab Select Disabled in the X Y or Z drop down Range Measurement This section describes the range measurement tools available in the Gocator sensors Position The Position tool finds the Z axis position of the laser range The measurement value can be compared with minimum and maximum constraints to yield a decision Source Top 7 0 018 Filters Decision Min 1 mm Max 1 mm Gocator 1300 Series Gocator Web Interface Measurement 4 Measurements Measurement Illustration Position Z Position Z e3 Determines the Z axis position of the laser range Parameters Parameter Description Decision See Decisions on page 100 Output See Filters on page 101 Thickness The Thickness tool determines the difference along the Z axis between two laser ranges The measurement value can be compared with minimum and maximum constraints to yield a decision Eum Irce Left igt 2 Absolute Thickness 12 581 Id Ou Filters Decision Max 13 mm The difference can be expressed as an absolute or signed result The difference is calculated by Thickness Range Range Budi Measurements Measurement Illustration Thickness y Determines the difference th
200. http www opensource org licenses mit license php jQuery scaling Website http eric garside name License Scaling 1 0 Scale any page element Copyright c 2009 Eric Garside Licensed under the MIT License http www opensource org licenses mit license php jQuery scrollFollow Website http kitchen net perspective com License Copyright c 2008 Net Perspective Licensed under the MIT License http www opensource org licenses mit license php Flex SDK Website http opensource adobe com wiki display flexsdk Flex SDK License Copyright c 2010 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 1300 Series Software Licenses 336 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 1300 Series Software Li
201. ickness along the Z axis between two laser ranges Thickness Gocator 1300 Series Gocator Web Interface Measurement 105 Parameters Parameter Description Absolute Check the Absolute option to select absolute result Decision See Decisions on page 100 Output See Filters on page 101 Script A Script measurement can be used to program a custom measurement using a simplified C based syntax A script measurement can produce multiple measurement values and decisions for the output See Adding and Removing Tools on page 96 for instructions on how to add measurement tools See Script Measurement on page 132 for more information on scripts Code double PositionZ Measurement Value 0 f Measurement Valid 0 Output Set PositionZ 10000 1 rt else Output Set 0 0 1 1 5 to apply change Output Add Output 0 10000 018 Id See Script Measurement on page 132 for more information on the script syntax To create or edita Script measurement 1 Adda new Script tool or select an existing Script measurement 2 Editthe script code 3 Add script outputs using the Add button For each script output that is added an index will be added to the Output drop down and a unique ID will be generated To remove a script output click on the Q button next to it 4 Click the Save button E to save the script code If there is a mistake in the script syntax the result will be shown
202. id 16 4 Command identifier 0x452C Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x452C status 32s 6 Reply status For a list of status codes see Commands on page 208 enable 8u 10 0 disabled 1 enabled Set Auto Start Enabled The Set Auto Start Enabled command sets whether the system automatically starts after booting enters Running state for more information on states see Control Commands on page 212 Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x452B enable 8u 6 0 disabled 1 enabled Gocator 1300 Series Protocols Gocator Protocol 225 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x452B status 32s 6 Reply status For a list of status codes see Commands on page 208 Start Alignment The Start Alignment command is used to start the alignment procedure on a sensor Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 04600 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4600 status 32s 6 Reply status For a list of status codes see Commands on page 208 opld 32s 10 Start Exposure Auto set Ope
203. idue is left on the windows after cleaning Turn off lasers when not in use LMI Technologies uses semiconductor lasers in 3D measurement sensors To maximize the lifespan of the sensor turn off the laser when not in use Avoid excessive modifications to files stored on the sensor Settings for Gocator sensors are stored in flash memory inside the sensor Flash memory has an expected lifetime of 100 000 writes To maximize lifetime avoid frequent or unnecessary file save operations Gocator 1300 Series Safety and Maintenance Sensor Maintenance 15 Getting Started The following sections provide system and hardware overviews in addition to installation and setup procedures System Overview Gocator sensors can be installed and used in a variety of scenarios Sensors can be connected as standalone devices dual sensor systems or multi sensor systems Standalone System Standalone systems are typically used when only a single Gocator sensor is required The sensor can be connected to a computer s Ethernet port for setup and can also be connected to devices such as encoders photocells or PLCs GOCATOR IN ENCODER TRIGGER SAFETY OUT SERIAL ANALOG DIGITAL GOCATOR CORDSET 7 GOCATOR POWER AND ETHERNET CORDSET USER PC can be disconnected after set Dual Sensor System In a dual sensor system two Gocator sensors work together to perform ranging and output the combined results The controllin
204. ignment 55 Alignment Reference 56 Encoder Resolution 56 Encoder Value and Frequency 57 Travel Speed 57 PEERS ESPERE 57 59 Maintenance 60 Sensor Backups and Factory Reset 61 Firmware Upgrade 62 5 ru rh tp ty 63 Support Files ee 64 Manual 66655 65 Software Development Kit 65 Scan Setup and Alignment 66 Scan Page Overview 66 3 Scan Modes 67 Measurement Anchoring 102 eee Youn ble 67 Range Measurement 104 Trigger Examples 70 Measurement Tools 104 Trgser Settings 71 POSION 22225252 104 SENSOF UL DEL 73 11 18 45 105 Active Area 73 106 Transformations 74 Profile Measurement 107 EXpOSUfe notin cscs ctn Ed ALIIS 75 Feature POINTS 22 22 2222 107 Single Exposure eee eee 76 5 qc 109 Dynamic Exposure 77 Measurement Tools 109 Material 78 04
205. iguration The class provides functions to get or set all of the settings available in the Gocator web interface GoSetup is included inside GoSensor It encapsulates scanning parameters such as exposure resolution spacing interval etc For parameters that are independently controlled for Main and Buddy sensors functions accept a role parameter oLayout The GoLayout class represents layout related sensor configuration oTools The GoTools class is the base class of the measurement tools The class provides functions for getting and setting names retrieving measurement counts etc oTransform The GoTransform class represents a sensor transformation and provides functions to get and set transformation information as well as encoder related information The GoOutput class represents output configuration and provides functions to get the specific types of output Analog Digital Ethernet and Serial Classes corresponding to the specific types of output GoAnalog GoDigital GoEthernet and GoSerial are available to configure these outputs Data Types The following sections describe the types used by the SDK and the kApi library Gocator 1300 Series Software Development Kit 279 alue Types 6050 is built a set of basic data structures utilities and functions which are contained in the library The following basic value types are used by the library Value Data Types Type k8u k16u k16s
206. in the protocols The Gocator 4 firmware uses mm mm To use the Gocator protocol it must be enabled and configured in the active job D Gocator sensors send UDP broadcasts over the network over the Internal Discovery channel port 2016 at regular intervals during operation to perform peer discovery The Gocator SDK provides open source C language libraries that implement the network D commands and data formats defined in this section For more information see Software Development Kit on page 277 207 For information on configuring the protocol using the Web interface see Ethernet Output on page 139 For information on job file structures for example if you wish to create job files programmatically see Job Files on page 166 Data Types The table below defines the data types and associated type identifiers used in this section All values except for IP addresses are transmitted in little endian format least significant byte first unless stated otherwise The bytes in an IP address a b c d will always be transmitted in the order a b c d big endian Data Types Type Description Null Value char Character 8 bit ASCII encoding byte Byte 8s 8 bit signed integer 128 8u 8 bit unsigned integer 255U 16s 16 bit signed integer 32768 0 8000 160 16 bit unsigned integer 65535 OxFFFF 32s 32 bit signed integer 2147483648 0x80000000 32u 32 bit unsigned integer 4294967295 OxFFFFFFFF 64
207. ine tool StdDev measurement measurement Measurements MaxError Line tool MaxError measurement measurement Measurements MinError Line tool MinError measurement measurement Measurements Percentile Line tool Percentile measurement measurement Line Tool Measurement Element Type Description id 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Percent 64f Error percentile Percentile measurement only Gocator 1300 Series Gocator Device Files Job Files 193 ProfilePanel A ProfilePanel element defines settings for a profile panel tool and one or more of its measurements ProfilePanel Child Elements Element Name Source AnchorW AnchorW options Anchor MZ Anchor Z options RefSide MaxGapWidth LeftEdge RightEdge Measurements Gap Measurements Flush Type String 32s String CSV String CSV String CSV String CSV 32s 64f ProfilePanelEdge ProfilePanelEdge Gap measurement Flush measurement Description Tool name Profile source The X measurements IDs us
208. ing commands There are three assembly objects the command assembly 32 bytes the sensor state assembly 100 bytes and the sample state assembly object 380 bytes The data attribute 0x03 of the assembly objects is a byte array containing information about the sensor The data attribute can be accessed with the GetAttribute and SetAttribute commands The PLC sends a command to start a Gocator The PLC then periodically queries the attributes of the assembly objects for its latest measurement results 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 messaging is supported as an advanced setting For more information see http Imi3d comvsites default files APPNOTE Implicit Messaging with Allen Bradley PLCs pdf 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 Messaging is not supported Gocator 1300 Series Protocols EtherNet IP Protocol 259 Basic Object Identity Object Class 0x01 Attribute Name Type Value Description Access 1 Vendor ID UINT 1256 ODVA provided vendor ID Get 2 Device Type 43 Device type Get 3 Product Code UINT 2000 Product code Get 4 Revision USINT Byte 0 Major revision Get USINT Byte 1 Minor revision 6 Serial number UDINT 32 bit value Sensor serial number Get 7 Product
209. ing range data is fixed to a deterministic value The sensor can output data using one of four formats illustrated below where MSB most significant bit e LSB least significant bit e data valid bit high invalid e 5 whether data is acquired in search mode or track mode high search mode Gocator 1300 Series Protocols Selcom Protocol 275 BT 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 MSB LSB 11 10 5 8 7 6 5 3 2 0 COCOA IL ILL 12 bit data format SLS mode SLS in Gocator web interface BT 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 MSB LSB 11 10 5 8 1615141312111 1 5 COCALO 12 bit data format with Search Track bit BT 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 MSB LSB 14 bit data format BT O0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 MSB LSB 14 bit data format with Search Track bit Gocator 1300 Series Protocols Selcom Protocol 276 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 by going to http Imi3d com support downloads selecting a Gocator series and clicking on the Product User Area link You can download the Gocator
210. ion on the 2 axis mm XAngle 64f Rotation around the X axis degrees YAngle 64f Rotation around the Y axis degrees ZAngle 64f Rotation around the Z axis degrees The rotation counter clockwise in the X Z plane is performed before the translation Gocator 1300 Series Gocator Device Files Job Files 206 Protocols Gocator supports protocols for communicating with sensors over Ethernet TCP IP and serial output For a protocolto output data it must be enabled and configured in the active job Protocols Available over Ethernet e Gocator e Modbus e EtherNet IP e ASCII Protocols Available over Serial e ASCII e Selcom Gocator Protocol This section describes the TCP and UDP commands and data formats used by a client computer to communicate with Gocator sensors using the Gocator protocol It also describes the connection types Discovery Control Upgrade Data and Health and data types The protocol 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 Upgrade firmware 2 mm3 and degrees as standard units In all protocols D values are scaled by 1000 as values in the protocols are represented as integers This results in effective units of mm 1000 mm 1000 mm3 1000 and deg 1000
211. ions describe the Gocator s tools and measurements Measure Page Overview Measurement tools are added and configured using the Measure page The content of the Tools panel in the Measure page depends on the current scan mode In Range mode the Measure page displays tools for range measurement In Profile mode the Measure page displays tools for profile measurement In Video mode tools are not accessible TEA Wi Speed _OHz Manage Scan Output Dashboard gt Job 01 default 9 SAM Replay ow gt s lt lt Range Range Position 21 Tools 1 View Range Top Range Position Range Position Filters Decision Element 1 Tools panel 2 Data Viewer Description Used to add manage and configure tools and measurements see on the next page Displays range data sets up tools and displays result calipers related to the selected measurement See Data Viewer below Regions such as active area or measurement regions can be graphically set up using the data viewer When the Measure page is active the data viewer can be used to graphically configure measurement regions Measurement regions can also be configured manually in measurements by entering values into the provided fields see on page 99 Gocator 1300 Series Gocator Web Interface Measurement 95 For instructions how to set measurement regions graphi
212. is tracked plus one encoder spacing to trigger the next scan Encoder Spacing MEC RI 1 8 1 1 Position Track Backward 9 Trigger Point Ignore Backward scan is triggered only when the target object moves forward If the target object moves backward it must move forward by at least the distance of one encoder spacing to trigger the next scan Encoder Spacing Position Ignore Backward o Trigger Point Bi directional Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 68 Trigger Source External Input Software Description A scanis triggered when the target object moves forward or backward 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 can be used to check for this condition The external input can be used to enable or disable the encoder triggers See Encoder Input on page 319 for more information on connecting the encoder to Gocator sensors A digital input can provide triggers in response to external events e g photocell When triggers are received at a frequency higher than the maximum frame rate some triggers may not be accepted The Trigger Drops Indicator in the Dashboard page can be used to check for this condition See Digital Inputs on page 318 for more information on connecting external input to
213. ister command Control Register Map Register NI Name Read Write Description Address 0 Command Register WO Command register See the Command Register Values table below for more information 1 21 Job Filename WO Null terminated filename Each 16 bit register holds a single character Only used for Load Job Command Specifies the complete filename including the file extension job The values used for the Command Register are described below Command Register Values Value Name Description 0 Stop running Stop the sensor No effect if sensor is already stopped 1 Start Running Start the sensor No effect if sensor is already started 2 Align stationary target Start the alignment process State register 301 will be set to 1 busy until the alignment process is complete Gocator 1300 Series Protocols Modbus Protocol 255 Value Name Description 3 Align moving target Start alignment process and also calibrate encoder resolution State register 301 will be set to 1 busy until the motion calibration process is complete 4 Clear Alignment Clear the alignment 5 Load Job Activate a job file Registers 1 21 specify the filename Output registers are used to output states stamps and measurement results Each register address holds a 16 bit data value State State registers report the current sensor state State Register Map Register NO Name Type Description Address 300 Stopped Running Sensor
214. it field The name change will be changed Changing a Measurement ID The measurement ID is used to uniquely identify a measurement in the Gocator protocol or in the SDK The value must be unique among all measurements To edita measurement ID 1 Goto the Scan page by clicking on the Scan icon 2 Choose Range mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 3 Gotothe Measure page by clicking on the Measure icon 4 Inthe measurement list select a measurement To select a measurement it must be enabled See Enabling and Disabling Measurements on the previous page for instructions on how to enable a measurement Gocator 1300 Series Gocator Web Interface Measurement 98 5 Click in the ID field 6 Enter a new ID number The value must be unique among all measurements 7 Press the Tab or Enter key or click outside the ID field The measurement ID will be changed All tools provide region settings under the Parameter tab and all measurements provide decision and filter settings under the Output tab Source For dual sensor systems you must specify a range or profile source for tools The source determines which sensor provides data for the measurement Depending on the layout you have selected the Source drop down will display one of the following or a combination For more information on layouts see Dual Sensor System Layout on page 52 Setting Descriptio
