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Manual Gocator 3100 Series

1. Intensity Output Gocator sensors can produce intensity images that measure the amount of light reflected by an object An 8 bit intensity value is output for each point in the 3D point cloud Intensity output is enabled by checking the Acquire Intensity checkbox in the Scan Mode panel Gocator 3100 Series Gocator Web Interface Models and Part Matching 82 Models and Part Matching The following sections describe how to set up part matching using a model a bounding box or an ellipse Model Page Overview The Model page lets you set up part matching The Model page is only displayed when the sensor is in Surface mode See Scan Modes page 53 for more information Gocator 3100 Series Gocator Web Interface Models and Part Matching 83 Element Description 1 Part Matching panel Contains settings for configuring models and for part matching 2 Data Viewer Displays sensor data and lets you add and remove model edge points Part Matching You can use Gocator to match parts to a previously saved model see Using Edge Detection on page 84 or to the dimensions of a fitted bounding box or ellipse see Using Bounding Box and Ellipse on page 93 regardless of the orientation of the part you are trying to match When the match quality between a model and a part reaches a minimum value a percentage or the bounding box or ellipse that encapsulates the part is between minimum and maximum dimension values t
2. Gocator 3100 Series Protocols ASCII Protocol 251 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 A reply to the command is sent when the alignment has completed or failed The command is timed out if there has been no progress after one minute Message Format Command StationaryAlignment Reply If no arguments are specified OK or ERROR lt Error Message gt Formats Examples Command StationaryAlignment Reply OK Command StationaryAlignment Reply ERROR ALIGNMENT FAILED Clear Alignment The Clear Alignment command clears the alignment record generated by the alignment process Message Format Command ClearAlignment Reply OK or ERROR lt Error Message gt Formats Examples Command ClearAlignment Reply OK Data Commands Optional parameters are shown in italic The placeholder for data is surrounded by brackets lt gt In the examples the delimiter is set to Get Result The Get Result command retrieves measurement values and decisions Gocator 3100 Series Protocols ASCII Protocol 252 Message Format Command Result measurement ID measurement ID Reply If no arguments are specified the custom format data string is used OK lt custom data st
3. Stores a 64 bit unsigned integer in the persistent memory Parameters id ID of the value value Value to store unsigned long long Memory_Get64u int id Loads a 64 bit unsigned integer from persistent memory Parameters id ID of the value Returns value Value stored in persistent memory void Memory_Set64f int id double value Stores a 64 bit double into persistent memory Parameters id ID of the value value Value to store Memory Functions Gocator 3100 Series Gocator Web Interface Measurement 141 Function Description double Memory_Get64f int id 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 int Memory_Exists int id Tests for the existence of a value by ID Parameters id Value ID Returns 0 value does not exist 1 value exists void Memory_Clear int id Erases a value associated with an ID Parameters id Value ID void Memory_ClearAll Erases all values from persistent memory Function Description long long Stamp_Frame Gets the frame index of the current frame long long Stamp_Time Gets the time stamp of the current frame long long Stamp_Encoder Gets the encoder position of the current frame long long Stamp_EncoderZ Gets the encoder index position of the cur
4. id 16u 4 Command identifier 0x1 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1 status 32s 6 Reply status state 32s 10 Upgrade state 1 Failed 0 Completed 1 Running 2 Completed but should run again progress 32u 14 Upgrade progress valid when in the Running state Reply Get Upgrade Log The Get Upgrade Log command can retrieve an upgrade log in the event of upgrade problems Gocator 3100 Series Protocols Gocator Protocol 224 Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x2 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x2 status 32s 6 Reply status length 32u 10 Length of the log bytes log length char 14 Log content Reply Data Results A client can receive data messages from a Gocator sensor by connecting to the Data or Health TCP channels Channel Port Description Data 3196 Sensor sends data messages Health 3194 Sensor sends health messages Result Channels The ports above can be connected simultaneously and the sensor will also accept multiple connections on each port Messages that are received on the Data and Health channels use a common structure called
5. Coordinate Systems Gocator 3100 sensors use Cartesian left hand notation for defining 3D coordinates The Z axis represents the sensor s measurement range MR where the values increase toward the sensor The X axis and Y axis represent the sensor s field of view FOV X offset Y offset and Z offset define the translations from the origin Rotations are specified based on rotating the target around the X axis Angle X followed by rotating around the Y axis Angle Y followed by rotating around the Z axis 3D point cloud data is reported in sensor coordinates or system coordinates depending on the alignment state of the sensor These coordinate systems are described below Sensor Coordinates Before alignment the origin of the sensor is at the center of the sensor s measurement range MR and field of view FOV Gocator 3100 Series Theory of Operation 3D Data Output 31 System Coordinates Alignment can be used to establish a transformed coordinate system according to the user s needs Alignment determines the adjustments to X Y and Z as well as rotation angle around each axis Transformed coordinate systems can be associated with specific sensor jobs For details see page 65 Target Alignment Explanation Flat surface Z offset Angle X Angle Y System coordinates are aligned such that the system Z axis is perpendicular to the alignment plate surface The system Z origin is set to the base of the
6. OcclusionReductionEnabled Bool Enables occlusion reduction UniformSpacingEnabled Bool Enables uniform spacing UniformSpacingEnabled use d Bool Whether or not property is used UniformSpacingEnabled val ue Bool Actual value used if not configurable IntensityEnabled Bool Enables intensity data collection IntensityEnabled used Bool Whether or not property is used IntensityEnabled value Bool Actual value used if not configurable ExternalInputZPulseEnabled Bool Enables the External Input based encoder Z Pulse feature Trigger Section See Triggers page 171 Layout Section See Layout below Alignment Section See Alignment next page Devices Collection A collection of two Device sections with roles main and buddy PartDetection Section See PartDetection page 168 Custom Custom Used by specialized sensors Setup Child Elements Layout Element Type Description DataSource 32s Data source of the layout output read only 0 Top 1 Bottom 2 Top left 3 Top right TransformedDataRegion Region3D Transformed data region of the layout output Orientation 32s Sensor orientation 0 Wide 1 Opposite 2 Reverse Orientation options 32s CSV List of available orientation options Orientation value 32s Actual value used if not configurable Layout Child Elements Gocator 3100 Series Gocator Device Files Job Files
7. Polled ControlPort 32u Control service port number ASCII Child Elements Gocator 3100 Series Gocator Device Files Job Files 190 Element Type Description HealthPort 32u Health service port number DataPort 32u Data service port number Delimiter String Field delimiter Terminator String Line terminator InvalidValue String String for invalid output CustomDataFormat String Custom data format CustomFormatEnabled Bool Enables custom data format EIP Element Type Description BufferEnabled Bool Enables EIP output buffering EndianOutputType 32s Endian Output Type 0 Big endian 1 Little endian ImplicitOutputEnabled Bool Enables Implict I O Messaging EIP Child Elements Modbus Element Type Description BufferEnabled Bool Enables Modbus output buffering Modbus Child Elements Digital0 and Digital1 The Digital0 and Digital1 elements defines settings for the Gocator s two digital outputs Element Type Description Event 32s Triggering event 0 None disabled 1 Measurements 2 Software 3 Alignment state 3 Alignment state SignalType 32s Signal type 0 Pulse 1 Continuous ScheduleEnabled Bool Enables scheduling PulseWidth 64f Pulse width s PulseWidth min 64f Minimum pulse width s Digital0 and Digital1 Child Elements Gocator 3100 Series Gocator Device Files Job Files
8. Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background will turn blue and a Replay Mode Enabled message will be displayed 2 Click the Export button and select Intensity data as BMP Only the intensity data in the current replay location is exported Use the playback control buttons to move to a different replay location see To replay recorded data in Recording Playback and Measurement Simulation page 37 for more information on playback 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 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 Metrics Area The Metrics area displays two important sensor performance metrics CPU load and speed current frame rate The CPU bar in the Metrics panel at the top of the interface displays how much of the CPU is being utilized CPU at 100 CPU warning message Gocator 3100 Series Gocator Web Interface User Interface Overview 41 The Speed bar displays the frame rate of the sensor A warning symbol will appear next to it if triggers external input or encoder are dropped because the external rate exceeds the maximum frame rate In both cases a warning message will be temporarily displayed in the lower right corner
9. Upgrade 3192 Sensor accepts commands for firmware upgrades Command Channels The Control and Upgrade channels can be connected simultaneously but the sensor will accept only a single connection on each port If an additional connection is attempted on a port that is already connected the previous connection will be closed and the new connection will be accepted Protocol Version The Protocol Version command reports the Control protocol version of the connected sensor Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4511 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4511 status 32s 6 Reply status majorVersion 8u 10 Major version minorVersion 8u 11 Minor version Reply Get Address The Get Address command is used to discover Gocator sensors across subnets Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x3012 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x3012 status 32s 6 Reply status dhcpEnabled byte 10 0 DHCP not used Reply Gocator 3100 Series Protocols Gocator Protocol 201 Field Type Offset Description 1 DHCP u
10. include lt GoSdk GoSdk h gt The SDK header files also reference files from the kApi directory The include path must be set up for both the GoSdk and the kApi directories For example the sample projects set the include path to GO_SDK_4 Gocator GoSdk and GO_SDK_4 Platform kApi Class Hierarchy This section describes the class hierarchy of the Gocator 4 0 SDK GoSystem The GoSystem class is the top level class in Gocator 4 x Multiple sensors can be enabled and connected in one GoSystem Only one GoSystem object is required for multi sensor control Refer to the How To Use The Open Source SDK To Fully Control A Gocator Multi sensor System how to guide in http lmi3d 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 All objects that are explicitly created by the user or passed via callbacks should be destroyed by using the GoDestroy function Gocator 3100 Series Software Development Kit 257 GoSensor 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 GoSetup The GoSetup class represents a device s configuration The class provides functions to get or set all of the settings available in the Gocator web interface GoSetup is included inside GoSensor It encapsulates scanning parameters such as exposu
11. 21012 The number of bytes dropped by the host data server Not currently emitted ASCII Server Drops 21013 The number of bytes dropped by the ASCII Ethernet data server Not currently emitted Range Valid Count 21100 Number of valid ranges Range Invalid Count 21101 Number of invalid ranges Anchor Invalid Count 21200 Number of frames with anchoring invalid Z Index Drop Count 22000 The number of dropped surfaces due to a lack of z encoder pulse during rotational part detection Value 30000 Measurement ID Measurement Value Pass 30001 Measurement ID Number of pass decision Fail 30002 Measurement ID Number of fail decision Max 30003 Measurement ID Maximum measurement value Min 30004 Measurement ID Minimum measurement value Average 30005 Measurement ID Average measurement value Std Dev 30006 Measurement ID Measurement value standard deviation Invalid Count 30007 Measurement ID Number of invalid values Overflow 30008 Measurement ID 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 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
12. 9 Sensor Maintenance 10 Getting Started 11 System Overview 11 Standalone System 11 Multi Sensor System 12 Hardware Overview 13 Gocator 3110 Sensor 13 Gocator 3100 Cordsets 13 Master 100 14 Master 400 800 15 Master 1200 2400 15 Installation 17 Grounding Gocator 17 Recommended Grounding Practices Cordsets 17 Grounding Master 400 800 1200 2400 18 Mounting 18 Network Setup 20 Client Setup 20 Gocator Setup 22 Running a Standalone Sensor System 22 Running a Multi Sensor System 23 Next Steps 25 Theory of Operation 27 3D Acquisition 27 Principle of 3D Acquisition 27 Stereo Correlation vs Independent Triangulation 28 3D Data Output 30 Coordinate Systems 30 Sensor Coordinates 30 System Coordinates 31 Resampling 32 Acquisition Speed 32 Gocator Web Interface 34 User Interface Overview 34 Common Elements 35 Toolbar 35 Saving and Loading Settings 36 Managing Multiple Settings 37 Recording Playback and Measurement Simulation 37 Downloading Exporting and Uploading Recorded Data 38 Log 40 Metrics Area 40 Data Viewer 41 System Management and Maintenance 42 Manage Page Overview 42 Sensor System 43 Sensor Autostart 43 Networking 44 Motion and Alignment 44 Alignment Reference 45 Jobs 45 Security 47 Maintenance 48 Sensor Backups and Factory Reset 49 Firmware Upgrade
13. Code String Script code Measurements Output Collection Dynamic list of Output elements Script Child Elements Element Type Description id attribute 32s Output ID Optional output disabled if set to 1 Name String Output name Output SurfaceBoundingBox A SurfaceBoundingBox element defines settings for a surface bounding box tool and one or more of its measurements Element Type Description Name String Setting for measurement name Source 32s Setting for the source Anchor X String CSV The X measurements IDs used for anchoring Anchor X options String CSV The X measurements IDs available for anchoring Anchor Y String CSV The Y measurements IDs used for anchoring Anchor Y options String CSV The Y measurements IDs available for anchoring Anchor Z String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring ZRotationEnabled Boolean Setting to enable disable rotation of bounding box SurfaceBoundingBox Child Elements Gocator 3100 Series Gocator Device Files Job Files 175 Element Type Description RegionEnabled Boolean Setting to enable disable region Region Region3D Measurement region Measurements GlobalX BoundingBoxMeasure ment Global X measurement Measurements GlobalY BoundingBoxMeasure ment Global Y measurement Measurements X BoundingBoxMeas
14. Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4103 reference 32s 6 Alignment reference 0 Fixed 1 Dynamic Command Gocator 3100 Series Protocols Gocator Protocol 208 Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4103 status 32s 6 Reply status Reply Get Alignment Reference The Get Alignment Reference command is used to get the sensor s alignment reference Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4104 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4104 status 32s 6 Reply status reference 32s 10 Alignment reference 0 Fixed 1 Dynamic Reply Clear Alignment The Clear Alignment command clears sensor alignment Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4102 Command 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 Reply Get Timestamp The Get Timestamp command retrieves the sensor s timestamp in clock ticks All devices i
15. Do not include the mdl extension Acceptance Quality Min 64f Minimum quality value for a match Edge Child Elements BoundingBox 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 BoundingBox Child Elements Gocator 3100 Series Gocator Device Files Job Files 171 Ellipse 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 Ellipse Child Elements Edge Element Type Description ModelName String Name of the part model to use Do not include the mdl extension Acceptance Quality Min 64f Minimum quality value for a match Edge Child Elements Triggers The Triggers element contains settings related trigger source speed and encoder resolution Element Type Description Source 32s Trigger source 0 Time 3 Software Source options 32s CSV List of available source options Units 32s Sensor triggering units when source is not clock or encoder 0 Time 1 Encoder FrameRate 64f Fram
16. 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 Section See EdgeFiltering next page MinArea 64f Minimum area mm2 MinArea min 64f Minimum value of minimum area MinArea max 64f Maximum value of minimum area MinArea used Bool Whether or not this field is used Gocator 3100 Series Gocator Device Files Job Files 170 EdgeFiltering Element Type Description used Bool Whether or not this section is used Enabled Bool Enables edge filtering PreserveInteriorEnabled 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 EdgeFiltering Child Elements PartMatching 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 PartMatching Child Elements Edge Element Type Description ModelName String Name of the part model to use
17. Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4516 enable 8u 6 0 disabled 1 enabled Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4516 status 32s 6 Reply status Reply Gocator 3100 Series Protocols Gocator Protocol 216 Get Recording Enabled The Get Recording Enabled command retrieves whether recording is enabled Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4517 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4517 status 32s 6 Reply status enable 8u 10 0 disabled 1 enabled Reply Clear Replay Data The Clear Replay Data command clears the sensors replay data Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4513 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4513 status 32s 6 Reply status Reply Set Playback Source The Set Playback Source command sets the data source for data acquisition Field Type Offset Description length 32u 0 Command
18. all measurements except Bounding Box X and Y are relative to the center of the bounding box of the part For Bounding Box X and Y the measurement values are always relative to the sensor frame of reference see Bounding Box on page 107 Edge Filtering See Edge Filtering below To set up part detection 1 Go to the Scan page and choose Surface in the Scan Mode panel If this mode is not selected you will not be able to configure part detection 2 Expand the Part Detection panel by clicking on the panel header or the button 3 If necessary check the Enabled option When Generation is set to Continuous part detection is always enabled 4 Adjust the settings See the part detection parameters above for more information Edge Filtering Part scans sometimes contain noise around the edges of the target This noise is usually caused by the sensor s light being reflected off almost vertical sides rounded corners etc Edge filtering helps reduce edge noise in order to produce more accurate and repeatable volume and area measurements as well as to improve positioning of relative measurement regions Optionally the Preserve Interior Feature setting can be used to limit filtering to the outside edges of the target Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 73 Edge Filtering disabled scan shows reflection noise Edge Filtering enabled reflection noise eliminated or reduced Ed
19. byte 25 Reserved Bounding Box Match 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 decision byte 6 Overall match decision xOffset 32s 7 Target x offset in model space m yOffset 32s 11 Target y offset in model space m zAngle 32s 15 Target z rotation in model space microdegrees width 32s 19 Width axis length m widthDecision 8u 23 Width axis decision length 32s 24 Length axis length m lengthDecision 8u 28 Length axis decision Ellipse Match 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 decision byte 6 Overall match decision xOffset 32s 7 Target x offset in model space m yOffset 32s 11 Target y offset in model space m zAngle 32s 15 Target z rotation in model space microdegrees Gocator 3100 Series Protocols Gocator Protocol 230 Field Type Offset Description minor 32s 19 Minor axis length m minorDecision 8u 23 Minor axis decision major 32s 24 Major axis length m majorDecision 8u 28 Major axis decision Health Results A client can receive data messages from a Gocator sensor by connecting to the Data or Health TCP c
20. you could anchor some measurements relative to the left edge of a target at the same time as some other measurements are anchored relative to the right edge of a target To anchor a surface tool to a measurement 1 Put a representative target object in the field of view The target should be similar to the objects that will be measured later a Start the sensor scan the target and then stop the sensor 2 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 3 Choose Surface mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 4 Go to the Measure page and adjust the settings of the tool and measurements you want to use as anchor 5 Adjust the anchor tool s measurement region and choose a feature type if applicable You can adjust the measurement region graphically in the data viewer or manually by expanding the Regions area The position and size of the anchor tool s measurement regions define the zone within which Gocator 3100 Series Gocator Web Interface Measurement 106 movement will be tracked 6 Add the tool that will be anchored Any tool can be anchored 7 Adjust the tool and measurement settings as well as the measurement regions 8 Click on the tool s Anchoring tab 9 Choose an anchor from the X Y or Z drop down box When you choose an anchor
21. 0 Command size including this field in bytes id 16u 4 Command identifier 0x4525 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4525 status 32s 6 Reply status count 32u 10 Number of state variables sensorState 32s 14 Sensor state 1 Conflict 0 Ready Reply Gocator 3100 Series Protocols Gocator Protocol 203 Field Type Offset Description 1 Running loginState 32s 18 Device login state 0 No user 1 Administrator 2 Technician alignmentReference 32s 22 Alignment reference 0 Fixed 1 Dynamic alignmentState 32s 26 Alignment state 0 Unaligned 1 Aligned recordingEnabled 32s 30 Whether or not recording is enabled 0 Disabled 1 Enabled playbackSource 32s 34 Playback source 0 Live data 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 Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4003 userType 32s 6 Defines th
22. 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable PositionMeasurement Gocator 3100 Series Gocator Device Files Job Files 184 Element Type Description SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold SurfaceStud A SurfaceStud element defines settings for a surface stud tool and one or more of its measurements Element Type Description Name String Setting for measurement name Source 32s Setting for source Anchor X String CSV The X measurements IDs used for anchoring Anchor X options String CSV The X measurements IDs available for anchoring Anchor Y String CSV The Y measurements IDs used for anchoring Anchor Y options String CSV The Y measurements IDs available for anchoring Anchor Z String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring StudRadius 64f Radius of stud mm StudHeight 64f Height of stud mm BaseHeight 64f Height of stud s base TipHeight 64f Height of stud s tip RegionEnabled Boolean Setting to enable disable region Region Region3D Measurement region RefRegionsEnabled Boolean Setting to enable disable reference regions 0 Disable 1