215. ith a non existent measurement of ID 2 Decision 2 ERROR Specified measurement ID not found Please verify your input Custom formatted data string 96time 0 Decision OK 1420266101 0 Gocator 1300 Series Protocols ASCII Protocol 272 Optional parameters are shown in italic The placeholder for data is surrounded by brackets lt gt In the examples the delimiter is set to Health The Health command retrieves health indicators See Health Results on page 248 for details on health indicators Formats Message Format Command Health health indicator ID Optional health indicator instance More than one health indicator can be specified Note that the health indicator instance is optionally attached to the indicator ID with a If the health indicator instance field is used the delimiter cannot be set to Reply OK health indicator of first ID health indicator of second ID ERROR Error Message Examples health 2002 2017 OK 46 1674 Health ERROR Insufficient parameters Standard Result Format Gocator can send measurement results either 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 i V 0 n n n 1 Field Shorthand Length Description MeasurementStart M 1 Start of measureme
216. ith minimum and maximum constraints to yield a decision See Adding and Removing Tools on page 96 for instructions on how to add measurement tools The bounding box provides the absolute position from which the Position centroids tools are referenced Source ff Region Fliters Decision Min Max Measurement Panel Measurements Anchoring 4 5 Measurement Illustration X Determines the X position of the center of the smallest rectangle that encapsulates the profile The value returned is relative to the profile 2 Determines the 2 position of the center of the smallest rectangle that encapsulates the profile The value returned is relative to the profile Gocator 1300 Series Gocator Web Interface Measurement 112 Measurement Illustration Width Width Determines the width of the smallest rectangle box that encapsulates the profile The width reports the dimension of the box in the direction of the minor axis Height Determines the height thickness of the smallest rectangle box that encapsulates the profile Height Global X Determines the X position of the center of the smallest rectangle that encapsulates the profile The value returned is relative to the global sensor coordinates Parameters Parameter Description Decision See Decisions on page 100 Region See Regions on page 99 Output See Filters on page
217. ixed When Alignment Reference is set to Dynamic however you must manually save the job to save alignment Network Address Network address changes are saved when you click the Save button in Networking on the Manage page The sensor must be reset before changes take effect The job drop down list in the toolbar shows the jobs stored in the sensor The job that is currently active is listed at the top The job name will be marked with unsaved to indicate any unsaved changes new E Job drop down Save To create a job 1 Choose New in the job drop down list and type a name for the job 2 Clickthe Save button or press Enter to save the job The job is saved to sensor storage using the name you provided Saving a job automatically sets it as the default that is the job loaded when then sensor is restarted To save a job e Click the Save button The job is saved to sensor storage Saving a job automatically sets it as the default that is the job loaded when then sensor is restarted To load switch jobs e Select an existing file name in the job drop down list The job is activated If there are any unsaved changes in the current job you will be asked whether you want to discard those changes Gocator 1300 Series Gocator Web Interface User Interface Overview 44 You can perform other job management tasks such as downloading job files from sensor to a computer uploading job files to a sensor from a co
218. k GoSdk h gt void main kIpAddress ipAddress GoSystem system kNULL GoSensor sensor kNULL GoSetup setup kNULL Construct the GoSdk library GoSdk_Construct amp api Construct a Gocator system object GoSystem Construct amp system KNULL Parse IP address into address data structure kIpAddress Parse amp ipAddress SENSOR Obtain GoSensor object by sensor IP address GoSystem FindSensorByIpAddress system amp ipAddress amp sensor Connect sensor object and enable control channel GoSensor Connect sensor Enable data channel GoSensor EnableData system kTRUE Optional Setup callback function to receive data asynchronously GoSystem SetDataHandler system onData amp contextPointer Retrieve setup handle setup GoSensor Setup sensor Reconfigure system to use time based triggering Gocator 1300 Series Software Development Kit 284 0056000 SetTriggerSource setup GO TRIGGER TIME Send the system a Start command GoSystem Start system Data will now be streaming into the application Data can be received and processed asynchronously if a callback function has been set recommended Data can also be received and processed synchronously with the blocking call GoSystem ReceiveData system amp dataset RECEIVE TIMEOUT Send the system a Stop command GoSystem Stop
219. l measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing window Scale 64 Output scaling factor Offset 64 Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold ProfileStrip A ProfileStrip element defines settings for a profile strip tool and one or more of its measurements Gocator 1300 Series Gocator Device Files Job Files 196 The profile strip tool is dynamic meaning that it can contain multiple measurements of the same type the Measurements element ProfileStrip Child Elements Element Type Description Name String Tool name Source 32s Profile source Anchor WX String CSV The X measurements IDs used for anchoring AnchorW options Anchor Z Anchor Z options String CSV String CSV String CSV The X measurements IDs available for anchoring The Z measurements 105 used for anchoring The Z measurements 105 available for anchoring BaseType 32s Setting for the strip type 0 None 1 Flat LeftEdge Bitmask Setting for the left edge conditions 1 Raising 2 Falling 4 Data End 8 Void RightEdge Bitmask Setting for the right edge conditions 1 Raising 2 Falling 4 Data End
220. lation 25 The sensor must be heat sunk through the frame it is mounted to When 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 Mounting Top Mount Package Sensors should be mounted using four M5 x 0 8 pitch screws of suitable length The recommended thread engagement into the housing is 8 10 mm Proper care should be taken in order to ensure that the internal threads are not damaged from cross threading or improper insertion of screws Sensors should not be installed near objects that might occlude a camera s view of the laser 1 7 2 20 Sensors should not be installed near surfaces that might create unanticipated laser reflections Gocator 1300 Series Getting Started Installation 26 The sensor must be heat sunk through the frame it is mounted to When a sensor is properly heat sunk the difference between ambient temperature and the temperature reported in the sensor s health channel is less than 15 C Goc
221. ld Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x3012 status 32s 6 Reply status For a list of status codes see Commands on page 208 dhcpEnabled byte 10 0 DHCP not used 1 DHCP used address 4 byte 11 IP address most significant byte first subnetMask 4 byte 15 Subnet mask gateway 4 byte 19 Gateway address Gocator 1300 Series Protocols Gocator Protocol 213 Set Address The Set Address command modifies the network configuration of a Gocator sensor On receiving the command the Gocator will perform a reset You should wait 30 seconds before re connecting to the Gocator Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 03013 dhcpEnabled byte 6 0 DHCP not used 1 DHCP used address 4 byte 7 IP address most significant byte first subnetMask 4 byte 11 Subnet mask gateway 4 byte 15 Gateway address Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x3013 status 32s 6 Reply status For a list of status codes see Commands on page 208 Get System Info The Get System Info command reports information for sensors that are visible in the system Firmware version refers to the version of the Gocator s firmware installed on each individual sensor The client can upgrade the Gocator s
222. ld is used SearchThreshold 64f Percentage of spots that must be found to remain in track Height 64f Tracking window height mm Height min 64f Minimum tracking window height mm Height max 64f Maximum tracking window height mm Material Material Child Elements Element Type Description Type 32s Type of Material settings to use 0 Custom Gocator 1300 Series Gocator Device Files Job Files 175 Element Type Description 1 Diffuse Type used Bool Determines if the setting s value is currently used Type value 32s Value in use by the sensor useful for determining value when used is false SpotThreshold 32s Spot detection threshold SpotThreshold used Bool Determines if the setting s value is currently used SpotThreshold value 32s Value in use by the sensor useful for determining value when used is false SpotWidthMax 32s Spot detection maximum width SpotWidthMax used Bool Determines if the setting s value is currently used SpotWidthMax value 32s Value in use by the sensor useful for determining value when used is false SpotWidthMax min 32s Minimum allowed spot detection maximum value SpotWidthMax max 32s Maximum allowed spot detection maximum value SpotSelectionType 32s Spot selection type 0 Best Picks the strongest spot in a given column 1 Top Picks the spot which is most Top Left on the imager 2 Bottom Picks the spot which is most Bottom Right on the imager 3 None All spots are available Thi
223. ls will not be available in the Measure panel 3 Goto the Measure page by clicking on the Measure icon 4 Inthe tool list click on the x button of the tool you want to delete The tool will be removed from the tool list Gocator 1300 Series Gocator Web Interface Measurement 96 Enabling and Disabling Measurements All of the measurements available in a tool are listed in the measurement list in the Tools panel after a tool has been added To configure a measurement you must enable it Tools Range Position Add Range Position Source Top Id 0 Output Filters Decision Min 5 6 enable a measurement 1 Goto the Scan page by clicking on the Scan icon 2 Choose Range mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 3 Gotothe Measure page by clicking on the Measure icon 4 Inthe measurements list check the box of the measurement you want to enable The measurement will be enabled and selected The Output tab which contains output settings will be displayed below the measurements list For some measurements a Parameters tab which contains measurement specific parameters will also be displayed To disable a measurement 1 Goto the Scan page by clicking on the Scan icon 2 Choose Range mode in the Scan Mode panel 3 Goto the Measure page by clicking on the Measure icon 4 Inthe measur
224. lt will turn off the laser if the temperature exceeds the safe operating range You can override the setting by disabling the overheat protection 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 lll Over Temperature Shutoff To enable disable overheat temperature protection 1 Check uncheck the Over Temperature Protection option 2 Save the job file Gocator 1300 Series Gocator Web Interface System Management and Maintenance 54 Networking The Networking category on the Manage page provides network settings Settings must be configured to match the network to which the Gocator sensors are connected Manage lt Sensor System Networking Layout and Buddy assignment Type Ma Networking ee IP address settings IP Motion and Alignment Subnet Mask Maintenance Upgrade backup restore reset 9 Support Manual support file and SDK Encoder resolution and travel speed Jobs Download upload and set default Security Admin and Technician passwords To configure the network settings 1 2 Go to the Manage page In the Networking category specify the Type IP Subnet Mask and Gateway settings The Gocator sensor can be configured to use DHCP or assigned a static IP address Click on the Save button You will be prompted to confi
225. lue Max Measurement Range mmn 20 EJ Z Start 10 mm bey Transformation 5 setthe active area 1 Goto the Scan page 2 Choose Range or Profile mode in the Scan Mode panel depending on the type of measurement whose decision you need to configure Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 73 If one of these modes is not selected tools not be available in the Measure panel 3 Expand the Sensor panel by clicking on the panel header or the 9 button 4 Clickthe button corresponding to the sensor you want to configure The button is labeled Top Bottom Top Left or Top Right depending on the system Active area is specified separately for each sensor 5 Click on the Active Area tab 6 Clickthe Select button 7 Clickthe Acquire button to see a scan while setting the active area 8 Setthe active area Enter the active area values in the edit boxes or adjust the active area graphically in the data viewer 9 Clickthe Save button in the Sensor panel Click the Cancel button to cancel setting the active area 10 Save the job in the Toolbar by clicking the Save button B Laser ranging devices are usually more accurate at the near end of their measurement range If your application requires a measurement range that is small compared to the maximum measurement range of the sensor mount the sensor so that the active area can be defined at the near end of the meas
226. m See Return Policy on page 331 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 on page 287 for more information When attempting to log in the password is not accepted See Sensor Recovery Tool on page 287 for steps to reset the password Laser Ranging 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 on page 292 for more inform ation The exposure setting may be too low See Exposure on page 75 for more information on configuring expos ure time Use th
227. m 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 D When a sensor is acting as a Budgy itis not discoverable and its web interface is not accessible Gocator 1300 Series Gocator Web Interface System Management and Maintenance 53 Visible Sensors Serial Model Version State Gocator 1350 4 0 9 94 Ready To assign a Buddy sensor 1 Goto the Manage page and click on the Sensor System category 2 Selecta sensor in the Visible Sensors list 3 Clickthe Assign button A sensor can only be assigned as a Buddy if its firmware and model number match the firmware and model number of the Main sensor The Assign button will be greyed out if a sensor cannot be assigned as a Buddy The Buddy sensor will be assigned to the Main sensor and its status will be updated in the System panel Buddy Status Model 1350 Version 4 3 3 141 Serial 12079 Master Remove To remove a Buddy click on the Remove button Over Temperature Protection Sensors equipped with a 3B N laser by defau
228. mand Stop Reply OK or ERROR Error Message Examples Command Stop Reply OK Trigger The Trigger command triggers a single frame capture This command is only valid if the sensor is configured in the Software trigger mode and the sensor is in the Running state If a start target is specified the sensor starts at the target time or encoder depending on the unit setting in the Trigger panel see on page 67 Formats Message Format Command Trigger start target The start target optional is the time or encoder position at which the sensor will be started The time and encoder target value should be set by adding a delay to the time or encoder position returned by the Stamp command The delay should be set such that it covers the command response time of the Start command Reply OK or ERROR Error Message Examples Command Trigger Reply OK Command Trigger 1000000 Reply OK Loadjob The Load Job command switches the active sensor configuration Gocator 1300 Series Protocols ASCII Protocol 268 Formats Message Format Command LoadJob job file name If the job file name is not specified the command returns the current job name An error message is generated if no job is loaded job is appended if the filename does not have an extension Reply OK or ERROR Error Message Examples Command LoadJob test job Reply OK test job loaded successfully Command LoadJob Reply OK test job C
229. ment Protocol and data selection Digital 1 Configuration Data Trigger event and pulse width Send Name Id Analog Current Digital 2 None Trigger event and pulse width Data Scale Values M om 10000 0 Range Position 2 0 Trigger event and current scaling Current Range Serlal om 20 ma Protocol and data selection Invalid M 01 mA scheduled To output measurement value or decision 1 Gotothe Output page 2 Click on Analog in the Output panel 3 SetTrigger Event to Measurement 4 Selectthe measurement that should be used for output Only one measurement can be used for analog output Measurements shown here correspond to measurements that have been programmed using the Measurements page 5 Specify Data Scale values The values specified here determine how measurement values are scaled to the minimum and maximum current output The Data Scale values are specified in millimeters for dimensional measurements such as distance square millimeters for areas cubic millimeters for volumes and degrees for angle results 6 Specify Current Range and Invalid current values The values specified here determine the minimum and maximum current values in milliamperes If Invalid is checked the current value specified with the slider is used when a measurement value is not valid If Invalid is not checked the output holds the last value when a measurement value is not valid
230. mmand uploads a backup file to the connected sensor and then restores all sensor files from the backup D The sensor must be reset or power cycled before the restore operation can be completed Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0 1014 length 32u 6 Data length data length byte 10 Data content Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1014 status 32s 6 Reply status For a list of status codes see Commands on page 208 Restore Factory The Restore Factory command restores the connected sensor to factory default settings D The command erases the non volatile memory of the main device This command has no effect on connected Buddy sensors Note that the sensor must be reset or power cycled before the factory restore operation can be completed Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 04301 resetlp 8u 6 Specifies whether IP address should be restored to default 0 Do not reset IP 1 Reset IP Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4301 status 32s 6 Reply status For a list of status codes see Commands on page 208 Gocator 1300 Series Protocols Gocator
231. mputer and so on in the Jobs panel in the Manage page See Jobs on page 57 for more information Recording Playback and Measurement Simulation Gocator sensors can record and replay recorded scan data and also simulate measurement tools on recorded data This feature is most often used for troubleshooting and fine tuning measurements but can also be helpful during setup Recording and playback are controlled by using the toolbar controls Replay off Snapshot Replay RIP Record Start Recording and playback controls when replay is off To record live data 1 Toggle Replay mode off by setting the slider to the left in the Toolbar 2 Press the Record button to enable recording When recording is enabled and replay is off the sensor will store the most recent data as it runs Remember to disable recording if you no longer want to record live data Press the Record button again to disable recording 3 Pressthe Snapshot button or Start button The Snapshot button records a single frame The Start button will run the sensor continuously and all frames will be recorded up to available memory When the memory limit is reached the oldest data will be discarded D Newly recorded data is appended to existing replay data unless the sensor job has been modified Replay Mode Enabled Data displayed ts simulated from recording Press Play to begin simulation a Replay