23. 149 6 Specify a pulse width using the slider The pulse width is the duration of the digital output pulse in microseconds 7 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 8 Specify a delay The delay specifies the time or spatial location between the start of sensor exposure and when the output becomes active The delay should be larger than the time needed to process the data inside the sensor It should be set to a value that is larger than the processing latency reported in the dashboard or in the health messages The unit of the delay is configured with the Delay Domain setting To output a measurement valid signal 1 Go to the Output page 2 Click on Digital 1 or Digital 2 in the Output panel 3
24. 164 Element Type Description MultiplexBuddyEnabled Bool Enables multiplexing for buddies MultiplexSingleEnabled Bool Enables multiplexing for a single sensor configuration MultiplexSingleExposureDur ation 64f Exposure duration in us currently rounded to integer when read by the sensor MultiplexSingleDelay 32u Delay in s Currently gets rounded up when read by the sensor MultiplexSinglePeriod 32u Period in s Currently gets rounded up when read by the sensor XSpacingCount 32u Number of points along X when data is resampled YSpacingCount 32u Number of points along Y when data is resampled MultiplexSinglePeriod min 64f Minimum period in s Alignment The Alignment element contains settings related to alignment and encoercalibration Element Type Description InputTriggerEnabled Bool Enables digital input triggered alignment operation Type 32s Type of alignment operation 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 encode
25. 173 Region3D 173 SurfaceRegion2D 173 SurfaceFeature 173 Script 174 SurfaceBoundingBox 174 SurfaceEllipse 175 SurfaceHole 177 SurfaceCsHole 178 SurfaceOpening 180 SurfacePlane 182 SurfacePosition 183 SurfaceStud 184 SurfaceVolume 185 SurfaceCsHole 186 Output 188 Ethernet 189 ASCII 189 EIP 190 Modbus 190 Digital0 and Digital1 190 Analog 191 Serial 192 Selcom 192 ASCII 193 Transformation File 194 Transform 195 Device 195 Protocols 196 Gocator Protocol 196 General 196 Modes 196 States 196 Data Types 197 Status Codes 197 Discovery Commands 197 Get Address 198 Set Address 199 Control Commands 200 Protocol Version 200 Get Address 200 Set Address 201 Get System Info 201 Get States 202 Log In Out 203 Change Password 204 List Files 204 Copy File 204 Read File 205 Write File 205 Delete File 206 Get Default Job 206 Set Default Job 206 Get Loaded Job 207 Set Alignment Reference 207 Get Alignment Reference 208 Clear Alignment 208 Get Timestamp 208 Get Encoder 209 Reset Encoder 209 Start 209 Scheduled Start 210 Stop 210 Start Alignment 211 Start Exposure Auto set 211 Gocator 3100 Series 6 Software Trigger 211 Schedule Digital Output 212 Schedule Analog Output 212 Ping 213 Reset 213 Backup 214 Restore 214
26. 2 Bevel Angle Determines the angle of the hole s bevel Gocator 3100 Series Gocator Web Interface Measurement 114 Measurement Illustration X Angle Determines the angle the hole relative to the X axis The measurement assumes that the hole is perpendicular to the surface even though the surface itself is tilted Y Angle Determines the angle of the hole relative to the Y axis The measurement assumes that the hole is perpendicular to the surface even though the surface itself is tilted Parameter Description Nominal Bevel Angle The expected bevel angle of the countersunk hole Bevel Angle Tolerance The maximum variation from the nominal bevel angle from the nominal bevel angle Nominal Outer Radius The expected outer radius of the countersunk hole Outer Radius Tolerance The maximum variation from the nominal outer radius from the nominal outer radius Nominal Inner Radius The expected outer radius of the countersunk hole Inner Radius Tolerance The maximum variation from the nominal inner radius from the nominal inner radius Bevel Radius Offset The offset relative to the surface that the countersunk hole is on at which the bevel radius will be measured Curve Surface Whether the surface that the countersunk hole is on is curved When enabled specify the radius of the curvature in the Curve Orientation setting Reference Regions The algorithm uses the Reference Regions
27. 50 Scan Setup and Alignment 52 Scan Page Overview 52 Scan Modes 53 Triggers 53 Trigger Examples 55 Trigger Settings 56 Sensor 58 Reduce Occlusion 58 Active Area 58 Transformations 60 Exposure 61 Single Exposure 61 Multiple Exposure 62 Spacing 64 Spacing Interval 64 Alignment 64 Alignment States 64 Alignment Types 65 Aligning Sensors 65 Gocator 3100 Series 4 Clearing Alignment 66 Filters 67 Gap Filling 67 Median 68 Smoothing 69 Decimation 70 Part Detection 70 Edge Filtering 72 Data Viewer 74 Data Viewer Controls 74 Video Mode 75 Exposure View 75 Surface Mode 77 Height Map Color Scale 80 Region Definition 80 Intensity Output 81 Models and Part Matching 82 Model Page Overview 82 Part Matching 83 Using Edge Detection 84 Creating a Model 87 Modifying a Model s Edge Points 89 Adjusting Target Sensitivity 92 Setting the Match Acceptance Criteria 93 Running Part Matching 93 Using Bounding Box and Ellipse 93 Configuring a Bounding Box or an Ellipse 95 Running Part Matching 96 Using Part Matching to Accept or Reject a Part 96 Measurement 97 Measure Page Overview 97 Data Viewer 98 Tools Panel 98 Measurement Tool Management 98 Adding and Removing Tools 98 Enabling and Disabling Measurements 99 Editing a Tool or Measurement Name 100 Changing a Measurement ID 1
28. Box and Ellipse When using a bounding box or an ellipse to match parts the Gocator tests whether a part fits into a bounding box or ellipse that you define A match will occur regardless of orientation Gocator 3100 Series Gocator Web Interface Models and Part Matching 94 In the data viewer a bounding box or ellipse is displayed with a blue outline If a part fits in the bounding box or ellipse any measurements configured on the Measure page are applied Blue bounding box around a part Yellow lines show currently selected dimension in Part Matching panel Typically setting up a bounding box or an ellipse to perform part matching involves the following steps 1 Scan a reference part you can also use replay data that you have previously saved 2 Set the characteristics of the bounding box width and length or ellipse major and minor axes Part Matching panel Bounding Box algorithm The following settings are used to configure part matching using a bounding box or ellipse Setting Description Match Algorithm Determines which algorithm the sensor will use to attempt a match Set this to Bounding Box or Ellipse Gocator 3100 Series Gocator Web Interface Models and Part Matching 95 Setting Description Z Angle Corrects the orientation of the bounding box or ellipse to accurately match typical orientation and simplify measurements Acceptance Criteria Determines the minimum and maximum a
29. Gocator Data Protocol GDP Each GDP message consists of a 6 byte header followed by a variable length message specific content section The structure of the GDP message is defined below Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier Gocator Data Protocol GDP messages are always sent in groups The last message flag in the control field is used to indicate the final message within a group If there is only one message per group this bit will be set in each message 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 Gocator 3100 Series Protocols Gocator Protocol 225 Field Type Offset Description 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 reserved 8u 13 Reserved stamps C Stamp 14 Array of stamps see below Field Type Offset Description frameIndex 64u 0 Frame index counts up from zero timestamp 64u 8 Timestamp us encoder 64s 16 Current encoder value ticks encoderAtZ 64s 24 Encoder value latched at z index mark ticks status 64u 32 Bit field containing various frame information Bit 0
30. Job Files 166 Element Type Description 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 ExposureMode 32s Exposure mode 0 Single exposure 1 Multiple exposures ExposureMode options 32s CSV List of available exposure modes Exposure 64f Single exposure s Exposure min 64f Minimum exposure s Exposure max 64f Maximum exposure s DynamicExposureMin 64f Dynamic exposure range minimum s DynamicExposureMax 64f Dynamic exposure range maximum s ExposureSteps 64f CSV Mutiple exposure list s ExposureSteps countMin 32u Minimum number of exposure steps ExposureSteps countMax 32u Maximum number of exposure steps IntensityStepIndex 32u Index of exposure step to use for intensity when using multiple exposures XSubsampling 32u Subsampling factor in X XSubsampling options 32u CSV List of available subsampling factors in X ZSubsampling 32u Subsampling factor in Z ZSubsampling options 32u CSV List of available subsampling factors in Z SpacingInterval 64f Uniform spacing interval mm SpacingInterval min 64f Minimum spacing interval mm SpacingInterval max 64f Maximum spacing interval mm SpacingInterval used Boo
31. Master 400 800 288 Function Pin Reserved 6 Reserved 7 Reserved 8 Reserved 9 Reserved 10 Reserved 11 Reserved 12 Reserved 13 Reserved 14 Reserved 15 Reserved 16 This connector does not need to be wired up for proper operation Function Pin Encoder_A 1 Encoder_A 2 Encoder_B 3 Encoder_B 4 Encoder_Z 5 Encoder_Z 6 GND 7 5VDC 8 Encoder 8 pin connector Master 400 800 Electrical Specifications Master 400 800 Power Supply Voltage 48VDC Power Supply current Max 10A Power Draw Min 15W Safety Voltage 12 to 48VDC Encoder signal voltage range RS485 Differential Digital input voltage range Logical LOW 0 VDC to 0 1VDC Logical HIGH 11 VDC to 22 5VDC Electrical Specifications for Master 400 800 When using a Master 400 800 its chassis must be well grounded Gocator 3100 Series Specifications Master 400 800 289 The 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected The Power Draw specification is based on a Master with no sensors attached Every sensor has its own power requirements which need to be considered when calculating total system power requirements Master 400 800 Dimensions The dimensions of Master 400 and Master 800 are the same Gocator 3100 Series Specifications Master 1200 2400 290 Master 1200 2400 The Master 1200 2400 pr
32. Measurements Z HoleMeasurement Z measurement Measurements Radius HoleMeasurement Radius measurement SurfaceHole Child Elements Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set HoleMeasurement Gocator 3100 Series Gocator Device Files Job Files 178 Element Type Description Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold SurfaceCsHole A SurfaceCsHole element defines settings for a surface countersunk hole tool and one or more of its measurements Element Type Description Name String Setting for measurement name Source 32s Setting for source Anchor X String CSV The X measurements IDs used for anchoring Anchor X options String CSV The X measurements IDs available for anchoring Anchor Y String CSV The Y measurements IDs used for anchoring Anchor Y options String CSV The Y measurements IDs available for anchoring Anchor Z String CSV The Z measurements IDs used for anchoring