232. mum 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 on page 100 The measurement region defines the region in which to search for the groove For a stable measurement the measurement region should be made large enough to cover some laser data on the left and right sides of the groove See Regions on page 99 Gocator Web Interface Measurement 119 Parameter Description Sides of the Groove Output See Filters on page 101 Intersect The Intersect tool determines intersect points and angles The measurement value can be compared with minimum and maximum constraints to yield a decision The Intersect tool s measurements require two fit lines one of which is a reference line set to the X axis z 0 the Z axis x 0 or a user defined line See Adding and Removing Tools on page 96 for instructions on how to add measurement tools Reference Type Line Ref Line RL 2 Regions 5l Line L 2 Regions gt 9 Id 7 Filters Decision Min 3 mm 2 mm Gocator 1300 Series Gocator Web Interface Measurement 0 Measurements Measurement Illustration X Finds the intersection between two fitted lines and measures the X axis position of the intersection point Intersec
233. n Top Refers to the Main sensor in a standalone or dual sensor system the Main sensor in Opposite layout or the combined data from both Main and Buddy sensors Bottom Refers to a Buddy sensor in a dual sensor system position in Opposite layout Top Left Refers to a Main sensor in Wide layout or to a Buddy sensor in Reverse layout in a dual sensor system position Top Right Refers to a Buddy sensor in Wide layout or to a Main sensor in Reverse layout in a dual sensor system position To select the source 1 Gotothe Scan page 2 Choose Range or Profile mode in the Scan Mode panel depending on the type of measurement whose decision you need to configure If one of these modes is not selected tools will not be available in the Measure panel 3 Gotothe Measure page by clicking on the Measure icon 4 Inthe Tools panel click on a tool in the tool list 5 Click on the Parameter tab in the tool configuration area 6 Selectthe profile source in the Source drop down list Regions Region parameters are used by many tools to limit the region in which a measurement will occur See the individual tools for details on using this parameter with each tool Gocator 1300 Series Gocator Web Interface Measurement 99 Region 54 122 mm 4 36 593 mm Width 109 67 mm Height 109 67 mm This parameter is also referred to as a measurement region To configure regions 1 Goto the Scan page by clicking on the Scan i
234. n 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 Failure to follow the guidelines described in this section may result in electrical shock or equipment damage Sensors should be connected to earth ground All sensors should be connected to earth ground through their housing All sensors should be mounted on an earth grounded frame using electrically conductive hardware to ensure the housing of the sensor is connected to earth ground Use a multi meter to check the continuity between the sensor connector and earth ground to ensure a proper connection Minimize voltage potential between system ground and sensor ground Care should be taken to minimize the voltage potential between system ground ground reference for signals and sensor ground This voltage potential can be determined by measuring the voltage Gocator 1300 Series Safety and Maintenance Electrical Safety 13 between Analog out and system ground The maximum permissible voltage potential is 12 V but should be kept below 10 V to avoid d
235. n the event of upgrade problems Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x2 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x2 status 32s 6 Reply status For a list of status codes see Commands on page 208 length 32u 10 Length of the log bytes log length char 14 Log content The following sections describe the results data and health that Gocator sends Data Results A client can receive data messages from a Gocator sensor by connecting to the Data TCP channel port 3196 Gocator 1300 Series Protocols Gocator Protocol 242 The Data channel and the Health channel port 3194 can be connected at the same time The sensor accepts multiple connections on each port For more information on the Health channel see Health Results on page 248 Messages that are received on the Data and Health channels use a common structure called Gocator Data Protocol GDP Each GDP message consists of a 6 byte header containing size and control fields followed by a variable length message specific content section The structure of the GDP message is defined below Gocator Data Protocol Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last Message flag Bits 0 14 Message type identifier
236. n using the software interface The interface is explained in the following sections System Management and Maintenance page 50 Contains settings for sensor system layout network motion and alignment handling jobs and sensor maintenance Scan Setup and Alignment page 66 Gocator 1300 Series Range Range Position 2 Replay C9 M M Stop Getting Started Next Steps 36 Contains settings for scan mode trigger source detailed sensor configuration and performing alignment Measurement page 95 Contains built in measurement tools and their settings Output page 138 Contains settings for configuring output protocols used to communicate measurements to external devices Dashboard page 150 Provides monitoring of measurement statistics and sensor health Toolbar page 43 Controls sensor operation manages jobs and replays recorded measurement data Gocator 1300 Series Getting Started Next Steps 37 Theory of Operation The following sections describe the theory of operation of Gocator sensors 3D Acquisition Principle of 3D Acquisition The Gocator 1300 series sensors are displacement sensors meaning that they capture a single 3D point for each camera exposure The sensor projects a laser point 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
237. nal Input Accepts digital input See Master 1200 2400 on page 327 for pinout details Calibration Targets Targets are used for calibrating encoders Gocator 1300 Series Getting Started Hardware Overview 22 Calibration bar with known height and widt LENGTH OF BAR SHOULD BE GREATER THAN THE COMBINED FIELD OF VIEW OF ALL SENSORS HOLE DISTANCE BETWEEN HOLES CENTERS ONE HOLE PER SENSOR CENTERED IN EACH SENSOR S FIELD OF VIEW DIAMETER MUST BE LARGE ENOUGH FOR HOLE TO BE DETECTED BY SENSOR DEPENDS ON SENSOR RESOLUTION See Aligning Sensors on page 81 for more information on alignment Gocator 1300 Series Getting Started Hardware Overview 23 Installation The following sections provide grounding mounting and orientation information Grounding Gocator Gocators should be grounded to the earth chassis through their housings and through the grounding shield of the Power cordset Gocator sensors have been designed to provide adequate grounding through the use of M6 x 1 0 pitch mounting screws Always check grounding with a multi meter to ensure electrical continuity between the mounting frame and the Gocator s connectors D The frame or electrical cabinet that the Gocator is mounted to must be connected to earth ground Recommended Grounding Practices Cordsets If you need to minimize interference with other equipment you can ground the Power amp Ethernet or the Power amp Ethe
238. namic range is not a critical factor Digital Digital camera gain can be used when the application is severely exposure limited yet dynamic range is not a critical factor Sensitivity Controls the exposure that dynamic exposure converges to The lower the value the lower the exposure Gocator will settle on The trade off is between the number of exposure spots and the possibility of over exposing Threshold The minimum number of spots for dynamic exposure to consider the spot valid If the number of spots is below this threshold the algorithm will walk over the allowed exposure range slowly to find the correct exposure To configure material 1 Goto the Scan page 2 Expand the Sensor panel by clicking on the panel header or the button 3 Clickthe button corresponding to the sensor you want to configure The button is labeled Top Bottom Top Left or Top Right depending on the system Materials can be configured separately for each sensor 4 Click the Materials tab 5 Choose a material in the Materials drop down or choose Custom to manually configure settings See the table above for the customizable settings 6 Save the job in the Toolbar by clicking the Save button A 7 Checkthatlaser ranging is satisfactory After adjusting the setting confirm that laser profiling is satisfactory Various settings can affect how the Material settings behave You can use Video mode to examine how the settings interact See
239. nd data fields Unit ID 1 Used for intra system routing purpose The Modbus Client sets the value and the Server Gocator copies the value into its responses Modbus Application Protocol Specification describes the standard function codes in detail Gocator supports the following function codes Modbus Function Code Function Code Name Data Size bits Description 3 Read Holding 16 Read multiple data values from the sensor Registers 4 Read Input Registers 16 Read multiple data values from the sensor 6 Write Single Register 16 Send a command or parameter to the sensor 16 Write Multiple 16 Send a command and parameters to the sensor Registers The data payload contains the registers that can be accessed by Modbus TCP messages If a message accesses registers that are invalid a reply with an exception is returned Modbus Application Protocol Specification defines the exceptions and describes the data payload format for each function code The Gocator data includes 16 bit 32 bit and 64 bit data All data are sent in big endian format with the 32 bit and 64 bit data spread out into two and four consecutive registers 32 bit Data Format Register Name Bit Position 0 32 bit Word 1 31 16 1 32 bit Word 0 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 registers or
240. nd decisions Measurement values are 32 bits wide and decisions are 8 bits wide Gocator 1300 Series Description If buffering is enabled this address must be read by the PLC Modbus client first to advance the buffer After the buffer advance read operation the Modbus client can read the updated Measurements amp Decisions in addresses 1000 1060 Number of buffered messages currently in the queue Buffer Overflow Indicator 0 No overflow 1 Overflow Digital input state Encoder value when the index is last triggered Laser exposure Us Sensor temperature in degrees Celcius 100 centidegrees Encoder position Timestamp us Frame counter Each new sample is assigned a frame number Protocols Modbus Protocol 257 measurement ID defines the register address of each pair The register address of the first word can be calculated as 1000 3 ID For example a measurement with ID set to 4 can be read from registers 1012 high word and 1013 low word and the decision at 1015 The measurement results are updated after each range data is processed Measurement Register Map Register Address Name Type Description 1000 Measurement 0 High 32s Measurement value in um 0x80000000 if invalid 1001 Measurement 0 Low 1002 Decision 0 16u Measurement decision A bit mask where Bit 0 1 Pass 0 Fail Bits 1 7 0 Measurement value OK 1 Invalid value 2 Invalid anchor 1003 Mea
241. ndex of exposure step to use for intensity when using multiple exposures XSubsampling 32u Subsampling factor in X XSubsampling options 32u CSV List of available subsampling factors in X ZSubsampling 32u Subsampling factor in Z ZSubsampling options 32u CSV List of available subsampling factors in Z SpacinglInterval 64 Uniform spacing interval mm SpacingInterval min 64f Minimum spacing interval mm SpacingInterval max 64f Maximum spacing interval mm Spacinginterval used Bool Whether or not field is used SpacingInterval value 64f Actual value used SpacingIntervalType 32s Spacing interval type Gocator 1300 Series 0 Maximum resolution 1 Balanced Gocator Device Files Job Files 174 Element Type Description 2 Maximum speed 3 Custom SpacingintervalType used Bool Whether or not field is used Tracking Section See Tracking below Material Section See Material below Custom Custom Used by specialized sensors Region3D Child Elements Element Type Description 64 X start mm Y 64f Y start mm Z 64f Z start mm Width 64f X extent mm Length 64f Y extent mm Height 64f Z extent mm Window Child Elements Element Type Description 32 X start pixels 32 Y start pixels Width 32u X extent pixels Height 32u Y extent pixels Tracking Tracking Child Elements Element Type Description Enabled Bool Enables tracking Enabled used Bool Whether or not this fie
242. network throughput Health Result Header Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier Always 0 count C 32u 6 Count of indicators in this message source 8u 10 Source 0 Main 1 Buddy reserved 3 8u 11 Reserved indicators C Indicator 14 Array of indicators see format below The health indicators block contains 2 dimensional array of indicator data Each row in the array has the following format Indicator Format Field Type Offset Description id 32u 0 Unique indicator identifier see below instance 32u 4 Indicator instance value 64s 8 Value identifier specific meaning The following health indicators are defined for Gocator sensor systems Health Indicators Indicator Id Instance Value Encoder Value 1003 Current system encoder tick Encoder Frequency 1005 Current system encoder frequency ticks s App Version 2000 Firmware application version Gocator 1300 Series Protocols Gocator Protocol 249 Indicator Uptime Laser safety status Internal Temperature Projector Temperature Control Temperature Memory Usage Memory Capacity Storage Usage Storage Capacity CPU Usage Net Out Capacity Net Out Link Status Sync Source Digital Inputs Event Count Camera Search Count Camera Trigger Drops Analog Output Drops Digital Output Dr
243. ng up the analog output see Analog Output on page 145 208 Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 4519 0 index 16u 6 Index of the output Must be 0 target 64s 8 Specifies the time clock ticks or position encoder ticks of when the event should happen The target value is ignored if ScheduleEnabled is set to false Scheduled is unchecked in Analog in the Output panel The output will be triggered immediately value 32s 16 Output current micro amperes Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4519 status 32s 6 Reply status For a list of status codes see Commands on page 208 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 Ping The Ping command can be used to test the control connection This command has no effect on sensors Command Field length Type 32u Offset 0 Description Command size including this field in bytes id timeout Gocator 1300 Series 16u 64u 4 6 Command identifier Ox100E Timeout value microseconds Protocols Gocator Protocol 228 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x100E status 3
244. nstance Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4531 status 32s 6 Reply status For a list of status codes see Commands on page 208 Only some tools allow the addition of new measurements The maximum number of instances for a given measurement type can be found under MeasurementOptions in the ToolOptions node For dynamic tools the maximim indicated by the maxCount attribute is greater than one For static tools the maximum is one Read File Progressive The progressive Read File command reads the content of a file as a stream This command returns an initial reply followed by a series of continue replies if the initial reply s status field indicates success The continue replies contain the actual data and have 0x5000 as their identifier Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x4529 name 64 char 6 Source file name Initial Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4529 status 32s 6 Reply status For a list of status codes see Commands on page 208 progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress Gocator 1300 Series Protocols Gocator Protocol 238 Continue Reply Field Type Offset Description
245. nt frame Type t n Hexadecimal value that identifies the type of n measurement The measurement type is the same as defined elsewhere see on page 242 Id i n Decimal value that represents the unique identifier of the measurement ValueStart V 1 Start of measurement value Value V n Measurement value in decimal The unit of the value is measurement specific Gocator 1300 Series Protocols ASCII Protocol 273 Field DecisionStart Decision Shorthand Length Description D 1 Start of measurement decision d 1 Measurement decision a bit mask where Bit 0 1 Pass 0 Fail Bits 1 7 0 Measurement value OK 1 Invalid value 2 Invalid anchor Custom Result Format In the custom format you enter a format string with place holders to create a custom message The default format string is time 96value 0 96decision 0 Result Placeholders Format Value Explanation 9etime Timestamp encoder Encoder position frame Frame number 96value Measurement ID 96decision Measurement ID Gocator 1300 Series Measurement value of the specified measurement ID The ID must correspond to an existing measurement The value output will be displayed as an integer in micrometers Measurement decision where the selected measurement ID must correspond to an existing measurement Measurement decision is a bit mask where Bit 0 1 Pass 0 Fail Bits 1 7 0 Measurement value OK 1 Invalid val
246. oad User Manual Open HTML Download PDF Software Development Kit SDK Download Motion and Alignment Encoder resolution and travel Support File Gocator 1300 Series Gocator Web Interface System Management and Maintenance 63 Support Files You can download a support file from a sensor and save it on your computer You can then use the support file to create a scenario in the Gocator emulator for more information on the emulator see Gocator Emulator on page 153 LMI s support staff may also request a support file to help in Sensor System Layout and Buddy assignment Networking IP address settings Motion and Alignment Encoder resolution and travel speed Jobs Download upload and set default Security Admin and Technician passwords Maintenance Upgrade backup restore reset Support Manual support file and SDK troubleshooting To download a support file 1 2 Support File Download a support file which contains all jobs data and current state of the sensor productionRun01 Filename Description Device Information Part Number 311320 2M 01 Serial 13434 Version 4 3 3 138 Support File Download a support file which contains all jobs data and current state of the sensor Filename support Description Download User Manual Open HTML Download PDF Software Development Kit SDK Download Sensor running in surface mode Contains Surface Stud