33. Part Matching panel b In the Match Algorithm drop down choose Edge 4 Click Stop on the toolbar if the sensor is running 5 Click Add Current Scan After adding the model the Gocator will show that the match quality is 100 because it is in effect comparing the model to the scan that was used to create the model This value can be ignored 6 In the Image Type drop down choose Heightmap or Intensity 7 If you need to correct the orientation of the model provide a value in the Z Angle field Correcting the Z angle is useful if the orientation of the model is not close to the typical angle of target parts on the production line 8 Save the job by clicking the Save button Models are saved in job files See Saving and Loading Settings page 36 for more information on saving jobs After you have created a model you may wish to modify it to remove noise to improve its matching capabilities You may also wish to modify a model to exclude certain areas See Creating a Model previous page for more information Model names can be renamed To rename a model 1 In the Models list double click on a model name 2 Type a new name in the model name field Gocator 3100 Series Gocator Web Interface Models and Part Matching 89 3 Press Enter or click outside the model name field 4 Save the job by clicking the Save button To delete a model click the button Modifying a Model s Edge Po
34. Restore Factory 215 Set Recording Enabled 215 Get Recording Enabled 216 Clear Replay Data 216 Set Playback Source 216 Get Playback Source 217 Simulate 217 Seek Playback 218 Step Playback 218 Playback Position 219 Clear Measurement Stats 219 Simulate Unaligned 219 Acquire 220 Acquire Unaligned 220 Read File Progressive 220 Export CSV Progressive 221 Export Bitmap Progressive 221 Upgrade Commands 222 Get Protocol Version 222 Start Upgrade 223 Get Upgrade Status 223 Get Upgrade Log 223 Data Results 224 Stamp 224 Video 225 Surface 226 Surface Intensity 227 Measurement 227 Alignment Result 228 Exposure Calibration Result 228 Edge Match Result 229 Bounding Box Match Result 229 Ellipse Match Result 229 Health Results 230 Modbus TCP Protocol 234 Concepts 234 Messages 234 Registers 235 Control Registers 236 Output Registers 237 State 237 Stamp 237 Measurement Registers 238 EtherNet IP Protocol 240 Concepts 240 Basic Object 240 Identity Object Class 0x01 240 TCP IP Object Class 0xF5 241 Ethernet Link Object Class 0xF6 241 Assembly Object Class 0x04 241 Command Assembly 242 Sensor State Assembly 242 Sample State Assembly 243 ASCII Protocol 246 Ethernet Communication 246 Asynchronous and Polling Operation 246 Command and Reply Format 246 Special Cha
35. Scan Setup and Alignment 66 To perform alignment for stationary targets 1 In the Alignment panel select Stationary as the Type 2 Clear the previous alignment if present Press the Clear Alignment button to remove an existing alignment 3 Select an alignment Target l Select Flat Surface to use the conveyor surface or other flat surface as the alignment reference l Select Plate to use a custom calibration plate If using a calibration plate specify the bar dimensions and reference hole layout See System Coordinates page 31 for more information on plates Configure the characteristics of the target 4 Place the target under the sensor 5 Click the Align button The sensors will start and the alignment process will take place Alignment is performed simultaneously for all sensors If the sensors do not align check and adjust the exposure settings page 61 Alignment uses the exposure defined for single exposure mode regardless of the current exposure mode 6 Check the alignment results under Transformation in the Active Area tab in the Sensor panel Clearing Alignment Alignment can be cleared to revert the sensor to sensor coordinates Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 67 To clear alignment 1 Go to the Scan page 2 Choose Surface mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure pane
36. Set Trigger Event to Measurement 4 In Configuration set Assert On to Always 5 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 6 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 Go to the Output page 2 Click on Digital 1 or Digital 2 in the Output panel 3 Set Trigger Event to Software 4 Specify a Signal type The signal type specifies whether the digital output is a continuous signal or a pulsed signal If the signal is continuous its state is maintained until the next transition occurs If the signal is pulsed user specifies the pulse width and the delay Gocator 3100 Series Gocator Web Interface Output 150 5 Specify a Pulse Width The pulse width determines the duration of the digital output pulse in microseconds 6 Specify if the output is Immediate or Scheduled A pulsed signal can become active immediately or scheduled Continuous signal always becomes active immediately Immediate output becomes active as soon as a scheduled digital output see page 212 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
37. Surface Performs part detection and measurements default mode System Modes States A Gocator system can be in one of three states Conflict Ready or Running The Start and Stop commands are sent by the client to change the current state The sensor can be configured to boot in either the Ready or Running state In the Ready state a sensor can be configured In the Running state a sensor will respond to input signals perform measurements drive its outputs and send data messages to the client Disconnecting to command channel will change the sensor from the Running state to the Ready state Gocator 3100 Series Protocols Gocator Protocol 197 Data Types The table below defines the data types and associated type identifiers used throughout this document All values are transmitted in little endian format least significant byte first unless stated otherwise Type Description Null Value char Character 8 bit ASCII encoding byte Byte 8u 8 bit unsigned integer 8s 8 bit signed integer 16s 16 bit signed integer 32768 0x8000 16u 16 bit unsigned integer 65535 0xFFFF 32s 32 bit signed integer 2147483648 0x80000000 32u 32 bit unsigned integer 4294967295 0xFFFFFFFF 64s 64 bit signed integer 9223372036854775808 0x8000000000000000 64u 64 bit unsigned integer 18446744073709551615 0xFFFFFFFFFFFFFFFF 64f 64 bit floating point 1 7976931348623157e 308 Poi
38. To output an invalid value the constant INVALID_VALUE can be Output Functions Gocator 3100 Series Gocator Web Interface Measurement 140 Function Description used e g Output_SetAt 0 INVALID_VALUE 0 Parameters value value output by the script decision decision value output by the script Can only be 0 or 1 void Output_SetAt unsigned int index double value int decision Sets the output value and decision at the specified output index To output an invalid value the constant INVALID_VALUE can be used e g Output_SetAt 0 INVALID_VALUE 0 Parameters index Script output index value value output by the script decision decision value output by the script Can only be 0 or 1 void Output_SetId int id double value int decision 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_SetId 0 INVALID_VALUE 0 Parameters id Script output ID Function Description void Memory_Set64s int id long long value Stores a 64 bit signed integer in persistent memory Parameters id ID of the value value Value to store long long Memory_Get64s int id Loads a 64 bit signed integer from persistent memory Parameters id ID of the value Returns value Value stored in persistent memory void Memory_Set64u int id unsigned long long value
39. Y measurements IDs used for anchoring Anchor Y options String CSV The Y measurements IDs available for anchoring Anchor Z String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring RegionEnabled Boolean Setting to enable disable region Region Region3D Measurement region Measurements Major EllipseMeasurement Major measurement Measurements Minor EllipseMeasurement Minor measurement Measurements Ratio EllipseMeasurement Ratio measurement Measurements ZAngle EllipseMeasurement ZAngle measurement SurfaceEllipse Child Elements Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold EllipseMeasurement Gocator 3100 Series Gocator Device Files Job Files 177 SurfaceHole A SurfaceHole element defines settings for a surface hole tool and one or more of its measurements Element Type Des
40. a component or product please contact LMI Technologies World Email support lmi3D com Web http www lmi3D com North America Phone 1 604 636 1011 Fax 1 604 516 8368 Europe Phone 31 45 850 7000 Fax 31 45 574 2500 For more information on safety and laser classifications please contact U S Food and Drug Administration Center for Devices and Radiological Health WO66 G609 10903 New Hampshire Avenue Silver Spring MD 20993 0002 USA Gocator 3100 Series 302 Contact North America Europe LMI Technologies Inc 1673 Cliveden Avenue Delta BC V3M 6V5 Canada Phone 1 604 636 1011 Fax 1 604 516 8368 LMI Technologies BV Valkenburgerweg 223 NL 6419AT Heerlen The Netherlands Phone 31 45 850 7000 Fax 31 45 574 2500 Gocator 3100 Series 303
41. a white bulls eye indicator shows the position of the anchor in the data viewer If the sensor is running the anchored tool s measurement regions are shown in white to indicate the regions are locked to the anchor The measurement regions of anchored tools cannot be adjusted The anchored tool s measurement regions are now tracked and will move with the target s position under the sensor as long as the anchor measurement produces a valid measurement value If the anchor measurement is invalid for example if there is no target under the sensor the anchored tool will not show the measurement regions at all and an Invalid Anchor message will be displayed in the tool panel To remove an anchor from a tool 1 Click on the anchored tool s Anchoring tab Select Disabled in the X Y or Z drop down Surface Measurement Surface measurement involves capturing 3D point cloud data optionally identifying discrete objects and measuring properties of the surface or the objects such as the volume of the object or the height at a certain position of the object All volumetric tools have the ability to operate either on the entire surface or the full object or within a region of interest at a certain position in relation to the surface or an object Multiple measurements can be performed on the entire surface or each discrete object limited only by the available CPU resources Gocator 3100 Series Gocator Web Interface Mea
42. check grounding with a multi meter by ensuring electrical continuity between the mounting frame and RJ45 connectors on the front The frame or electrical cabinet that the Master is mounted to must be connected to earth ground Mounting Sensors should be mounted using four or six depending on the model M5 x 0 8 pitch screws of suitable length The recommended thread engagement into the housing is 8 10 mm Proper care should be taken in order to ensure that the internal threads are not damaged from cross threading or improper insertion of screws With the exception of Gocator 2880 sensors should not be installed near objects that might occlude a camera s view of the LED light pattern Gocator 2880 is specifically designed to compensate for occlusions The sensor must be heat sunk through the frame it is mounted to When a sensor is properly heat sunk the difference between ambient temperature and the temperature reported in the sensor s health channel is less than 15 C Gocator 3100 Series Getting Started Installation 19 Gocator sensors are high accuracy devices The temperature of all of its components must be in equilibrium When the sensor is powered up a warm up time of at least one hour is required to reach a consistent spread of temperature within the sensor Gocator 3100 Series Getting Started Network Setup 20 Network Setup The following sections provide procedures for client PC and Gocator network
43. 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 Value 2 150 within decision thresholds Min 3 Max 2 Decision Pass Gocator 3100 Series Gocator Web Interface Measurement 103 Value 1604 250 outside decision thresholds Min 1500 Max 1600 Decision Fail Along with measurement values decisions can be sent to external programs and devices In particular decisions are often used with digital outputs to trigger an external event in response to a measurement See Output page 143 for more information on transmitting values and decisions To configure decisions 1 Go to the Scan page by clicking on the Scan icon 2 Choose Surface mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 3 Go to the Measure page by clicking on the Measure icon 4 In the Tools panel click on a tool in the tool list 5 In the measurement list select a
44. creates scans with lower X Y resolution reduces CPU usage and potentially increases the maximum frame rate A larger interval also reduces the data output rate For more information on resampled data see Resampling page 32 To configure the spacing interval 1 Go to the Scan page 2 Choose Surface mode in the Scan Mode panel If this mode is not selected you will not be able to configure the spacing interval 3 Expand the Sensor panel by clicking on the panel header or the button 4 Click on the Spacing tab 5 Select a spacing interval level 6 Save the job in the Toolbar by clicking the Save button Alignment Gocator sensors are pre calibrated and ready to deliver 3D data in engineering units mm out of the box However alignment procedures are required to compensate for sensor mounting inaccuracies Alignment is performed using the Alignment panel on the Scan page Once alignment has been completed the derived transformation values will be displayed under Transformations in the Sensor panel see Transformations page 60 for details Alignment States A Gocator can be in one of three alignment states None Manual or Auto Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 65 State Explanation None Sensor is not aligned 3D point clouds are reported in default sensor coordinates Manual Transformations see page 60 have been manually edited Auto Sensor is ali
45. decision Decision d1 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 value 0 decision 0 Format Value Explanation time Timestamp encoder Encoder position frame Frame number value Measurement ID 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 decision Measurement ID Measurement decision where the selected measurement ID must correspond to an existing measurement Measurement decision is a bit mask where Bit 0 1 Pass 0 Fail Bits 1 7 0 Measurement value OK 1 Invalid value 2 Invalid anchor Result Placeholders Control Commands Optional parameters are shown in italic The placeholder for data is surrounded by brackets lt gt In the examples the delimiter is set to Gocator 3100 Series Protocols ASCII Protocol 249 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 depe
46. 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 SpotSelectionType used Bool Determines if the setting s value is currently used SpotSelectionType value 32s Value in use by the sensor useful for determining value when used is false CameraGainAnalog 64f Analog camera gain factor CameraGainAnalog used Bool Determines if the setting s value is currently used CameraGainAnalog value 64f Value in use by the sensor useful for determining value when used is false Material Child Elements Gocator 3100 Series Gocator Device Files Job Files 168 Element Type Description 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 t
47. file to the connected sensor and then restores all sensor files from the backup The sensor must be reset or power cycled before the restore operation can be completed Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x1014 length 32u 10 Data length data length byte 14 Data content Command Gocator 3100 Series Protocols Gocator Protocol 215 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 Reply Restore Factory The Restore Factory command restores the connected sensor to factory default settings This command has no effect on connected Buddy sensors Note that the sensor must be reset or power cycled before the factory restore operation can be completed Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4301 resetAddress 8u 6 Specifies whether IP address should be restored to default 0 Do not reset IP 1 Reset IP Command 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 Reply Set Recording Enabled The Set Recording Enabled command enables recording for replay later Field Type
48. for part matching Choose this setting based on the kinds of features that will be used for part matching Heightmap Surface elevation information of the scanned part will be used to determine edges This setting is most commonly used Intensity Intensity data how light or dark areas of a scanned part are will be used to determine edges Use this setting if the main distinguishing marks are printed text or patterns on the parts The Acquire Intensity option must be checked in the Scan Mode panel on the Scan page for this option to be available Z Angle Corrects the orientation of the model to accurately match typical orientation and simplify measurements Target Sensitivity Target Matching tab Controls the threshold at which an edge point is detected on the target s heightmap or intensity image The target is any part that is matched to the model and which will subsequently be measured if the match is accepted Setting Target Sensitivity higher results in more edge points Setting it lower results in fewer edge points and results in higher performance Use this setting to exclude noise from the detected edges and to make sure distinguishing features are properly detected The level of this setting should generally be similar to the level of Model Sensitivity Model Sensitivity Model Editing tab Controls the threshold at which an edge point is detected on the heightmap or intensity image used
49. frame rate Fractional values are supported For example 0 1 can be entered to run at 1 frame every 10 seconds Gate on External Input Time Encoder External input can be used to enable or disable 3D data acquisition in a sensor When this option is enabled the sensor will respond to time or encoder triggers only when the external input is asserted See Digital Inputs page 282 for more information on connecting external input to Gocator Units External Input Software Specifies whether the trigger delay output delay and output scheduled command operate in the time domain The unit is implicitly set to microseconds with Time trigger source Trigger Delay External Input Controls the amount of time or the distance the sensor waits before producing a frame after the external input is activated This is used to compensate for the positional difference between the source of the external input trigger e g photocells and the sensor Trigger delay is only supported in single exposure mode for details see Exposure page 61 To configure the trigger source 1 Go to the Scan page 2 Expand the Trigger panel by clicking on the panel header 3 Select the trigger source from the drop down Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 58 4 Configure the settings See the trigger parameters above for more information 5 Save the job in the Toolbar by clicking
50. gt ERROR lt Error Message gt Formats Examples health 2002 2017 OK 46 1674 Health ERROR Insufficient parameters 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 lmi3d com support downloads selecting a Gocator series and clicking on the Product User Area link Applications compiled with previous versions of the SDK are compatible with Gocator firmware if the major version numbers of the protocols match For example an application compiled with version 4 0 of the SDK which uses protocol version 4 0 will be compatible with a Gocator running firmware version 4 1 which uses protocol version 4 1 However any new features in firmware version 4 1 would not be available If the major version number of the protocol is different for example an application compiled using SDK version 3 x being used with a Gocator running firmware 4 x you must 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
51. in the Measure panel 3 Go to the Measure page by clicking on the Measure icon 4 In the Tools panel click on a tool in the tool list 5 In the measurement list select a measurement To select a measurement it must be enabled See Enabling and Disabling Measurements page 99 for instructions on how to enable a measurement 6 Click on the Output tab For some measurements only the Output tab is displayed 7 Expand the Filters panel by clicking on the panel header or the button 8 Configure the filters Refer to the table above for a list of the filters Measurement Anchoring Measurement anchoring is used to track the movement of parts within the field of view of the sensor compensating for variations in the height and position of parts The movement is calculated as an offset Gocator 3100 Series Gocator Web Interface Measurement 105 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 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
52. logic for sorting data into discrete objects See Part Detection page 70 6 Data Viewer Displays sensor data and adjusts regions of interest Depending on the current operation mode the data viewer can display video images or surface views See Data Viewer page 74 Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 53 The following table provides quick references for specific goals that you can achieve from the panels in the Scan page Goal Reference Select a trigger source that is appropriate for the application Triggers below Ensure that camera exposure is appropriate for 3D data acquisition Exposure page 61 Find the right balance between data quality speed and CPU utilization Active Area page 58 Exposure page 61 Gocator Device Files page 162 Calibrate the system so that 3D data can be aligned to a reference plane Set up the part detection logic to create discrete objects from surfaces Part Detection page 70 Scan Modes The Gocator web interface supports two scan modes Video and Surface The scan mode can be selected in the Scan Mode panel 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 Surface Outputs 3D point clouds and performs surface measurements Part detection can be enabled on a surface to identify discrete parts see
53. measurement value output type The Overflow health indicator increments Additional undocumented indicator values may be included in addition to the indicators defined above Gocator 3100 Series Protocols Modbus TCP Protocol 234 Modbus TCP Protocol Modbus TCP is designed to allow industrial equipment such as Programmable Logic Controllers PLC sensors and physical input output devices to communicate over an Ethernet network Modbus TCP embeds a Modbus frame into a TCP frame in a simple manner This is a connection oriented transaction and every query expects a response This section describes the Modbus TCP commands and data formats Modbus TCP communication enables the client to l Switch to a different active job l Align and run sensors l Receive sensor states stamps and measurement results Modbus TCP is enabled in the Output panel For more information see Ethernet Output page 144 If buffering is enabled with the Modbus protocol the PLC must read the Buffer Advance output register see page 237 to advance the queue before reading the measurement results Concepts A PLC sends a command to start each Gocator The PLC then periodically queries each Gocator for its latest measurement results In Modbus terminology the PLC is a Modbus Client Each Gocator is a Modbus Server which serves the results to the PLC The Modbus TCP protocol uses TCP for connection and messaging The PLC makes a TCP connectio
54. not exist 1 measurement exists int Measurement_Valid int id Determines if a measurement value is valid by its ID Parameters id Measurement ID Returns 0 Measurement is invalid 1 Measurement is valid double Measurement_Value int id 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 int Measurement_Decision int id 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 int Measurement_NameExists char toolName char measurementName Determines if a measurement exist by name Parameter toolName Tool name measurementName Measurement name Returns 0 measurement does not exist 1 measurement exists int Measurement_Id char toolName char measurementName 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 Function Description void Output_Set double value int decision 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