247. obs uploading and downloading files scheduling outputs setting alignment reference etc Most configuration is however performed through the GoSetup object for example setting scan mode exposure exposure mode active area speed alignment filtering subsampling etc Surface generation is configured through the GoSurfaceGeneration object and part detection settings are configured through the GoPartDetection object Gocator 1300 Series Software Development Kit 3 See Class Hierarchy page 278 for information on the different objects used for configuring a sensor Sensors must be connected before they can be configured Refer to the Configure example for details how to change settings and to switch save or load jobs Refer to the BackupRestore example for details on how to back up and restore settings Enable Data Channels Use GoSystem_EnableData to enable the data channels of all connected sensors Similarly use GoSystem_ EnableHealth to enable the health channels of all connected sensors Perform Operations Operations are started by calling GoSystem_Start GoSystem_StartAlignment and GoSystem_ StartExposureAutoSet Refer to the StationaryAlignment and MovingAlignment examples for details on how to perform alignment operations Refer to the ReceiveRange ReceiveProfile and Receive WholePart examples for details on how to acquire data Example Configuring and starting a sensor with the Gocator API include lt GoSd
248. ocol and data selection Digital 1 Information Data rent and pube n The Gocator Protocol uses TCP messages to command the Send Name Digital 2 sensor and to transmit data and measurement results to Ranges Trigger event and pulse width client computer The user selects which measurements and Top what type of scan data to send Video 3D Intensity 3D data NJ 8 d can be in the form of Ranges Profiles or Surfaces depending Measurements N scal rigger event and current scaling ler ETT Range Position Z 0 Serial Protocol and data selection All of the tasks that can be accomplished via the Gocator s web interface can be accomplished programmatically by sending and receiving Gocator Protocol control commands Auto Disconnect Auto disconnect if the sensor is unable to send data Timeout 1015 To receive commands and send results using Gocator Protocol messages 1 Goto the Output page 2 Click on the Ethernet category in the Output panel 3 Select Gocator as the protocol in the Protocol drop down 4 Checkthe video range intensity or measurement items to send 5 Optional Uncheck the Auto Disconnect setting By default this setting is checked and the timeout is set to 10 seconds D Measurements shown here correspond to measurements that have been added using the Measure page see on page 95 All of the tasks that can be accomplished with the Gocator s web interface cr
249. of Median interest 2 Fit Lines 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 LINE LINE AREA A AREA A line can be defined using one two areas Two areas can be used to bypass discontinuity in a line segment Measurement Tools Area The Area tool determines the cross sectional area within a region The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools on page 96 for instructions on how to add measurement tools Gocator 1300 Series Gocator Web Interface Measurement 109 Objec Baseline Region 9 Area 551 11 Id Output Filters Decision Min 930 mm Max 950 mm Areas are positive in regions where the profile is above the X axis In contrast areas are negative in regions where the profile is below the X axis Measurements Measurement Illustration Area Measures the cross sectional area within a region that is above or below a fitted baseline Area Area Type Object Area Clearance Baseline User defined line Standalone or dual sensor setup in Wide orientation 2 0 Object Baseline X Axis 2 0 Gocator 1300 Series Gocator Web Interface Measurement 110 M
250. of View Measurement Range 21 443 75 206 25 jo SE 206 25 Gocator 1300 Series Specifications Gocator 1300 Series 307 Dimensions Envelope THRU MOUNTING HOLE OPTION 3X0 5 THRU ALL Gocator 1300 Series THREADED MOUNTING HOLE OPTION r M6X1 0 6H THRU ALL 84 135 1033 ns m Specifications Gocator 1300 Series 8 Gocator 1380 Side Mount Package Field of View Measurement Range 4 825 5 825 5 Gocator 1300 Series Specifications Gocator 1300 Series 309 Dimensions THREADED MOUNTING HOLE OPTION THRU MOUNTING HOLE OPTION 3X 5 THRU ALL M6X1 0 6H THRU ALL 84 135 Gocator 1300 Series Specifications Gocator 1300 Series 310 Envelope 1833 L 724 CT L 127 20 4 L Gocator 1300 Series Specifications Gocator 1300 Series 311 Gocator 1390 Side Mount Package Field of View Measurement Range 2 1000 1500 1000 Gocator 1300 Series Specifications Gocator 1300 Series 312 Dimensions 21 15 10 THRU MOUNTING HOLE OPTION THREADED MOUNTING HOLE OPTION 3X M6X1 0 6H THRU HOLE 3X 5 THRU ALL LJ gt gt 277 120 7 1
251. offset um zOffset 32s 28 Z offset um source 8u 32 Source 0 Top 1 Bottom 2 Top Left 3 Top Right exposure 32u 33 Exposure ns cameralndex 8u 37 Camera index reserved 2 8u 38 Reserved ranges C W Pointl6s 40 Profile ranges Profile Intensity Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16 4 Bit 15 Last message flag Bits 0 14 Message type identifier For this message set to 7 attributesSize 16u 6 Size of attributes in bytes min 24 current 24 count C 32u 8 Number of profile intensity arrays width W 32u 12 Number of points per profile intensity array xScale 32u 16 X scale nm Gocator 1300 Series Protocols Gocator Protocol 246 Field Type Offset Description xOffset 32s 20 X offset um source 8u 24 Source 0 Top 1 Bottom 2 Top Left 3 Top Right exposure 32u 25 Exposure ns reserved 3 8u 29 Reserved points C W 8 32 Intensity arrays Measurement Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier For this message set to 10 count C 32u 6 Count of measurements in this message reserved 2 8u 10 Reserved id 160 12 Measurement identifier measurements C Measurement 14 Array of measurements see below Measurement Field Type Offset Description value 32s 0 Measurement value decision 8u 4 M
252. ollowing default network configuration Setting Default DHCP Disabled Address 192 168 1 10 Subnet Mask 255 255 255 0 Gateway 0 0 0 0 All Gocator sensors are configured to 192 168 1 10 as the default IP address For a dual sensor system the Main and Buddy sensors must be assigned unique addresses before they can be used on the same network Before proceeding connect the Main and Buddy sensors one at a time to avoid an address conflict and use the steps in See Running a Dual Sensor System on page 33 to assign each sensor a unique address To connect to a sensor for the first time 1 Connect cables and apply power Sensor cabling is illustrated in System Overview on page 16 2 Change the client PC s network settings Windows 7 a Open the Control Panel select Network and Sharing Center and then click Change Adapter Settings b Right click the network connection you want to modify and then click Properties c Onthe Networking tab click Internet Protocol Version 4 TCP IPv4 and then click Properties d Selectthe Use the following IP address option Gocator 1300 Series GOCATOR IN ENCODER TRIGGER SAFETY OUT SERIAL ANALOG DIGITAL GOCATOR 1 0 CORDSET GOCATOR POWER AND ETHERNET CORDSET USER PC can be di General You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the a
253. ommand LoadJob wrongname job Reply ERROR failed to load wrongname job Stamp The Stamp command retrieves the current time encoder and or the last frame count Formats Message Format Command Stamp time encoder frame If no parameters are given time encoder and frame will be returned There could be more than one selection Reply If no arguments are specified OK time time value encoder encoder position frame frame count ERROR Error Message If arguments are specified only the selected stamps will be returned Examples Command Stamp Reply OK Time 9226989840 Encoder 0 Frame 6 Command Stamp frame Reply OK 6 Stationary Alignment The Stationary Alignment command performs an alignment based on the settings in the sensor s live job file Areply to the command is sent when the alignment has completed or failed The command is timed out if there has been no progress after one minute Formats Message Format Command StationaryAlignment Gocator 1300 Series Protocols ASCII Protocol 269 55 Format Reply If no arguments are specified OK or ERROR Error Message Examples Command StationaryAlignment Reply OK Command StationaryAlignment Reply ERROR ALIGNMENT FAILED Moving Alignment The Moving Alignment command performs an alignment based on the settings in the sensor s live job file Areply to the command is sent when the alignment
254. omplished via the Gocator s web interface can be accomplished programmatically by 4 Range Position Z 0 sending and receiving Gocator Protocol control commands Category Description 1 Ethernet Used to select the data sources that will transmit data via Ethernet See Ethernet Output on the next page 2 Digital Output 1 Used to select the data sources that will be combined to produce a digital output pulse on Output 1 See Digital Output on page 142 3 Digital Output 2 Used to select the data sources that will be combined to produce a digital output pulse on Output 2 See Digital Output on page 142 4 Analog Panel Used to convert a measurement value or decision into an analog output signal See Analog Output on page 145 5 Serial Panel Used to select the measurements that will be transmitted via RS 485 serial output See Serial Output on page 147 Gocator 1300 Series Gocator Web Interface Output 138 Ethernet Output Asensor uses TCP messages Gocator protocol to receive commands from client computers and to send video laser range intensity and measurement results to client computers The sensor can also receive commands from and send measurement results to a PLC using ASCII Modbus TCP or EtherNet IP protocol See Protocols on page 207 for the specification of these protocols The specific protocols used with Ethernet output are selected and configured within the panel Output Ethernet Protocol Gocator Prot
255. on choose Fixed or Dynamic in the Alignment Reference drop down Encoder Resolution You can manually enter the encoder resolution in the Resolution setting or it can be automatically set by performing an alignment with Type set to Moving Establishing the correct encoder resolution is required for correct scaling of the scan of the target object in the direction of travel Gocator 1300 Series Gocator Web Interface System Management and Maintenance 56 Encoder Resolution 1 Encoder Value S Encoder Frequency Encoder resolution is expressed in millimeters per tick where one tick corresponds to one of the four encoder quadrature signals A B Encoders are normally specified in pulses per revolution where each pulse is made up of the four quadrature signals A B Because Gocator reads each of the four quadrature signals you should choose an encoder accordingly given the resolution required for your application To configure encoder resolution 1 Goto the Manage page and click on the Motion and Alignment category 2 Inthe Encoder section enter a value in the Resolution field Encoder Value and Frequency The encoder value and frequency are used to confirm the encoder is correctly wired to the Gocator and to manually calibrate encoder resolution that is by moving the conveyor system a known distance and making a note of the encoder value
256. on 32s 6 Define step direction 0 Forward 1 Reverse Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4501 status 32s 6 Reply status For a list of status codes see Commands on page 208 When the system is running in the Replay mode this command advances replay data playback D by one frame This command returns an error if no live playback data set is loaded You can use the Copy File command to load a replay data set to _live rec Playback Position The Playback Position command retrieves the current playback position Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x4502 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4502 status 32s 6 Reply status For a list of status codes see Commands on page 208 Frame Index 320 10 Current frame index starts from 0 Frame Count 32u 14 Total number of available frames objects Clear Measurement Stats The Clear Measurement Stats command clears the sensor s measurement statistics Gocator 1300 Series Protocols Gocator Protocol 234 Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4526 Reply Field Type Offset Description lengt
257. on the dashboard see Dashboard on page 150 To clear replay data e Click the Clear Replay Data button Downloading Uploading Exporting Replay Data Replay data recorded scan data can be downloaded from the emulator to a client computer or uploaded from a client computer to the emulator Data can also be exported from the emulator to a client computer in order to process the data using third party tools D You can only upload replay data to the same sensor model that was used to create the data fa Replay Mode Enabled lt gt 0 Export Data displayed is simulated from a recording Wl Press Play to begin simulation Job1 Eg 5 CA i 3210 321 Replay 0 gt Download Clear replay Replay Upload on D Replay data is not loaded or saved when you load or save jobs To download replay data e Click the Download button To upload replay data 1 Click the Upload button t If you have unsaved changes in the current job the firmware asks whether you want to discard the changes Gocator 1300 Series Gocator Emulator Working with Jobs and Data 160 Information Unsaved changes in current job Discard changes Discard Cancel Do one of the following e Click Discard to discard any unsaved changes The Upload menu appears zm 4 Upload Upload and Merge e Click Cancel to return to the main window to save your changes 2 Inth
258. ools package which can be downloaded at http Imi3d com support downloads For more information about programming with the Gocator SDK refer to the class reference and sample programs included in the Gocator SDK Setup and Locations Class Reference The full SDK class reference is found by accessing 14400 4 x x xx SOFTWARE GO 5 SDK doc GoSdk Gocator_1x00 GoSdk html Gocator 1300 Series 277 Examples showing how to perform various operations are provided each one targeting a specific area All of the examples can be found in GoSdkSamples sin To run the SDK samples make sure GoSdk dll and kApi dil or GoSdkd dll and kApid dll in debug configuration are copied to the executable directory All sample code including C examples is now located in the Tools package which can be downloaded by going to http Imi3d com support downloads Sample Project Environment Variable All sample projects use the environment variable GO SDK 4 The environment variable should point to the GO SDK directory for example 174400 4 0 9 156 SOFTWARE GO SDKAGO SDK Header Files Header files are referenced with GoSdk as the source directory for example include lt GoSdk GoSdk h gt The SDK header files also reference files from the directory The include path must be set up for both the GoSdk and the kApi directories For example the sample projects set the include path to GO_SDK_4 Gocator GoSdk and GO_SDk_4 Platform kApi
259. ops Serial Output Drops Sensor State Current Sensor Speed Maximum Speed Spot Count Gocator 1300 Series 2017 1010 2002 2404 2028 2003 2004 2005 2006 2007 2009 2034 2043 2024 2102 2217 2201 2501 2601 2701 20000 20001 20002 20003 Instance Output Index Output Index Output Index Value Time elapsed since node boot up or reset seconds Oif laser is disabled 1 if enabled Internal temperature centidegrees Celsius Projector module temperature centidegrees Celsius Only available on projector based devices Control module temperature centidegrees Celsius Available only on 3B class devices Amount of memory currently used bytes Total amount of memory available bytes Amount of non volatile storage used bytes Total amount of non volatile storage available bytes CPU usage percentage of maximum Total available outbound network throughput bytes s Current Ethernet link status Gocator synchronization source 1 FireSync Master device 2 Sensor Current digital input status one bit per input Total number of events triggered Number of search states Only important when tracking is enabled Number of dropped triggers Number of dropped outputs Number of dropped outputs Number of dropped outputs Gocator sensor state 1 Conflict 0 Ready 1 Running Current sensor speed Hz The sensor s maximum speed Number of found
260. or 2300 2880 and 3100 series sensors PartMatching Child Elements Element Type Description Enabled Bool Enables part matching Enabled used Bool Whether or not this field is used MatchAlgo 32s Match algorithm 0 Edge points 1 Bounding Box 2 Ellipse Edge Section See Edge below BoundingBox Section See BoundingBox below Ellipse Section See Ellipse below Edge Edge Child Elements Element Type Description ModelName String Name of the part model to use Does not include the mdl extension Acceptance Quality Min 64f Minimum quality value for a match BoundingBox BoundingBox Child Elements Gocator 1300 Series Element Type Description ZAngle 64f Z rotation to apply to bounding box degrees Acceptance Width Min 64f Minimum width mm Acceptance Width Max 64f Maximum width mm Acceptance Length Min 64f Minimum length mm Acceptance Length Max 64f Maximum length mm Ellipse Ellipse Child Elements Element Type Description ZAngle 64f Z rotation to apply to ellipse degrees Acceptance Major Min 64f Minimum major length mm Acceptance Major Max 64f Maximum major length mm Acceptance Minor Min 64f Minimum minor length mm Acceptance Minor Max 64f Maximum minor length mm Gocator Device Files Job Files 1 ToolOptions The ToolOptions element contains a list of available tool types their measurements and settings for related information ToolOptions Child Elements Element Typ
261. 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 the measurements that have been simulated can be viewed in the Dashboard page for more information on the dashboard see Dashboard on page 150 To clear replay data 1 Stopthe sensor if itis running by clicking the Stop button 2 Click the Clear Replay Data button Replay data recorded scan data can be downloaded from a Gocator to a client computer or uploaded from a client computer to a Gocator Data can also be exported from a Gocator to a client computer in order to process the data using third party tools D You can only upload replay data to the same sensor model that was used to create the data Gocator 1300 Series Gocator Web Interface User Interface Overview 46 Replay Mode Enabled Export Data displayed is simulated from a recording g Press Play to begin simulation Jobi 12 1 3 32 321 Replay 8 e Download Clear replay Replay Upload on D Replay data is not loaded or saved when you load or save jobs To download replay data e Click the Download button To upload replay data 1 Click the Upload button If you have unsaved changes in the current job the firmware asks whether you want to discard the changes Information Unsaved changes in