55. of the web interface Click on the warning symbol to redisplay the warning message Open the log for details on the warning See Log previous page for more information Data Viewer 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 53 the data viewer can display video images or 3D surfaces For details see Data Viewer page 74 When the Measure page is active the data viewer displays sensor data onto which representations of measurement tools and their measurements are superimposed For details see Data Viewer page 98 Gocator 3100 Series Gocator Web Interface System Management and Maintenance 42 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 Element Description 1 Sensor System Contains settings for configuring sensor system and boot up See Sensor System next page 2 Networking Contains settings for configuring the network See Networking page 44 3 Motion and Alignment Contains settings
56. on by setting the slider to the right in the Toolbar The slider s background will turn blue and a Replay Mode Enabled message will be displayed 2 Go to the Measure page Modify settings for existing measurements add new measurement tools or delete measurement tools as desired 3 Use the Replay Slider Step Forward Step Back or Play button to simulate measurements Step or play through recorded 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 see Dashboard page 154 To clear recorded data 1 Stop the sensor if it is running by clicking on the Stop button 2 Click on the Clear Replay Data button Downloading Exporting and Uploading Recorded Data Recorded data can be downloaded or exported to the client computer or uploaded to the Gocator Export is often used for processing the recorded data using third party tools Recorded data can also be Gocator 3100 Series Gocator Web Interface User Interface Overview 39 downloaded in a binary format which is used to back up the data for reviewing in the future Recorded data is not saved or loaded when you save or activate jobs in the toolbar To download recorded data 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background will turn blue
57. on pixelSize above Surface Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier attributeSize 16u 6 Size of attributes in bytes min 40 current 40 length L 32u 8 Surface length rows length W 32u 12 Surface width columns xScale 32u 16 X scale nm yScale 32u 20 Y scale nm zScale 32u 24 Z scale nm xOffset 32s 28 X offset m yOffset 32s 32 Y offset m zOffset 32s 36 Z offset m source 8u 40 Source 0 Top 1 Bottom 2 Top Left 3 Top Right exposure 32u 41 Exposure ns rotation 32s 45 Rotation microdegrees reserved 3 8u 49 Reserved ranges L W 16s 50 Surface ranges Gocator 3100 Series Protocols Gocator Protocol 227 Surface Intensity Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier attributeSize 16u 6 Size of attributes in bytes min 32 current 32 length L 32u 8 Surface length rows width W 32u 12 Surface width columns xScale 32u 16 X scale nm yScale 32u 20 Y scale nm xOffset 32s 24 X offset m yOffset 32s 28 Y offset m source 8u 32 Source 0 Top 1 Bo
58. option to calculate the Z position of the hole It is typically used in cases where the surface around the hole is not flat Parameters Gocator 3100 Series Gocator Web Interface Measurement 115 Parameter Description When this option is set to Autoset the algorithm automatically determines the reference region When the option is not set to Autoset the user manually specifies the reference region The location of the reference region is relative to the detected center of the hole and positioned on the nominal surface plane When the Reference Regions option is disabled the tool measures the hole s Z position using all the data in the measurement region except for a bounding rectangular region around the hole Tilt Correction Tilt of the target with respect to the alignment plane When this option is set to Autoset the tool automatically detects the tilt Otherwise the user must enter the angles manually Autoset requires the measurement region to cover more areas on the surface plane than other planes The results from the Plane X and Y tool can be used for angles X and Y parameters Partial Detection Enable if only part of the hole is within the measurement region If disabled the hole must be completely in the region of interest for results to be valid Decision See Decisions page 102 Region See Regions page 101 Output See Filters page 103 Ellipse The Ellipse tool provides measurements f
59. output the Data channel can operate asynchronously or by polling Under asynchronous operation measurement results are automatically sent on the Data channel when the sensor is in the running state and results become available The result is sent on all connected data channels Under polling operation when the sensor receives a Get Result command it will send the latest measurement results on the same data channel that the request is received Command and Reply Format Commands are sent from the client to the Gocator Command strings are not case sensitive The command format is lt COMMAND gt lt DELIMITER gt lt PARAMETER gt lt TERMINATION gt If a command 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 3100 Series Protocols ASCII Protocol 247 The status can either be OK or ERROR The optional results can be relevant data for the command if successful or a text based error message if the operation failed If there is more than one data item each item is separated by the delimiter The delimiter and termination characters are configured in the Special Character settings Special Characters The ASCII Protocol has three special characters Special Character Explanation Delimiter Separates input arguments in commands and replies or data items in results D
60. output has not been completed Digital Output Drop Count of digital output drops because last output has not been completed Serial Output Drop Count of serial output drops because last output has not been completed Processing Drop Count of frame drops due to excessive CPU utilization Ethernet Drop Count of frame drops due to slow Ethernet link Digital Output High Count Count of high states on digital outputs Digital Output Low Count Count of low states on digital outputs Range Valid Count Count of valid ranges Range Invalid Count Count of invalid ranges Anchor Invalid Count Count of invalid anchors Valid Spot Count Count of valid spots detected in the last frame Max Spot Count Maximum number of spots detected since sensor was started Camera Search Count Count of camera frame where laser has lost tracked Only applicable when tracking window is enabled Dashboard History Values 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 3100 Series Gocator Web Interface Dashboard 156 Name Description Measurements The measurement ID and name Value The most recent measurement value Min Max The minimum and maximum measurement values that have been observed Avg The average of all measurement results co
61. page 290 for pinout details Gocator 3100 Series Getting Started Installation 17 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 I O cordset Gocator sensors have been designed to provide adequate grounding through the use of M5 x 0 8 pitch mounting screws Always check grounding with a multi meter to ensure electrical continuity between the mounting frame and the Gocator s connectors The frame or electrical cabinet that the Gocator is mounted to must be connected to earth ground Recommended Grounding Practices Cordsets If you need to minimize interference with other equipment you can ground the Power amp Ethernet or the Power amp Ethernet to Master cordset depending on which cordset you are using by terminating the shield of the cordset before the split The most effective grounding method is to use a 360 degree clamp 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 3100 Series Getting Started Installation 18 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
62. page 70 Acquire Intensity When this option is enabled an intensity value will be produced for each point in the 3D point cloud Triggers A trigger is an event that causes a sensor to take a single 3D snapshot Triggers are configured in the Trigger panel When a trigger is processed the LED light pattern is strobed and the cameras expose to produce images The resulting images are processed inside the sensor to yield a 3D point cloud which can then be used for measurement Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 54 The top right of the Trigger panel displays the maximum speed at which an object could be captured at calculated based on the exposure values active area and the number of projection patterns required The light and camera inside a sensor can be triggered by one of the following sources Trigger Source Description Time Sensors have an internal clock that can be used to generate fixed frequency triggers The external input can be used to enable or disable the time triggers Encoder An encoder can be connected to provide triggers in response to motion Three encoder triggering behaviors are supported These behaviors are set using the Behavior setting Ignore Backward A scan is triggered when the target object moves forward If the target object moves backward it must move forward by at least the distance that the target travelled backward plus one encoder spacing to tr
63. page 98 for its use when the Measure page is active 12 Log Displays messages from the sensor errors warnings and other information See Log page 40 Common Elements Toolbar The toolbar is used for performing common operations This section explains how to use the toolbar to manage jobs and to operate the sensor Element Description 1 Job controls For saving and loading different jobs 2 Recorded data controls For downloading uploading and exporting recorded data 3 Sensor operation replay control Use the sensor operation controls to start sensors enable recording and control recorded data 4 Replay switch Toggles the sensor data source between live and replay Gocator 3100 Series Gocator Web Interface User Interface Overview 36 Saving and Loading Settings When you change sensor settings using the Gocator web interface some changes are saved automatically while other changes are temporary until you save them manually The following table lists the types of information that can be saved in a sensor Setting Type Behavior Network Address Network address changes are saved when you click the Save button in Networking on the Manage page The sensor must be reset before changes take effect Job Most of the settings that can be changed in the Gocator s web interface such as the ones in the Manage Measure and Output pages are temporary until saved in a job file Each sensor can have m
64. points will be used every 2 millimeters To configure X or Y decimation 1 Go to the Scan page 2 Choose Surface mode in the Scan Mode panel If this mode is not selected you will not be able to configure smoothing 3 Expand the Filters panel by clicking on the panel header or the button 4 Click on the Decimation tab 5 Enable the X or Y setting and select the decimation window value 6 Save the job in the Toolbar by clicking the Save button 7 Check that the laser profiling is satisfactory Part Detection Multiple parts can be detected from a single surface and will be individually tracked Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 71 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 Threshold Direction Determines if parts should be detected above or below the height threshold Gap Width Determines the minimum separation between objects on the X axis If parts are closer than the gap interval they will be merged into a single part Gap Length Determines the minimum separation between objects on
65. required to set up a standalone sensor system and a multi sensor system for operations After you have completed the setup 3D data can be acquired to verify basic sensor operation Running a Standalone Sensor System To configure a standalone sensor system 1 Power up the sensor The power indicator blue should turn on immediately 2 Enter the sensor s IP address 192 168 1 10 in a web browser 3 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 4 Go to the Manage page 5 Ensure that Replay mode is off the slider is set to the left Gocator 3100 Series Getting Started Network Setup 23 6 Ensure that the LED Safety Switch is enabled or the LED Safety input is high 7 Go to the Scan page 8 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 3D point cloud Master 400 800 1200 2400 Standalone 9 Move a target into the LED light pattern If a target object is within the sensor s measurement range the data viewer will display the shape of the target and the sensor s range indicator will illuminate If you cannot see the laser or if a 3D heightmap is not displ
66. sensor digital input state Bit 4 master digital input state Bit 8 9 inter frame digital pulse trigger Master digital input if master is connected otherwise sensor digital input Value is cleared after each frame and clamped at 3 if more than 3 pulses are received serialNumber 32u 40 Sensor serial number main if buddied reserved 2 32u 44 Reserved Stamp Video Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier attributesSize 16u 6 Size of attributes in bytes min 20 current 20 height H 32u 8 Image height in pixels width W 32u 12 Image width in pixels pixelSize 8u 16 Pixel size in bytes pixelFormat 8u 17 Pixel format 1 8 bit greyscale 2 8 bit color filter 3 8 bits per channel color B G R X colorFilter 8u 18 Color filter array alignment 0 None 1 Bayer BG GR Gocator 3100 Series Protocols Gocator Protocol 226 Field Type Offset Description 2 Bayer GB RG 3 Bayer RG GB 4 Bayer GR BG source 8u 19 Source 0 Top 1 Bottom 2 Top Left 3 Top Right cameraIndex 8u 20 Camera index exposureIndex 8u 21 Exposure index exposure 32u 22 Exposure ns reserved 2 8u 26 Reserved pixels H W Variable 28 Image pixels Depends
67. setup Client Setup Sensors are shipped with the following default network configuration Setting Default DHCP Disabled IP Address 192 168 1 10 Subnet Mask 255 255 255 0 Gateway 0 0 0 0 To connect to a sensor for the first time 1 Connect cables and apply power Sensor cabling is illustrated in System Overview page 11 2 Change the client PC s network settings Windows 7 a Open the Control Panel select Network and Sharing Center and then click Change Adapter Settings b Right click the network connection you want to modify and then click Properties c On the Networking tab click Internet Protocol Version 4 TCP IPv4 and then click Properties d Select the Use the following IP address option e Enter IP Address 192 168 1 5 and Subnet Mask 255 255 255 0 then click OK Gocator 3100 Series Getting Started Network Setup 21 Mac OS X v10 6 a Open the Network pane in System Preferences and select Ethernet b Set Configure to Manually c Enter IP Address 192 168 1 5 and Subnet Mask 255 255 255 0 then click Apply See Troubleshooting page 273 if you experience any problems while attempting to establish a connection to the sensor Gocator 3100 Series Getting Started Network Setup 22 Gocator Setup The Gocator is shipped with a default configuration that will produce 3D data on most targets The following sections walk you through the steps
68. this command advances replay data playback by one frame This command returns error if no live playback data set is loaded You can use the Copy File command to load a replay data set to live Gocator 3100 Series Protocols Gocator Protocol 219 Playback Position The Playback Position command retrieves the current playback position Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4502 Command 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 Frame Index 32u 10 Current frame index starts from 0 Frame Count 32u 14 Total number of available frames objects Reply Clear Measurement Stats The Clear Measurement Stats command clears the sensor s measurement statistics Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4526 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4526 status 32s 6 Reply status Reply Simulate Unaligned The Simulate Unaligned command simulates data before alignment transformation Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command id
69. to _live job to write the make the job file live Except for writing to the live files the file is permanently stored on the sensor Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x1006 name 64 char 6 Source file name length 32u 70 File length data length byte 74 File contents Command Gocator 3100 Series Protocols Gocator Protocol 206 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 Reply Delete File The Delete File command removes a file from the connected sensor Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x1008 name 64 char 6 Source file name Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1008 status 32s 6 Reply status Reply Get Default Job The Get Default Job command gets the name of a default job file that will be loaded at boot time Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4100 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Repl
70. to create the model Setting Model Sensitivity higher results in more edge points Setting it lower results in fewer edge points and results in higher performance Use this setting to exclude noise from the detected edges and to make sure distinguishing features are properly detected The level of this setting should generally be similar to the level of Target Sensitivity Changing this setting causes the edge detection algorithm to run again at the new threshold If you have edited edge points manually removing them selectively those changes will be lost See Using Edge Detection page 84 for more information Edge Points Model Editing tab The Edit button lets you selectively remove edge point that are detected by the edge detection algorithm at the current Model Sensitivity setting See Using Edge Detection page 84 for more information Acceptance Criteria Determines the minimum quality level of the match as a percentage value Part rejected Quality result is less than Min To run part matching simply make sure that the Enabled option is checked on the Part Matching panel when the Gocator is running Any measurements that are added and configured on the Measure page will be applied to parts if a part match is accepted regardless of the part s orientation a Gocator 3100 Series Gocator Web Interface Models and Part Matching 87 successfully matched part is rotated to match orientation of the model retu
71. to exclude noise and to properly detect the distinguishing features that will match parts You can also set the sensitivity value manually in the provided text box 4 Save the job by clicking the Save button Gocator 3100 Series Gocator Web Interface Models and Part Matching 91 To manually remove model edge points 1 In the Models list select the model you want to configure by clicking on its selection control 2 In the Model Editing tab click on the Edit button 3 On the toolbar above the data viewer make sure the Select tool is active 4 Click in the data viewer and hold the mouse button while moving the pointer over the edge points you want to remove Gocator 3100 Series Gocator Web Interface Models and Part Matching 92 Points within the circular Select tool are removed from the model Removed edge points turn red in the data viewer You can zoom in to see individual edge points by using the mouse wheel or by using the Zoom mode 5 If you have removed too many edge points use Ctrl Click in the data viewer to add the edge points back 6 When you have finished editing the model click Save in the Model Editing tab 7 Save the job by clicking the Save button on the toolbar Adjusting Target Sensitivity After you have added a model and optionally adjusted it you must scan a different part one that is typical of parts that must match the model Much in the same way that y
72. 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 You should check a decision against lt 0 for failure or invalid measurement Operation Workflow Applications created using the SDK typically use the following programming sequence Gocator 3100 Series Software Development Kit 260 See Setup and Locations page 255 for more information on the code samples referenced below Sensors must be connected before the system can enable the data channel All data functions are named Go lt Object gt _ lt Function gt for example GoSensor_Connect For property access functions the convention is Go lt Object gt _ lt Property Name gt for reading the property and Go lt Object gt _Set lt Property Name gt for writing it for example GoMeasurement_ DecisionMax and GoMeasurement_SetDecisionMax respectively Initialize GoSdk API Object Before the SDK can be used the GoSdk API object must be initialized by calling GoSdk_Construct api kAssembly api kNULL if status GoSdk_Construct amp api kOK printf Error GoSdk_Construct d n status return When the program finishes call GoDestroy api to destroy the API object Gocator 3100 Series Software Development Kit 261 Discover Sensors Sensors are discovered when GoSystem is created using GoSystem_Co
73. 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 Go to the Output page 2 Click on Digital 1 or Digital 2 in the Output panel 3 Set Trigger Event to Exposure 4 Set the Pulse Width option The pulse width determines the duration of the digital output pulse in microseconds Analog Output Gocator sensors can convert a measurement result or software request to an analog output Each sensor supports one analog output channel For information on wiring analog output to an external device see Analog Output page 284 Gocator 3100 Series Gocator Web Interface Output 151 To output measurement value or decision 1 Go to the Output page 2 Click on Analog in the Output panel 3 Set Trigger Event to Measurement 4 Select the measurement that should be used for output Only one measurement can be used for analog output 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 re
74. with search 2 14 bit 3 14 bit with search Format options 32s CSV List of available formats DataScaleMin 64f Measurement value corresponding to minimum word value DataScaleMax 64f Measurement value corresponding to maximum word value Selcom Child Elements Gocator 3100 Series Gocator Device Files Job Files 193 ASCII 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 ASCII Child Elements Gocator 3100 Series Gocator Device Files Transformation File 194 Transformation File The transformation file contains information about the physical system setup that is used to l Transform data from sensor coordinate system to another coordinate system e g world l Define encoder resolution for encoder based triggering l Define the travel offset Y offset between sensors for staggered operation The transformation file exists as a separate file when Alignment Reference page 45 is set to Fixed When Alignment Reference is set to Dynamic transformation information is included in each job file see page 162 under the Transform element Use the Read File and Write File commands to modify the transformation file See the following sections for the elements contained in the transformation
75. 0 Series Tools and Native Drivers GenTL Driver 267 Refer to the documentations in the GenTL directory for instructions on how to interface to various third party software Gocator GenTL driver packs the part output intensity and stamps e g time stamp encoder index etc into either a 16 bit RGB image or a 16 bit grey scale image You can select the format in the Go2GenTL xml setting file The width and height of the 16 bit RGB or grey scale image is calculated from the maximum number of columns and rows required to support the sensor s FOV and the maximum part length 16 bit RGB Image When the 16 bit RGB format is used the height map intensity and stamps are stored in the red green and blue channel respectively Channel Details Red Height map information The width and height of the image represent the dimensions in the X and Y axis Together with the pixel value each red pixel presents a 3D point in the real world coordinates The following formula can be used to calculate the real world coordinates X Y Z from pixel coordinates Px Py Pz X X offset Px X resolution Y Y offset Py Y resolution Z Z offset Pz Z resolution Refer to the blue channel on how to retrieve the offset and resolution values If Pz is 0 if the data is invalid The Z offset is fixed to 32768 Z resolution Z is zero if Pz is 32768 Green Intensity information Same as the red channel the width and