262. output registers Control registers are used to control the sensor states e g start stop or calibrate a sensor Gocator 1300 Series Protocols Modbus Protocol 4 The output registers report the sensor states stamps and measurement values and decisions You can read multiple output registers using a single Read Holding Registers or a single Read Input Registers command Likewise you can control the state of the sensor using a single Write Multiple Register command Control registers are write only and output registers are read only Register Map Overview Register Address Name Read Write Description 0 124 Control Registers WO Registers for Modbus commands See Control Registers below for detailed descriptions 300 899 Sensor States RO Report sensor states See State on the next page for detailed descriptions 900 999 Stamps RO Return stamps associated with each range See State on the next page for detailed descriptions 1000 1060 Measurements amp RO 20 measurement and decision pairs See Decisions Measurement Registers on page 257 for detailed descriptions Control registers are used to operate the sensor Register 0 stores the command to be executed Registers 1 to 21 contain parameters for the commands The Gocator executes a command when the value in Register 0 is changed To set the parameters before a command is executed you should set up the parameters and the command using a single Multiple Write reg
263. ower Supply Pin 1 Encoder Output Port Description Connects to the 45 connector labeled Ethernet on the Power LAN to Master cordset Connects to the 45 connector labeled Power Sync on the Power LAN to Master cordset Provides power and laser safety to the Gocator Connects to the Gocator cordset Connects to the host PC s Ethernet port Accepts power 48 V Toggles sensor power Toggles laser safety signal provided to the sensors O laser off laser Signals a digital input trigger to the Gocator Accepts encoder A B and Z signals Provides digital output See Master 100 on page 322 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 Gocator 1300 Series Getting Started Hardware Overview 20 SENSOR PORTS 1 4 LED INDICATORS Master 400 5 5 EFE MASTER 400 FRONT SENSOR PORTS 5 8 SENSOR PORTS 1 4 LED INDICATORS Oo N Master 0 MASTER 800 FRONT 800 5 2 22 i i i 0 0 MASTER 400 80
264. part detection is automatically enabled When Type is set to D anything else part detection can be enabled and disabled in the Part Detection panel See Part Detection on page 87 for descriptions of the settings that control detection logic Continuous The sensor continuously generates profiles of parts that are detected under the sensor Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 84 Fixed Length The sensor generates profiles of a fixed length in mm using the value in the Length setting For correct length measurement you should ensure that motion is calibrated that is encoder resolution for encoder triggers or travel speed time triggers The Type setting provides two types of start triggers Sequential Continuously generates back to back fixed length profiles External Input A pulse on the digital input triggers the generation of a single profile of fixed length For more information on connecting external input to a Gocator sensor see on page 318 You can optionally enable part detection to process the profile after it has been generated but the generation itself does not depend on the detection logic To do this check Enabled in the Part Detection panel Variable Length The sensor generates profiles of variable length while the external digital input is held high If the value of the Max Length setting is reached while external input is still high the next
265. ploads a job from the client computer button Unsaved jobs are indicated by unsaved Gocator 1300 Series Gocator Emulator Working with Jobs and Data 162 Jobs Job1 Job2 loaded default unsaved Changes to job files in the emulator are not persistent they are lost when you close or restart the emulator However you can keep modified jobs by first saving them and then downloading them to a client computer To save a job 1 Goto the Manage page and click on the Jobs category 2 Provide a name in the Name field To save an existing job under a different name click on it in the Jobs list and then modify it in the Name field 3 Click on the Save button or press Enter To download load or delete a job or to set one as a default or clear a default 1 Goto the Manage page and click on the Jobs category 2 Selecta job in the Jobs list 3 Click on the appropriate button for the operation Scan Model and Measurement Settings The settings on the Scan page related to actual scanning will clear the buffer of any scan data that is uploaded from a client computer or is part of a support file used to create a virtual sensor If Replay Protection is checked the emulator will indicate in the log that the setting can t be changed because the change would clear the buffer For more information on Replay Protection see Using Replay Protection on page 157 Other settings on the Scan page related to the post proc
266. point argument Arg Generic argument The arguments are all sent as strings and should be applied in order to the format specifiers found in the content Gocator 1300 Series Gocator Device Files Live Files 165 Job Files The following sections describe the structure of job files Job files which are stored in a Gocator s internal storage control system behavior when a sensor is running Job files contain the settings and potentially the transformations associated with the job if Alignment Reference is set to Dynamic There are two kinds of job files Aspecial job file called live job This job file contains the active settings and potentially the trans formations associated with the job Changing this file or its components changes the active settings or transformations It is stored in volatile storage e Other job files that are stored in non volatile storage ob File Components A job file contains components that can be loaded and saved as independent files The following table lists the components of a job file Job File Components Component Path Description Configuration config xml The job s configurations This component is always present Transform transform xml Transformation values Present only if Alignment Reference is set to Dynamic Elements in the components contain three types of values settings constraints and properties Settings are input values that can be edited Constraints are
267. ponent of a job file or another type of file for more information see Job Files on page 166 To make a job active to load it copy a saved job to live job To save the active job copy from live job to another file Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 1018 0 source 64 char 6 Source file name destination 64 char 70 Destination file name Gocator 1300 Series Protocols Gocator Protocol 218 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x101B status 32s 6 Reply status For a list of status codes see Commands on page 208 Read File Downloads a file from the connected sensor a job file component of a job file or another type of file for more information see Job Files on page 166 To download the live configuration pass live job in the name field To read the configuration of the live configuration only pass live job config xml in the name field Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0 1007 name 64 char 6 Source file name Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 160 4 Reply identifier 0x1007 status 32s 6 Reply status For a list of statu
268. ppropriate IP settings 7 Obtain an IP address automatically Use the following IP address IP address 192 168 1 5 Subnet mask 255 255 255 0 Default gateway Obtain DNS server address automaticall Use the following DNS server addresses Preferred DNS server Alternate DNS server Getting Started Network Setup 30 e Enter IP Address 192 168 1 5 and Subnet Mask 255 255 255 0 then click OK Mac OS X v10 6 a Open the Network pane in System E Preferences and select Ethernet Status Connected Ethernet has a self assigned IP address and may not be able to connect b Set Configure to Manually IP Address 192 168 1 5 c Enter IP Address 192 168 1 5 and Subnet Subnet Mask 255 255 255 0 eum m Mask 255 255 255 0 then click Apply Advanced 9 Click the lock to prevent further changes Assist me Revert Apply A See Troubleshooting page 290 if you experience any problems while attempting to establish a connection to the sensor Gocator 1300 Series Getting Started Network Setup 31 Setup The Gocator is shipped with a default configuration that produce laser ranges 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 ranging to verify basic
269. r InvalidValue String String for invalid output CustomDataFormat String Custom data format CustomFormatEnabled Bool Enables custom data format Gocator 1300 Series Gocator Device Files Job Files 1 Child Elements Element Type Description BufferEnabled Bool Enables EtherNet IP output buffering EndianOutputType 32s Endian output type 0 Big endian 1 Little endian ImplicitOutputEnabled Bool Enables Implict I O Messaging ImplicitTriggerOverride 32s Override requested trigger type by client 0 No override 1 Cyclic 2 Change of State Modbus Modbus Child Elements Element Type Description BufferEnabled Bool Enables Modbus output buffering DigitalO and Digital1 The DigitalO and Digital1 elements define settings for the Gocator s two digital outputs DigitalO and Digitalt Child Elements Element Type Description Event 32s Triggering event 0 None disabled 1 Measurements 2 Software 3 Alignment state 4 Acquisition start 5 Acquisition end SignalType 32s Signal type 0 Pulse 1 Continuous ScheduleEnabled Bool Enables scheduling PulseWidth 64f Pulse width us PulseWidth min 64f Minimum pulse width us PulseWidth max 64f Maximum pulse width us PassMode 32s Measurement pass condition 0 AND of measurements is true Gocator 1300 Series Gocator Device Files Job Files 202 Element Type Description 1 AND of measurements is false 2 Always assert Del
270. r property access functions the convention is Go Object Property Name for reading the property and Go Object Set Property Name for writing it for example GoMeasurement DecisionMax and GoMeasurement SetDecisionMax respectively Initialize GoSdk API Object Before the SDK can be used the GoSdk object must be initialized by calling GoSdk_Construct api kAssembly api kNULL if status Construct amp api printf Error GoSdk_Construct d n status return When the program finishes call GoDestroy api to destroy the API object Discover Sensors Sensors are discovered when GoSystem is created using GoSystem_Construct You can use GoSystem_ SensorCount and GoSystem_SensorAt to iterate all the sensors that are on the network GoSystem_SensorCount returns the number of sensors physically in the network Alternatively use GoSystem_FindSensorByld or GoSystem_FindSensorBylpAddress to get the sensor by ID or by IP address Refer to the Discover example for details on iterating through all sensors Refer to other examples for details on how to get asensor handle directly from IP address Connect Sensors Sensors are connected by calling GoSensor_Connect You must first get the sensor object by using GoSystem_SensorAt GoSystem_FindSensorByld or GoSystem_FindSensorBylpAddress Configure Sensors Some configuration is performed using the GoSensor object such as managing j
271. r information on saving and loading jobs in the emulator see Creating Saving and Loading Jobs on page 158 153 For information on uploading and downloading jobs between the emulator and a computer and performing other job file management tasks see Downloading and Uploading Jobs on page 162 Downloading a Support File The emulator is provided with several virtual sensors preinstalled You can also create virtual sensors yourself by downloading a support file from a physical Gocator and then adding it to the emulator Support files can contain jobs letting you configure systems and add measurements in an emulated sensor Support files can also contain replay data letting you test measurements and some configurations on real data Dual sensor systems are supported Support File Download a support file which contains all jobs data and current state of the sensor Filename productionRunO1 Description Sensor running in surface mode Contains Surface Stud and Countersunk Hole measurements in addition to scan data from the current production run Download To download a support file 1 Goto the Manage page and click on the Support category 2 InFilename type the name you want to use for the support file When you create a scenario from a support file in the emulator the filename you provide here is displayed in the emulator s scenario list Support files end with the gs extension but you do not need to type t
272. ration ID Use this ID to correlate the command reply on the Command channel with the correct Alignment Result message on the Data channel A unique ID is returned each time the client uses this command The Start Exposure Auto set command is used to start the exposure auto set procedure on a sensor Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 04601 role 32s 6 Role of sensors to auto set 0 Main 1 Buddy Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4601 status 32s 6 Gocator 1300 Series Reply status For a list of status codes see Commands on page Protocols Gocator Protocol 226 Field Type Offset Description 208 opld 32s 10 Operation ID Use this ID to correlate the command reply on the Command channel with the correct Exposure Calibration Result message on the Data channel A unique ID is returned each time the dient uses this command Software Trigger The Software Trigger command causes the sensor to take a snapshot while in software mode and in the Running state Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 04510 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4510 statu
273. read only limits that define the valid values for settings Properties are read only values that provide supplemental information related to sensor setup When a job file is received from a sensor it will contain settings constraints and properties When a job file is sent to a sensor any constraints or properties in the file will be ignored Changing the value of a setting can affect multiple constraints and properties After you upload a job file you can download the job file again to access the updated values of the constraints and properties All Gocator sensors share a common job file structure Accessing Files and Components Job file components can be accessed individually as XML files using path notation For example the configurations in a user created job file called productionRun01 job can be read by passing productionRun01 job config xml to the Read File command In the same way the configurations in the active job could be read using live job config xml D If Alignment Reference is set to Fixed the active job file live job will not contain transformations To access transformations in this case you must access them via _live tfm The following sections correspond to the XML structure used job file components Gocator 1300 Series Gocator Device Files Job Files 6 The Configuration component of a job file contains settings that control how Gocator sensor behaves You can access the Configur
274. response to a measurement See Output on page 138 for more information on transmitting values and decisions To configure decisions 1 Goto the Scan page by clicking on the Scan icon 2 Choose Range or Profile mode in the Scan Mode panel depending on the type of measurement whose decision you need to configure If one of these modes is not selected tools will not be available in the Measure panel 3 Goto the Measure page by clicking on the Measure icon 4 Inthe Tools panel click on a tool in the tool list 5 nthe measurement list select a measurement To select a measurement it must be enabled See Enabling and Disabling Measurements on page 97 for instructions on how to enable a measurement 6 Clickonthe Output tab For some measurements only the Output tab is displayed 7 Enter values in the Min and Max fields Filters Filters can be applied to measurement values before they are output from the Gocator sensors Filter Description Scale and Offset The Scale and Offset settings are applied to the measurement value according to the following formula Scale Value Offset Gocator 1300 Series Gocator Web Interface Measurement 101 Filter Description 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 To convert from radius to diameter set Scale to 2 Hold
275. ring CSV ProfileFeature ProfileFeature Dimension tool measurement Dimension tool measurement Dimension tool The X measurements IDs available for anchoring The Z measurements 105 used for anchoring The Z measurements 105 available for anchoring Reference measurement region Measurement region Width measurement Height measurement Distance measurement measurement Measurements CenterX Dimension tool CenterX measurement measurement Measurements CenterZ Dimension tool CenterZ measurement measurement Dimension Tool Measurement Element Type Description id 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing window Gocator 1300 Series Gocator Device Files Job Files 9 Element Type Description Scale 64 Output scaling factor Offset 64 Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Absolute Boolean Setting for selecting absolute or signed result Width and Height measurements only ProfileGroove 0 Signed 1 Absolute A ProfileGroove element defines settings for a profile groove tool and one or more of its measurements The profile
276. rm your selection Motion and Alignment The Motion and Alignment category on the Manage page lets you configure alignment reference encoder resolution and travel speed Gocator 1300 Series Gocator Web Interface System Management and Maintenance 55 Sensor System Alignment Layout and Buddy assignment Networking Alignment Reference IP address settings incoder Fixed Resolution Encoder Value Encoder Frequency Jobs Download upload and set default Security Admin and Technician passwords Speed Maintenance Travel Speed Upgrade backup restore reset 9 Support e Manual support file and SDK 100 mm s Alignment Reference The Alignment Reference setting can have one of two values Fixed or Dynamic Alignment Alignment Reference Fixed Setting Description Fixed A single global alignment is used for all jobs This is typically used when the sensor mounting is constant over time and between scans for example when the sensor is mounted in a permanent position over a conveyor belt Dynamic A separate alignment is used for each job This is typically used when the sensor s position relative to the object scanned is always changing for example when the sensor is mounted on a robot arm moving to different scanning locations To configure alignment reference 1 Goto the Manage page and click on the Motion and Alignment category 2 Inthe Alignment secti
277. rmatted data string 96time 96value 0 0 Result OK 1420266101 151290 0 Value The Value command retrieves measurement values Formats Message Format Command Value measurement ID measurement ID Reply If no arguments are specified the custom format data string is used OK custom data string ERROR Error Message If arguments are specified OK data string in standard format except that the decisions are not sent ERROR Error Message Examples Gocator 1300 Series Protocols ASCII Protocol 271 Standard data string for measurements ID 0 and 1 Value 0 1 OK M00 00 V151290 M01 01 V18520 Standard formatted measurement data with a non existent measurement of ID 2 Value 2 ERROR Specified measurement ID not found Please verify your input Custom formatted data string 96time 96value 0 Value OK 1420266101 151290 Decision The Decision command retrieves measurement decisions Formats Message Format Command Decision measurement ID measurement ID Reply If no arguments are specified the custom format data string is used OK lt custom data string gt ERROR lt Error Message gt If arguments are specified OK lt data string in standard format except that the values are not sent gt ERROR lt Error Message gt Examples Standard data string for measurements 10 0 and 1 Decision 0 1 OK M00 00 D0 M01 01 D0 Standard formatted measurement data w
278. rnet cable To use encoder and digital output wire the Master s Gocator Sensor port to the Gocator IO connector using the Gocator 1 cordset Sensor Port Pins Gocator I O Pin Master Pin Conductor Color Encoder 1 White Brown amp Black Encoder 2 Brown Black Encoder 2 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 11 Black Encoder B 12 Violet The rest of the wires in the Gocator I O cordset are not used Gocator 1300 Series Specifications Master 100 322 Encoder Output Port Pins Function Pin Output 1 Digital Output 0 Output_1 Digital Output 0 Encoder_Z Encoder Z Encoder Encoder A Encoder Encoder B Oo ON O Ho Encoder_GND Encoder 5V Master 100 Dimensions 84 8 Gocator 1300 Series Specifications Master 100 323 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 states to all devices on a sensor network SENSOR PORTS 1 4 LED INDICATORS 7 Master zj Z MASTER 400 FRONT E SENSOR PORTS 5 8
279. rnet to Master cordset depending on which cordset you are using by terminating the shield of the cordset before the split The most effective grounding method is to use a 360 degree clamp CORDSET POWER amp ETHERNET Xm CORDSET GOCATOR POWER amp ETHERNET TO MASTER Xm Attach the 360 degree clamp before the split To terminate the cordset s shield 1 Expose the cordset s braided shield by cutting the plastic jacket before the point where the cordset splits Gocator 1300 Series Getting Started Installation 24 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 Side Mount Package Sensors should be mounted using four M6 x 1 0 pitch screws of suitable length The recommended thread engagement into the housing is 8 10 mm Proper care should be taken in order to ensure that the internal threads are not damaged from cross threading or improper insertion of screws Sensors should not be installed near surfaces that might create unanticipated laser reflections Gocator 1300 Series Getting Started Instal
280. rops due to slow Ethernet link Count of high states on digital outputs Count of low states on digital outputs Count of valid ranges Count of invalid ranges Count of invalid anchors Count of valid spots detected in the last frame Maximum number of spots detected since sensor was started Count of camera frame where laser has lost tracked Only applicable when tracking window is enabled Measurements Measurement statistics are displayed for each measurement that has been configured on the Measure page Use the Reset button to reset the statistics The following information is available for each measurement Gocator 1300 Series Gocator Web Interface Dashboard 151 Dashboard Measurement Statistics Name Measurements Value Min Max Avg Std Pass Fail Invalid Gocator 1300 Series Description The measurement ID and name The most recent measurement value The minimum and maximum measurement values that have been observed The average of all measurement results collected since the sensor was started The standard deviation of all measurement results collected since the sensor was started The counts of pass or fail decisions that have been generated The count of frames from which no feature points could be extracted Gocator Web Interface Dashboard 152 Gocator Emulator The Gocator emulator is a stand alone application that lets you run a virtual sensor In a virtual sensor you
281. rrectly after ranging is restarted Exposure determines the duration of camera and laser on time Longer exposures can be helpful to detect laser signals on dark or distant surfaces but increasing exposure time decreases the maximum speed Different target surfaces may require different exposures for optimal results Gocator sensors provide two exposure modes for the flexibility needed to scan different types of target surfaces Exposure Mode Description Single Uses a single exposure for all objects Used when the surface is uniform and is the same for all targets Dynamic Automatically adjusts the exposure after each frame Used when the target surface varies between scans Video mode lets you see how the laser point 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 istoo bright decrease exposure value Under exposure Over exposure Laser point is not detected Laser point is too bright Increase the exposure value Decrease the exposure value Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 75 Single Exposure The sensor uses a fixed exposure in every scan Single exposure is used when the target surface is uniform and is the same for all targets Sensor Active Area Material Exposure Mode Single 3 Auto
282. rs 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 the references below for detailed information As such these sensors do not fully comply with the standards relating to laser products specified in IEC 60825 1 and FDACFRTitle 21 Part 1040 N Use of controls or adjustments or performance of procedures other than those specified herein LASER lt SENSOR LASER WARNING DO NOT LOOK DIRECTLY INTO THE LASER BEAM may result in hazardous radiation exposure References 1 International standard IEC 60825 1 2001 08 consolidated edition Safety of laser products Part 1 Equipment classification requirements and user s guide 2 Technical report 60825 10 Safety of laser products Part 10 Application guidelines and explanatory notes to IEC 60825 1 3 Laser Notice No 50 FDA and CDRH http www fda gov cdrh rad health html Laser Classes Class 2M laser components Class 2M laser components would not cause permanent damage to the eye under reasonably foreseeable conditions of operation provided that exposure is terminated by the blink reflex assumed to take 0 25 seconds Because classification assumes the blink reflex the wavelength of light must
283. s 285 207 Sensor Recovery 287 CSV Converter Tool 288 Troubleshooting 290 Specifications 292 Gocator 1300 505 4 293 Gocator 1320 Side Mount Package 294 Gocator 1340 Side Mount Package 296 Gocator 1350 Side Mount Package 298 7 Gocator 1350 Top Mount Package 301 Gocator 1365 Side Mount Package 304 Gocator 1370 Side Mount Package 307 Gocator 1380 Side Mount Package 309 Gocator 1390 Side Mount Package 312 Gocator Power LAN Connector 315 Grounding Shield 315 POWER 316 Laser Safety Input miseire uriia 316 Gocator 1300 Connector 317 Grounding 5166 20 ee 317 Digital OUtplts 317 Inverting 210055 eee eee 318 Digital Inputs 318 Encoder 319 Serial Output 320 Selcom Serial Output 320 Analog Output 320 Master 100 322 Master 100 Dimensions 323 Master 400 800 _ 324 Master 400 800 Electrical Specifications 325 Master
284. s 32s 6 Reply status For a list of status codes see Commands on page 208 Schedule Digital Output The Schedule Digital Output command schedules a digital output event The digital output must be configured to accept software scheduled commands and be in the Running state For more information on setting up digital output see Digital Output on page 142 Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 4518 0 index 16 6 Index of the output starts from 0 target 64s 8 Specifies the time clock ticks when or position um at which the digital output event should happen The target value is ignored if ScheduleEnabled is set to false Scheduled is unchecked in Digital in the Output panel The output will be triggered immediately value 8u 16 Specifies the target state 0 Set to low continuous 1 Set to high continuous Ignored if output type is pulsed Gocator 1300 Series Protocols Gocator Protocol 227 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4518 status 32s 6 Reply status For a list of status codes see Commands on page Schedule Analog Output The Schedule Analog Output command schedules an analog output event The analog output must be configured to accept software scheduled commands and be in the Running state For information on setti
285. s 64 bit signed integer 9223372036854775808 0x8000000000000000 64u 64 bit unsigned integer 18446744073709551615 OxFFFFFFFFFFFFFFFF 64f 64 bit floating point 1 7976931348623157 308 Point16s Two 16 bit signed integers Commands The following sections describe the commands available on the Discovery page 209 Control page 212 and Upgrade page 240 channels When a client sends a command over the Control or Upgrade channel the sensor sends a reply whose identifier is the same as the command s identifier The identifiers are listed in the tables of each of the commands Status Codes Each reply on the Discovery Control and Upgrade channels contains a status field containing a status code indicating the result of the command The following status codes are defined Status Codes Label Value Description OK 1 Command succeeded Failed 0 Command failed Gocator 1300 Series Protocols Gocator Protocol 208 Label Value Description Invalid State 1000 Command is not valid in the current state Item Not Found 999 A required item e g file was not found Invalid Command 998 Command is not recognized Invalid Parameter 997 One or more command parameters are incorrect Not Supported 996 The operation is not supported Simulation Buffer Empty 992 The simulation buffer is empty Sensors ship with the following default network configuration Setting Default DHCP 0 disabled IP Address 192 168 1 10 Su
286. s are relative to a Y origin at the center of the part the same as for Part frame of reference see below When parts are segmented from other types of profiles the profile generation Type setting is set to Fixed Length Variable Length or Rotational measurement values are relative to a Y origin at the center of the surface from which the part is segmented Part When Frame of Reference is set to Part all measurements are relative to the center of the bounding box of the part 1 Goto the Scan page and choose Profile in the Scan Mode panel If this mode is not selected you will not be able to configure part detection 2 Expandthe Part Detection panel by clicking on the panel header or the 9 button If necessary check the Enabled option When Profile Generation is set to Continuous part detection is always enabled 4 Adjust the settings See the part detection parameters above for more information Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 88 Data Viewer The data viewer can display video images range plots and intensity images It is also used to configure the active area see on page 73 and measurement tools see on page 95 The data viewer changes depending on the current operation mode and the panel that has been selected The data viewer is controlled by mouse clicks and by the buttons on the display toolbar The mouse wheel can also be used for zooming in and out Pre
287. s codes see Commands on page 208 length 32u 10 File length data length byte 14 File contents Write File The Write File command uploads a file to the connected sensor a job file component of a job file or another type of file for more information see Job Files on page 166 To make a job file live write to live job Except for writing to the live file the file is permanently stored on the sensor Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x1006 64 6 Source file name length 32u 70 File length data length byte 74 File contents Gocator 1300 Series Protocols Gocator Protocol 219 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1006 status 32s 6 Reply status For a list of status codes see Commands on page 208 Delete File The Delete File command removes a file from the connected sensor a job file a component of a job file or another type of file for more information see Job Files on page 166 Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x1008 name 64 char 6 Source file name Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 160 4 Reply identifier 1008 0
288. s 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 on page 75 2 Expandthe Trigger panel by clicking on the panel header 3 Selectthe trigger source from the drop down 4 Configure the settings See the trigger parameters above for more information 5 Save the job in the Toolbar by clicking the Save button Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 72 The following sections describe the settings that are configured in the Sensor panel on the Scan page Active area refers to the region within the sensor s maximum field of view that is used for laser ranging By default the active area covers the sensor s entire field of view By reducing the active area the sensor can operate at higher speeds Active area is specified in sensor coordinates rather than in system coordinates As a result if the sensor is already alignment calibrated press the Acquire button to display uncalibrated 1 data before configuring the active area See 4d Coordinate Systems on page 40 for more CLEARANCE information on sensor and system coordinates DISTANCE CD Y 4 MEASUREMENT ACTIVE AREA RANGE MR Y 10 Sensor e Exposure Material 9 8 5 4 3 2 1 0 E 2 3 4 5 E Select Reset Min Va
289. s option may not be available in some configurations SpotSelectionType used Bool Determines if the setting s value is currently used SpotSelectionType value 32s Value in use by the sensor useful for determining value when used is false SpotSelectionType options 325 CSV List of available spot selection types CameraGainAnalog 64 Analog camera gain factor CameraGainAnalog used Bool Determines if the setting s value is currently used CameraGainAnalog value 64f Value in use by the sensor useful for determining value when used is false CameraGainAnalog min 64f Minimum value CameraGainAnalog max 64f Maximum value CameraGainDigital 64f Digital camera gain factor CameraGainDigital used Bool Determines if the setting s value is currently used CameraGainDigital value 64f Value in use by the sensor useful for determining value when used is false CameraGainDigital min 64f Minimum value CameraGainDigital max 64f Maximum value DynamicSensitivity 64f Dynamic exposure control sensitivity factor This can be used to scale the Gocator 1300 Series control setpoint Gocator Device Files Job Files 176 Element Type Description DynamicSensitivity used Bool DynamicSensitivity value 64f DynamicSensitivity min 64f DynamicSensitivity max 64f DynamicThreshold 32s DynamicThreshold used Bool DynamicThreshold value 32s DynamicThreshold min 32s DynamicThreshold max 32s GammaType 32s Gammatype used Bool Gammatype value
290. s sensor health information and measurement statistics UM o Speed 0 Hz M Manage Scan Measure Output 2 101 default unsaved M 2 m EI I Replay om y Measurements Name Measurements Value Min Max Std Pass Fail Invalid General Range Position Z 2337 02497 235 0 001 875 0 0 Sensor State Ready Application Version 4248 Master Connection Main Disconnected Master Connection Buddy N A Laser Safety N A Uptime 00 1 12 445 CPU Usage N A Current Speed 0 208 Hz Encoder Value N A Encoder Frequency N A Memory Usage N A Storage Usage N A Ethernet Traffic N A Internal Temperature Processing Latency Processing Latency Peak History Scan Count lt Element Description 1 System Displays sensor state and health information See System Panel below 2 Measurements Displays measurement statistics See Measurements on the next page System Panel The following state and health information is available in the System panel on the Dashboard page Dashboard General System Values Name Description Sensor State Current sensor state Ready or Running Application Version Gocator firmware version Master Connection Whether Master is connected Laser Safety Whether Laser Safety is enabled Uptime Length of time since the sensor was power cycled or reset Gocator 1300 Series Gocator Web Interface Dashboard 150
291. scovered sensors List of info for discovered sensors Description Serial number of the device IP address most significant byte first Model name Firmware version most significant byte first Sensor state 1 Conflict 0 Ready 1 Running For more information on states see Control Commands on page 212 Sensor role 0 Main 1 Buddy Serial number of paired device main or buddy 0 if unpaired The Get States command returns various system states Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x4525 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4525 status 32s 6 Reply status For a list of status codes see Commands on page Gocator 1300 Series 208 Protocols Gocator Protocol 215 Field Type Offset Description count 32u 10 Number of state variables sensorState 32s 14 Sensor state 1 Conflict 0 Ready 1 Running For more information on states see Control Commands on page 212 loginState 32s 18 Device login state 0 No user 1 Administrator 2 Technician alignmentReference 32s 22 Alignment reference 0 Fixed 1 Dynamic alignmentState 32s 26 Alignment state 0 Unaligned 1 Aligned recordingEnabled 32s 30 Whether or not recording is enabled 0 Disabled 1 Enabled playbackSource 32s 34 Playback source 0
292. 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 2 Enter the sensor s IP address 192 168 1 10 in a web browser 3 Loginas Administrator with no password The interface display language can be changed using the language option After selecting the language the browser will refresh and the web interface will display in the selected language 15776 Administrator 3 Language 4 Gotothe Manage page Manage Scan Measure Output Dashboard 5 Ensure that Replay mode is off the slider is set to the Replay off Snapshot left o E eov w 9 Start POWER SAFETY ENCODER oF 6 Ensure that the Laser Safety Switch is enabled or the Laser Safety input is high 2 Be Ze S BY 7 Gotothe Scan page Master 400 800 1200 2400 Gocator 1300 Series Getting Started Network Setup 32 8 10 Press the Start button or the Snapshot on the Toolbar to start the sensor The Start button is used to run sensors continuously The Snapshot button is used to trigger the capture of a single range Move a target into the laser plane If a target object is within the sensor s measurement range the data viewer will display the distance to the target and the sensor s range indica
293. sensor system This information allows the alignment procedure to determine the correct system wide coordinates for laser ranging and measurements See Coordinate Systems on page 40 for more information on sensor and system coordinates Supported Layouts Orientation Example Gocator 1300 Series Standalone The sensor operates as an isolated device Reverse The sensor operates as an isolated device but in a reverse orientation Wide Sensors are mounted in Left Main and Right Buddy positions for measuring the height of the object at multiple points Reverse Sensors are mounted in a left right layout as with the Wide layout but the Buddy sensor is mounted such that it is rotated 180 degrees around the Z axis to prevent occlusion along the Y axis Sensors should be shifted along the Y axis so that the laser lines align Gocator Web Interface System Management and Maintenance 52 Orientation Example Opposite Sensors are mounted in Top Main and Bottom Buddy positions for measuring thickness To specify the layout 1 Goto the Manage page and click on the Sensor System category 2 Select an assigned Buddy sensor in the Visible Sensors list See Buddy Assignment below for information on assigning a Buddy Sensor 3 Select a layout by clicking on one of the layout buttons See the table above for information on layouts Buddy Assignment In a dual sensor syste
294. set to 0 Current encoder position Current timestamp Number of characters in the current job filename e g 11 for current job The length includes the job extension Valid when byte 1 0 Name of currently loaded job file Includes the job extension Each byte contains a single character Valid when byte 1 0 Reserved bytes The sample state object contains measurements and their associated stamp information Sample State Assembly Information Value Class 0x04 Instance 0x321 Attribute Number 3 Length 380 bytes Supported Service OxOE GetAttributeSingle Attribute 3 Attribute Name Type Value Description Access 3 Command Byte Sample state information See below for more Get Array details Sample State Information Byte Name Type Description 0 1 Inputs Digital input state 2 9 Z Index Position 64s Encoder position at time of last index pulse 10 13 Exposure 32u Laser exposure in us 14 17 Temperature 32u Sensor temperature in degrees Celsius 100 centidegrees 18 25 Position 64s Encoder position 26 33 Time 64u Time 34 41 Frame Counter 64u Frame counter Gocator 1300 Series Protocols EtherNet IP Protocol 263 Byte 42 43 44 79 80 83 84 375 378 379 Name Buffer Counter Buffer Overflow Reserved Measurement 0 Decision 0 Measurement 59 Decision 59 Type 8u 32s 8u 32s 8u Description Number of buffered messages currently in
295. side the return shipment include the address you wish the shipment returned to the name email and telephone number of a technical contact should we need to discuss this repair and details of the nature of the malfunction For non warranty repairs a purchase order for the repair charges must accompany the returning sensor LMI Technologies Inc is not responsible for damages to a sensor that are the result of improper packaging or damage during transit by the courier Gocator 1300 Series 331 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 201 1 Zik Saleeba All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution Neither the name of the Zik Saleeba nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS
296. ss F when the cursor is in the data viewer to switch to full screen Zoom out Pan 1 1 Aspect Ratio View Range gt Top mo 26 Reset Zoom In Video scan mode the data viewer displays a camera image In a dual sensor system camera images from the Main or the Buddy sensor can be displayed Spots and Dropouts Various settings can affect how the Material settings behave Video mode can be used to examine how the Material settings are affected To do this check the Show Spots option at the top of the data viewer to overlay spot data in the data viewer To show data dropouts check the Show Dropouts option at the top of the data viewer In the image below the white and gray squares represent the laser point as it appears on the camera sensor The spot which represents the center of the laser point on the camera sensor is displayed as a red x symbol A dropout would be displayed as a yellow dot Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 89 cy 5 gt X pixels See Material on page 78 for more information on settings for different materials When the Gocator is in Range scan mode the data viewer displays range intensity and measurement information as numerical values and bars Color is used to indicate pass fail in the case of measurement decisions The Range value indicates where along the measurement range that the target falls
297. stom the following settings can be configured Setting Description Spot Threshold The minimum increase in intensity level between neighbouring pixels for a pixel to be considered the start of a potential spot This setting is important for filtering false range spots generated by sunlight reflection Spot Width Max The maximum number of pixels a spot is allowed to span This setting can be used to filter out data caused by background light if the unwanted light is wider than the laser and does not merge into the laser itself A lower Spot Width Max setting reduces the chance of false detection but limits the ability to detect features surfaces that elongate the spot Spot Selection Determines the spot selection method Best selects the strongest spot in a given column on the imager Top selects the spot farthest to the left on the imager and Bottom selects the spot Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 78 Setting Description farthest to the right on the imager These options can be useful in applications where there are reflections flying sparks or smoke that are always on one side of the laser None performs no spot filtering If multiple spots are detected in an imager column they are left as is This option is only available if Range mode is selected in the Scan Mode panel on the Scan page Analog Analog camera gain can be used when the application is severely exposure limited yet dy
298. surement 1 High 1004 Measurement 1 Low 1005 Decision 1 1006 Measurement 2 High 1007 Measurement 2 Low 1008 Decision 2 1057 Measurement 19 High 1058 Measurement 19 Low 1059 Decision 19 Gocator 1300 Series Protocols Modbus Protocol 8 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 jobs e Align and run sensors e Receive sensor states stamps and measurement results To use the EtherNet IP protocol it must be enabled and configured in the active job 2 The Gocator 4 x firmware uses mm mm mm3 and degrees as standard units In all protocols values are scaled by 1000 as values in the protocols are represented as integers This results in effective units of mm 1000 mm 1000 mm 1000 and deg 1000 in the protocols For information on configuring the protocol using the Web interface see Ethernet Output on page 139 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 Gocator supports all required objects such as the Identity object TCP IP object and Ethernet Link object In addition assembly objects are used for sending sensor and sample data and receiv
299. system Fr the system object GoDestroy system Free the GoSdk library GoDestroy api 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 GoSensor_Restore Restores a backup of sensor files GoSensor_RestoreDefaults Restores factory default settings GoSensor_CopyFile Copies a file within the connected sensor The flash write operation does not occur if GoSensor_CopyFile function is used to load an existing job file This is accomplished by specifying live as the destination file name GoSensor DeleteFile Deletes a file in the connected sensor GoSensor SetDefaultJob Sets a default job file to be loaded on boot GoSensor UploadFile Uploads a file to the connected sensor GoSensor Upgrade Upgrades sensor firmware Gocator 1300 Series Software Development 285 Description When alignment is performed with alignment reference set to fixed flash memory is written immediately after alignment GoSensor_ SetAlignmentRef
300. t 0 Definition of line X measurement Z measurement Angle measurement measurement Intersect Tool Measurement Element Type Description id 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Absolute Boolean Setting for selecting absolute or signed result Angle measurement only Gocator 1300 Series 0 Signed 1 Absolute Gocator Device Files Job Files 2 ProfileLine A ProfileLine element defines settings for a profile line tool and one or more of its measurements ProfileLine Child Elements Element Name Source AnchorW options Anchor MZ Anchor Z options Type String 32s String CSV String CSV String CSV String CSV Description Tool name Profile source The X measurements IDs used for anchoring The X measurements IDs available for anchoring The Z measurements 105 used for anchoring The Z measurements IDs available for anchoring Region ProfileRegion2d Measurement region Measurements WStdDev L
301. t 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 FDACFR 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 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 Not required Not required Key control Not required Not required Power on delays Not required Not required Gocator 1300 Series Required Required cannot remove key when in use Required Safety and Maintenance Laser Safety 11 Requirement Beam attenuator Emission indicator Warning signs Beam path Specular reflection Eye protection Laser safety officer Training Class 2M Not required Not required Not required Not required Not required Not required Not required Not required Class 3R Not required Not required Not required Terminate beam at useful length Prevent unintentional reflections Not required Not required Required for operator and maintenance personnel Class 3B Required Required Required Terminate beam at useful length
302. t X Z Intersect Z Finds the intersection between two fitted lines and measures the Z axis position of the intersection point Angle Finds the angle subtended by two fitted lines e Angle Parameters Parameter Description Reference Type Ref Line Line Absolute Angle measurement only Decision Region Output Line Determines the type of the reference line X Axis The reference line is set to the X axis Z Axis The reference line is set to the Z axis Line The reference line is defined manually using the Ref Line parameter One or two regions can be used to define the line Used to define the reference line when Line is selected in the Reference Type parameter One or two fit areas can be used for each fit line See Fit Lines on page 109 for more information Determines if the result will be expressed as an absolute or a signed value See Decisions on page 100 See Regions on page 99 See Filters on page 101 The Line tool fits a line to the live profile and measures the deviations from the best fitted line The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools on page 96 for instructions on how to add measurement tools Gocator 1300 Series Gocator Web Interface Measurement 121 Anchoring Source Region 9 Std Dev 0 410 Id Filters Decision Min 11mm Measurements Meas
303. t dual sensor system Left View from the left sensor in a dual sensor system Right View from the right sensor in a dual sensor system Left amp Right Views from both sensors displayed at the same time in the data viewer using the coordinate systems of each sensor In the Measure page the view of the display is set to the profile source of the selected measurement tool Regions such as an active area or a measurement region can be graphically set up using the data viewer When the Scan page is active the data viewer can be used to graphically configure the active area The Active Area setting can also be configured manually by entering values into its fields and is found in the Sensor panel see on page 73 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 Dragthe rectangle to move it and use the handles on the rectangle s border to resize it Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 93 Intensity Output Gocator sensors can produce intensity data that measure the amount of light reflected by an object An 8 bit intensity value is output for each range value Intensity output is enabled by checking the Acquire Intensity checkbox in the Scan Mode panel Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 94 Measurement The following sect
304. ta and adjusts regions of interest Depending on the current operation mode the data viewer can display video images or range plots See Data Viewer on page 89 The following table provides quick references for specific goals that you can achieve from the panels in the Scan page Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 66 Goal Reference Select a trigger source that is appropriate for the application Triggers page 67 Ensure that camera exposure is appropriate for laser ranging Exposure page 75 Find the right balance between range quality speed and CPU utilization Active Area page 73 Exposure page 75 Job Files page 166 Calibrate the system so that laser range data can be aligned to a common Aligning Sensors page 81 reference and values can be correctly scaled in the axis of motion The Gocator web interface supports threescan modes Video Range and Profile The scan mode can be selected in the Scan Mode panel c Scan Mode Video Range Option Acquire Intensity Mode and Option Description Video Outputs video images from the Gocator This mode is useful for configuring exposure time and troubleshooting stray light or ambient light problems Range Outputs ranges and performs measurements Video images are processed internally to produce laser ranges and measurements Profile Outputs profiles and performs profile measurements The sensor uses v
305. te4u int id void Memory Set64f int id double value double Memory Get64f int id int Memory Exists int id void Memory Clear int id Gocator 1300 Series Stores a 64 bit signed integer in persistent memory Parameters id ID of the value value Value to store Loads a 64 bit signed integer from persistent memory Parameters id ID of the value Returns value Value stored in persistent memory Stores a 64 bit unsigned integer in the persistent memory Parameters id ID of the value value Value to store Loads a 64 bit unsigned integer from persistent memory Parameters id ID of the value Returns value Value stored in persistent memory Stores a 64 bit double into persistent memory Parameters id ID of the value value Value to store Loads a 64 bit double from persistent memory All persistent memory values are set to 0 when the sensor starts Parameters id ID of the value Returns value Value stored in persistent memory Tests for the existence of a value by ID Parameters id Value ID Returns 0 value does not exist 1 value exists Erases a value associated with an ID Gocator Web Interface Measurement 135 Function Description void Memory ClearAIl Stamp Functions Function Parameters id Value ID Erases all values from persistent memory Description long long Stamp Frame long long Stamp Time long long Stamp Encoder
306. termines the Z axis position of the laser measurement range Position Z e3i Position Tool Measurement Element Type Description id 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold RangeThickness RangeThickness element defines settings for a range thickness tool and its measurement RangeThickness Child Elements Element Type Description Name String Tool name Source 32s Range source Anchor Z String CSV Z measurements 105 used for anchoring Anchor Z options Absolute Measurements Thickness Gocator 1300 Series String CSV Boolean Thickness tool measurement The Z measurements 105 available for anchoring Setting for selecting absolute or signed result 0 Signed 1 Absolute Thickness measurement Gocator Device Files Job Files 184 Thickness Measurement Element Type Description id 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement
307. to software scheduled commands Go to the Output page 2 Click on Analog in the Output panel 3 Set Trigger Event to Software 4 Specify if the output is immediate or scheduled An analog output value becomes active immediately or scheduled Immediate output becomes active as soon as a Scheduled Analog Output command see on page 228 is received Software scheduled command can schedule an analog value to output at a specified future time or encoder value or changes its state immediately The Delay setting in the panel is ignored Commands that schedule event in the past will be ignored An encoder value is in future if the value will be reached by moving in the forward direction the direction that encoder calibration was performed in Serial Output The Gocator s web interface can be used to select measurements to be transmitted via RS 485 serial output Each sensor has one serial output channel Two protocols are supported ASCII Protocol and Selcom Serial Protocol The ASCII protocol outputs data asynchronously using a single serial port The Selcom Serial Protocol outputs synchronized serial data using two serial ports See ASCII Protocol on page 265 for the ASCII Protocol parameters and data formats See Selcom Protocol on page 275 for the Selcom serial protocol and data formats Gocator 1300 Series Gocator Web Interface Output 147 Output J Analog Trigger event and current scaling Pro
308. tocol and data selection Special Characters Command Delimeter Delimeter Termination Invalid Value Ethernet Protocol ASCII Protocol and data selection ui Digital 1 Configuration Data Trigger event and pulse width Send Name Id Data Format Standard Digital 2 Measurements Trigger event and pulse width time 96value id 96decisions id v Range Position 2 0 r n INVALID To configure ASCII output 1 Goto the Output page 2 Click on Serial in the Output panel 3 Select ASCII in the Protocol option 4 Selectthe Data Format Select Standard to use the default result format of the ASCII protocol Select value and decision to send by placing a check in the corresponding check box See Standard Result Format on page 273 for an explanation of the standard result mode Select Custom to customize the output result A data format box will appear in which you can type the format string See Custom Result Format on page 274 for the supported format string syntax 5 Selectthe measurments to send Select measurements by placing a check in the corresponding check box 6 Setthe Special Characters Select the delimiter termination and invalid value characters Special characters are used in commands and standard format data results Gocator 1300 Series Gocator Web Interface Output 148 Output Ethernet Protocol Selcom Protocol and data selection ui Digital 1 Configuration Data
309. tor measures the height of the object calculated from laser triangulation The measurement is referred to as ranges and is reported as the distance from the sensor origin Coordinate Systems Range data is reported in sensor or system coordinates depending on the alignment state The coordinate systems are described below Sensor Coordinates Before alignment 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 origin is at the center of the MR CLEARANCE DISTANCE CD MEASUREMENT RANGE MR PSY System Coordinates Alignment is used with a single sensor to compensate for mounting misalignment and to set a zero reference such as a conveyor belt surface Alignment is also used to set a common coordinate system for dual sensor systems The adjustments resulting from alignment are called transformations See Alignment on page 79 for more information on alignment System coordinates are aligned so that the system Z origin is set to the base of the alignment target object For Wide and Opposite layouts ranges 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 Gocator 1300 Series CLEARANCE DISTANCE CD MEASUREMENT RANGE MR Theor
310. tor will illuminate If you cannot see the laser or if a range is not displayed in the Data Viewer see Troubleshooting on page 290 Press the Stop button The laser should turn off Safety L 5V 4BVDC Safety in Standalone Range Range Position 2 Replay w 4 Stop All sensors are shipped with a default IP address of 192 168 1 10 Ethernet networks require a unique address for each device so you must set up a unique address for each sensor To configure a dual sensor system T Turn off the sensors and unplug the Ethernet network connection of the Main sensor All sensors are shipped with a default IP address of 192 168 1 10 Ethernet networks require a unique IP address for each device Skip step 1 to 3 if the Buddy sensor s IP address is already set up with an unique address Gocator 1300 Series CORDSET POWER AND ETHERNET CORDSET Getting Started Network Setup 33 2 Power up the Buddy sensor The power LED blue of the Buddy sensor should turn on immediately POWER LED 3 Enter the sensor s IP address 192 168 1 10 in a web browser This will log into the Buddy sensor 4 Loginas Administrator with no password 2340 15776 Language English 3 5 Gotothe Manage Page X 9 Manage Measure Output Dashboard 6 Modify the IP address to 192 168 1 11 in
311. tricity 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 100 400 800 1200 2400 is similarly rated for operation between 0 50 The storage temperature is 30 70 C The sensor must be heat sunk through the frame it is mounted to When a sensor is properly heat sunk the difference between ambient temperature and the temperature reported in the sensor s health channel is less than 15 Gocator sensors are high accuracy devices and the temperature of all of its components must therefore be in equilibrium When the sensor is powered up a warm up time of at least one hour is required to reach a consistent spread of temperature in the sensor Gocator 1300 Series Safety and Maintenance Environment and Lighting 14 Sensor Maintenance Keep sensor windows clean Gocator sensors are high precision optical instruments To ensure the highest accuracy is achieved in all measurements the windows on the front of the sensor should be kept clean and clear of debris Use care when cleaning sensor windows Use dry clean air to remove dust or other dirt particles If dirt remains clean the windows carefully with a soft lint free cloth and non streaking glass cleaner or isopropyl alcohol Ensure that no res
312. trip 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 Tool Technical Manual on how this parameter is used by different base types The maximum width of missing data allowed for the data to be considered as part of a strip when Void is selected in the Left or Right parameter This value must be smaller than the edge Support Width Gap Maximum void Measurement region Gocator Web Interface Measurement 130 Parameter Description Min Width Specifies the minimum width for a strip to be considered valid Tilt Enabled Enables disables tile correction Decision See Decisions on page 100 Region 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 _ Sides of the Strip See Regions on page 99 for more information Output See Filt
313. tus For a list of status codes see Commands on page 208 Set Buddy The Set Buddy command is used to assign or unassign a Buddy sensor Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x4005 buddyld 32u 6 Id of the sensor to acquire as buddy Set to 0 to remove buddy Gocator 1300 Series Protocols Gocator Protocol 217 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4005 status 32s 6 Reply status For a list of status codes see Commands on page List Files 208 The List Files command returns a list of the files in the sensor s file system Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0 101 extension 64 char 6 Specifies the extension used to filter the list of files does not include the If an empty string is used then no filtering is performed Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x101A status 32s 6 Reply status For a list of status codes see Commands on page 208 count 32u 10 Number of file names fileNames count 64 char 14 File names Copy File The Copy File command copies a file from a source to a destination within the connected sensor a job file com
314. u 0 Command size including this field in bytes id 16 4 Command identifier 04604 modelName 64 char 6 Name of the model without mdl extension sensitivity 16s 70 Sensitivity in thousandths Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4604 status 32s 6 Reply status For a list of status codes see Commands on page 208 Add Tool The Add Tool command adds a tool to the live job Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0 4530 typeName 64 char 6 Type name of the tool e g ProfilePosition name 64 char 70 User specified name for tool instance Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4530 status 32s 6 Reply status For a list of status codes see Commands on page 208 Add Measurement The Add Measurement command adds a measurement to a tool instance Gocator 1300 Series Protocols Gocator Protocol 237 Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x4531 toollndex 32u 6 Index of the tool instance the new measurement is added to typeName 64 char 10 Type name of the measurement for example X name 64 char 74 User specified name of the measurement i
315. u Smoothing window Scale 64 Output scaling factor Offset 64 Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold SelectType 32s Method of selecting a groove when multiple grooves are found 0 Max depth 1 Ordinal from left 2 Ordinal from right SelectIndex 32s Index when SelectType is set to 1 or 2 Location 32s Setting for groove location to return from X and Z measurements only Profilelntersect 0 Bottom 1 Left corner 2 Right corner A Profilelntersect element defines settings for a profile intersect tool and one or more of its measurements Profilelntersect Child Elements Element Type Description Name String Tool name Source 32s Profile source String CSV The X measurements IDs used for anchoring Gocator 1300 Series Gocator Device Files Job Files 191 Element Type Description AnchorW options Anchor Z Anchor Z options RefType RefLine Line Measurements WX Measurements VZ Measurements MAngle String CSV String CSV String CSV 32s ProfileLine ProfileLine Intersect tool measurement Intersect tool measurement Intersect tool The X measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Reference line type 0 Fit 1 Axis Definition of reference line Ignored if RefType is no
316. uctions on how to add measurement tools Gocator 1300 Series Gocator Web Interface Measurement 116 Source Shape U Shape Min Depth 0 mm Min Width olmm Max Width 0 mm Region Width 21 Add m 5545 Id 6 Eum Output Select Type Max Depth Index The Groove tool uses a complex feature locating algorithm to find a groove and then return measurements See Groove Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel The Groove tool lets you add multiple measurements of the same type to receive measurements and set decisions for multiple grooves Multiple measurements are added by using the drop down above the list of measurements and clicking on the Add button For example if a target has three grooves by adding two measurements choosing Index From The Left in the Select Type setting of those measurements and providing values of 0 and 2 in the Index setting of the measurements respectively the Groove tool will return measurements and decisions for the first and third grooves Measurements Measurement Illustration Width Measures the width of a groove Width Gocator 1300 Series Gocator Web Interface Measurement 7 Measurement Depth Measures the depth of a groove as the maximum perpendicular distance
317. uding this field in bytes id 16 4 Command identifier 0x4512 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4512 status 32s 6 Reply status For a list of status codes see Commands on page 208 fileName 64 char 10 Name of the currently loaded job changed 80 74 Whether not the currently loaded job has been changed 1 yes 0 no Get Alignment Reference The Get Alignment Reference command is used to get the sensor s alignment reference Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 0x4104 Gocator 1300 Series Protocols Gocator Protocol 221 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4104 status 32s 6 Reply status For a list of status codes see Commands on page 208 reference 32s 10 Alignment reference 0 Fixed 1 Dynamic Set Alignment Reference The Set Alignment Reference command is used to set the sensor s alignment reference Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16 4 Command identifier 04103 reference 32s 6 Alignment reference 0 Fixed 1 Dynamic Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4103
318. ue 2 Invalid anchor Protocols ASCII Protocol 274 Selcom Protocol This section describes the Selcom serial protocol settings and message formats supported by Gocator sensors To use the Selcom protocol it must be enabled and configured in the active job For information on configuring the protocol using the Web interface see Serial Output on page 147 D Units for data scales use the standard units mm mm2 mm3 and degrees erial Communication Data communication is synchronous using two unidirectional output only RS 485 serial channels data Serial OutO and clock Serial Out1 See Serial Output on page 320 for cable pinout information Measurement results are sent on the serial output data in asynchronous mode Measurement values and decisions can be transmitted to an RS 485 receiver but job handling and control operations must be performed through the Gocator s web interface or through communications on the Ethernet output Connection Settings The Selcom protocol uses the following connection settings Serial Connection Settings Parameter Value Data Bits 16 Baud Rate b s 96000 512000 1024000 Format Binary Message Format The data channel is valid on the rising edge of the clock and data is output with the most significant bit first followed by control bits for a total of 16 bits of information per frame The time between the start of the camera exposure and the delivery of the correspond
319. ue for maximum Profile length mm Rotational Rotational Child Elements Element Type Description Circumference 64f Circumference mm Circumference min 64f Minimum circumference mm Circumference max 64f Maximum circumference mm PartDetection PartDetection Child Elements Element Type Description Enabled Bool Enables part detection Enabled used Bool Whether or not this field is used Enabled value Bool Actual value used if not configurable Threshold 64f Height threshold mm Threshold min 64f Minimum height threshold mm Threshold max 64f Maximum height threshold mm ThresholdDirection 64f Threshold direction 0 Above 1 Below MinArea 64f Minimum area mm MinArea min 64 Minimum value of minimum area MinArea max 64f Maximum value of minimum area MinArea used Bool Whether or not this field is used GapWidth 64f Gap width mm GapWidth min 64f Minimum gap width mm GapWidth max 64f Maximum gap width mm GapWidth used Bool Whether or not this field is used GapLength 64f Gap length mm GapLength min 64f Minimum gap length mm GapLength max 64 Maximum gap length mm GapLength used Bool Whether or not this field is used Gocator 1300 Series Gocator Device Files Job Files 9 Element Type Description PaddingWidth 64 Padding width mm PaddingWidth min 64 Minimum padding width mm PaddingWidth max 64f Maximum padding width mm PaddingWidth used Bool Whether or not this fi
320. urement Illustration Std Dev Finds the best fitted line and measures the standard deviation of the laser points from the best fitted line Min Error Finds the best fitted line and measures the minimum error from the best fitted line the maximum excursion below the fitted line Max Error Finds the best fitted line and measures the maximum error from the best fitted line the maximum excursion above the fitted line Percentile Finds the best fitted line and measures the range in Z that covers a percentage of points around the best fitted line Standard Deviation Line Error Min Line Error Ma Line Percentile Covers 50 of Spots Parameters Parameter Description Percent The specified percentage of points around the best Gocator 1300 Series Gocator Web Interface Measurement 122 Parameter Percentile measurement only Decision Region Output Panel Description fitted line See Decisions on page 100 See Regions on page 99 See Filters on page 101 This section describes the Panel tool s Gap and Flush measurements Gap The Gap measurement provides the distance between the edges of two surfaces The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools on page 96 for instructions on how to add measurement tools Max Gap Width 0 mm Left Max Void
321. urement range Transformations The transformation settings are used to control how ranges are converted from sensor coordinates to system coordinates Transformation Z Offset 1 117 mm Angle 019 Description Z Offset Specifies the shift along the Z axis A positive value shifts the toward the sensor Angle Specifies the tilt rotation in the X Z plane A positive value rotates the profile counter clockwise When applying the transformations Angle is applied before the Z offset To configure transformation settings 1 Goto the Scan page 2 Choose Range or Profile mode in the Scan Mode panel depending on the type of measurement whose decision you need to configure If one of these modes is not selected tools will not be available in the Measure panel Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 74 3 Expand the Sensor panel by clicking on the panel header 4 Clickthe button corresponding to the sensor you want to configure The button is labeled Top Bottom Top Left or Top Right depending on the system Transformations can be configured separately for each sensor 5 Expand the Transformations area by clicking on the expand button See the table above for more information 6 Setthe parameter values See the table above for more information 7 Save the job in the Toolbar by clicking the Save button 8 Checkthatthe transformation settings are applied co
322. urement statistics and sensor health See Dashboard on page 150 6 CPU Load and Speed Provides important sensor performance metrics See Metrics Area on page 48 7 Toolbar Controls sensor operation manages jobs and replays recorded measurement data See Toolbar below 8 Configuration area Provides controls to configure scan and measurement tool settings 9 Data viewer Displays sensor data tool setup controls and measurements See Data Viewer on page 89 for its use when the Scan page is active and on page 95 for its use when the Measure page is active 10 Log Displays messages from the sensor errors warnings and other information See Log on page 48 The toolbar is used for performing operations such as managing jobs working with replay data and starting and stopping the sensor new t tpo Replay ew y 3 2 1 Element Description Job controls For saving and loading jobs 1 Replay data controls For downloading uploading and exporting recorded data 2 Sensor operation replay control Use the sensor operation controls to start sensors enable 3 recording and control recorded data 4 Replay switch Toggles the sensor data source between live and replay A Gocator can store several hundred jobs Being able to switch between jobs is useful when a Gocator is used with different constraints during separate production runs For example width decision minimum
323. xposure To enable dynamic exposure 1 2 Go to the Scan page Expand the Sensor panel by clicking on the panel header or the button Click the button corresponding to the sensor you want to configure The button is labeled Top Bottom Top Left or Top Right depending on the system Exposure can be configured separately for each sensor Click on the Exposure tab Select Dynamic from the Exposure Mode drop down Set the minimum and maximum exposure The auto set function can be used to automatically set the exposure First place the brightest target in the field of view and press the Auto Set Min button to set the minimum exposure Then place the darkest target in the field of view and press the Auto Set Max button to set the maximum exposure Run the sensor and check that laser ranging is satisfactory If laser ranging is not satisfactory adjust the exposure values manually Switch to Video mode to use video to help tune the exposure see Exposure on page 75 for details Gocator 1300 Series Gocator Web Interface Scan Setup and Alignment 77 Range data acquisition can be configured to suit different types of target materials For many targets changing the setting is not necessary but it can make a great difference with others Preset material types can be selected in the Materials setting Spot Threshold Spot Width Max Spot Selection Camera Gain Analog Digital When Materials is set to Cu
324. y of Operation Range Output 0 CLEARANCE DISTANCE CD MEASUREMENT RANGE MR CLEARANCE DISTANCE CD BUDDY Gocator 1300 Series Theory of Operation Range Output 1 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 x CPU 0 Ww Manage 77 Measure Output Dashboard m 7 Job1 default El 2 Replay Cw JW 4 anm 9 Video Profile Optlon Acquire Intensity Max Frame Rate Sensor Alignment 10 12 Element Description 1 Manage page Contains settings for sensor system layout network motion and alignment handling jobs and sensor maintenance See System Management and Maintenance on page 50 2 Scan page Contains settings for scan mode trigger source detailed sensor configuration and performing alignment See Scan Setup and Alignment on page 66 3 Measure page Contains built in measurement tools and their settings See Measurement on page 95 42 Element Description 4 Output page Contains settings for configuring output protocols used to communicate measurements to external devices See Output on page 138 5 Dashboard page Provides monitoring of meas
325. ze of attributes in bytes min 12 current 12 320 8 Operation ID status 32s 12 Operation status exposure 32s 16 Exposure result ns A client can receive health messages from a Gocator sensor by connecting to the Health TCP channel port 3194 The Data channel port 3196 and the Health channel can be connected at the same time The sensor accepts multiple connections on each port For more information on the Data channel see Data Results on page 242 Gocator 1300 Series Protocols Gocator Protocol 248 Messages that are received the Data and Health channels use common structure called Gocator Data Protocol GDP Each GDP message consists of a 6 byte header containing size and control fields followed by a variable length message specific content section The structure of the GDP message is defined below Gocator Data Protocol Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last Message flag Bits 0 14 Message type identifier See individual data result sections GDP messages are always sent in groups The Last Message flag in the control field is used to indicate the final message in a group If there is only one message per group this bit will be set in each message A Health Result contains a single data block for health indicators Each indicator reports the current status of some aspect of the sensor system such as CPU usage or

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