76. 01 Common Measurement Settings 101 Regions 101 Decisions 102 Filters 103 Measurement Anchoring 104 Surface Measurement 106 Measurement Tools 107 Bounding Box 107 Countersunk Hole 110 Ellipse 115 Hole 117 Measurement Region 121 Opening 122 Measurement Region 128 Plane 128 Position 130 Stud 132 Measurement Region 135 Volume 135 Script 137 Script Measurement 138 Built in Functions 138 Output 143 Output Page Overview 143 Ethernet Output 144 Digital Output 147 Analog Output 150 Serial Output 152 Dashboard 154 Dashboard Page Overview 154 System Panel 154 Measurements 155 Gocator Emulator 157 Downloading a Support File 157 Running the Emulator 158 Adding a Scenario to the Emulator 159 Running a Scenario 160 Removing a Scenario from the Emulator 160 Using Replay Protection 160 Stopping and Restarting the Emulator 161 Calculating Potential Maximum Frame Rate 161 Gocator Device Files 162 Job Files 162 Configuration Root 162 Setup 162 Gocator 3100 Series 5 Layout 163 Alignment 164 Disk 165 Bar 165 Plate 165 Devices Device 165 Tracking 167 Material 167 PartDetection 168 EdgeFiltering 170 PartMatching 170 Edge 170 BoundingBox 170 Ellipse 171 Edge 171 Triggers 171 ToolOptions 172 MeasurementOptions 172 Tools 173 Surface Types
77. 1 The length of time in which the laser overheating state occurred Only available on certain 3B laser devices Playback Position 20023 The current replay playback position Playback Count 20024 The number of frames present in the replay FireSync Version 20600 The FireSync version used by the Gocator build Processing Drops 21000 Number of dropped frames The sum of various processing drop related indicators Last IO Latency 21001 Last delay from camera exposure to when rich IO scheduling occurs Valid only if rich IO is enabled Max IO Latency 21002 Maximum delay from camera exposure to when rich IO scheduling occurs Valid only if rich IO is enabled Reset on start Ethernet Output 21003 Number of bytes transmitted Ethernet Rate 21004 The average number of bytes per second being transmitted Ethernet Drops 21005 Number of dropped Ethernet packets Digital Output Pass 21006 Output Index Number of pass digital output pulse Digital Output Fail 21007 Output Index Number of fail digital output pulse Trigger Drops 21010 Number of dropped triggers The sum of various triggering related drop indicators Output Drops 21011 Number of dropped output data The sum of all output drops analog digital serial host server Gocator 3100 Series Protocols Gocator Protocol 233 Indicator Id Instance Value and ASCII server Host Server Drops
78. 13 Reserved indicators C Indicator 16 Array of indicators see format below Health Result Header Gocator 3100 Series Protocols Gocator Protocol 231 The health indicators block contains a 2 dimensional array of indicator data Each row in the array has the following format Field Type Offset Description id 64s 0 Unique indicator identifier see below instance 64s 4 Indicator instance value 64s 8 Value identifier specific meaning Indicator Format The following health indicators are defined for Gocator sensor systems Indicator Id Instance Value Encoder Value 1003 Current system encoder tick Encoder Frequency 1005 Current system encoder frequency ticks s App Version 2000 Firmware application version Uptime 2017 Time elapsed since node boot up or reset seconds Internal Temperature 2002 Internal temperature centidegrees Celsius Projector Temperature 2404 Projector module temperature centidegrees Celsius Only available on projector based devices Control Temperature 2028 Control module temperature centidegrees Celsius Available only on 3B class devices Memory Usage 2003 Amount of memory currently used bytes Memory Capacity 2004 Total amount of memory available bytes Storage Usage 2005 Amount of non volatile storage used bytes Storage Capacity 2006 Total amount of non volatile storage ava
79. 16 Send a command and parameters to the sensor Modbus Function Code 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 Register Name Bit Position 0 32 bit Word 1 31 16 1 32 bit Word 0 15 0 32 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 64 bit Data Format Registers Modbus registers are 16 bits wide and are either control registers or output registers Control registers are used to control the sensor states e g start stop or calibrate a sensor Gocator 3100 Series Protocols Modbus TCP Protocol 236 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 a
80. 191 Element Type Description PulseWidth max 64f Maximum pulse width s PassMode 32s Measurement pass condition 0 AND of measurements is true 1 AND of measurements is false 2 Always assert Delay 64f Output delay s or mm depending on delay domain defined below DelayDomain 32s Output delay domain 0 Time s 1 Encoder mm Measurements 32u CSV Selected measurement sources Measurements options 32u CSV List of available measurement sources Analog The Analog element defines settings for Analog output The range of valid measurement values DataScaleMin DataScaleMax is scaled linearly to the specified current range CurrentMin CurrentMax Only one Value or Decision source can be selected at a time Element Type Description Event 32s Triggering event 0 None disabled 1 Measurements 2 Software ScheduleEnabled Bool Enables scheduling CurrentMin 64f Minimum current mA CurrentMin min 64f Minimum value of minimum current mA CurrentMin max 64f Maximum value of minimum current mA CurrentMax 64f Maximum current mA CurrentMax min 64f Minimum value of maximum current mA CurrentMax max 64f Maximum value of maximum current mA CurrentInvalidEnabled Bool Enables special current value for invalid measurement value CurrentInvalid 64f Current value for invalid measurement value mA CurrentInvalid mi
81. 83 Element Type Description SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold SurfacePosition A SurfacePosition element defines settings for a surface position tool and one or more of its measurements Element Type Description Name String Setting for measurement name Source 32s Setting for source Anchor X String CSV The X measurements IDs used for anchoring Anchor X options String CSV The X measurements IDs available for anchoring Anchor Y String CSV The Y measurements IDs used for anchoring Anchor Y options String CSV The Y measurements IDs available for anchoring Anchor Z String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring Feature SurfaceFeature Measurement feature Measurements X PositionMeasurement X measurement Measurements Y PositionMeasurement Y measurement Measurements Z PositionMeasurement Z measurement SurfacePosition Child Elements Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable
82. 95 Time Low 996 Frame Index High 64u Frame counter Each new sample is assigned a frame number 997 Frame Index 998 Frame Index 999 Fame Index Low Stamp Register Map Measurement Registers Measurement results are reported in pairs of values and decisions Measurement values are 32 bits wide and decisions are 8 bits wide Gocator 3100 Series Protocols Modbus TCP Protocol 239 The measurement ID defines the register address of each pair The register address of the first word can be calculated as 1000 3 ID For example a measurement with ID set to 4 can be read from registers 1012 high word and 1013 low word and the decision at 1015 In Surface mode the measurement results are updated after each discrete part has been processed 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 Measurement 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 Measurement Register Map Gocator 3100 Series Protocols EtherNet IP Protocol 240 EtherNe
83. Anchor Z options String CSV The Z measurements IDs available for anchoring NominalBevelAngle 64f Nominal bevel angle mm BevelAngleTolerance 64f Bevel angle tolerance mm NominalOuterRadius 64f Nominal outer radius mm OuterRadiusTolerance 64f Outer radius tolerance mm NominalInnerRadius 64f Nominal inner radius mm InnerRadiusTolerance 64f Inner radius tolerance mm BevelRadiusOffset 64f Bevel radus offset mm PartialDetectionEnabled Boolean Setting to enable disable partial detection 0 Disable SurfaceCsHole Child Elements Gocator 3100 Series Gocator Device Files Job Files 179 Element Type Description 1 Enable RegionEnabled Boolean Setting to enable disable region 0 Disable 1 Enable Region Region3D Measurement region RefRegionsEnabled Boolean Setting to enable disable reference regions 0 Disable 1 Enable RefRegionCount 32s Count of the reference regions which are to be used RefRegions Collection Reference regions Contains 2 SurfaceRegion2D elements AutoTiltEnabled Boolean Setting to enable disable tilt correction 0 Disable 1 Enable TiltXAngle 64f Setting for manual tilt correction angle X TiltYAngle 64f Setting for manual tilt correction angle Y CurveFitEnabled Boolean Setting to enable disable curve fitting 0 Disable 1 Enable CurveOrientation 64f Setting for curve orientation ang
84. Array See Below Command parameters Byte 0 Command See table below for specification of the values Get Set Attribute 3 Value Name Description 0 Stop running Stop the sensor No action if the sensor is already stopped 1 Start Running Start the sensor No action if the sensor is already started 2 Stationary Alignment Start the stationary alignment process Byte 1 of the sensor state assembly will 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 Command Definitions Sensor State Assembly The sensor state assembly object contains the sensor s states such as the current sensor temperature frame count and encoder values Information Value Class 0x4 Instance 0x320 Attribute Number 3 Length 100 bytes Supported Service 0x0E Get Single Attribute Sensor State Assembly Gocator 3100 Series Protocols EtherNet IP Protocol 243 Attributes 1 and 2 are not implemented as they are not required for the static assembly object Attribute Name Type Value Description Access 3 Command Byte Array See below Sensor state information See below for more details Get Attribute 3 Byte Name Type Description 0 Sensor s state Sensor state 0 Ready 1 Running 1 Command in progress Command busy status 0 Not busy 1 Busy performing the l
85. Base X Y and Z tools assumes these tools have been configured as ID 3 ID 4 and ID 5 respectively double StudX Measurement_Value 3 double StudY Measurement_Value 4 double StudZ Measurement_Value 5 Calculate distance between points in 3D space double Distance sqrt HoleX StudX HoleX StudX HoleY StudY HoleY StudY HoleZ StudZ HoleZ StudZ Min and Max Decision Limits Note that measurement values are in the unit of thousands of a millimeter in the script In this example the distance is considered good if it s between 17 9 mm and 18 1 mm double MinDecisionLimit 17 900 double MaxDecisionLimit 18 100 if Distance gt MinDecisionLimit amp amp Distance lt MaxDecisionLimit Output_Set Distance 1 else Output_Set Distance 0 Gocator 3100 Series Gocator Web Interface Output 143 Output The following sections describe the Output page Output Page Overview Output configuration tasks are performed using the Output page Gocator sensors can transmit 3D point cloud data and measurement results to various external devices using several output interface options Up to two outputs can have scheduling enabled with ASCII as the Serial output protocol When Selcom is the current Serial output protocol only one other output can have scheduling enabled Category Description 1 Ethernet Used to select the data so
86. Counter 64u Frame counter 42 Buffer Counter 8u Number of buffered messages currently in the queue 43 Buffer Overflow Buffer Overflow Indicator 0 No overflow 1 Overflow 44 79 Reserved Reserved bytes 80 83 Measurement 0 32s Measurement value in um 0x80000000 if invalid 84 Decision 0 8u Measurement decision A bit mask where Bit 0 1 Pass 0 Fail Bits 1 7 0 Measurement value OK 1 Invalid value 2 Invalid anchor 375 378 Measurement 59 32s Measurement value in um 0x80000000 if invalid 379 Decision 59 8u Measurement decision A bit mask where Bit 0 1 Pass 0 Fail Bits 1 7 0 Measurement value OK 1 Invalid value 2 Invalid anchor Sample State Information Measurement results are reported in pairs of values and decisions Measurement values are 32 bits wide and decisions are 8 bits wide The measurement ID defines the byte position of each pair within the state information The position of the first word can be calculated as 80 5 ID For example a measurement with ID set to 4 can be read from byte 100 high word to 103 low word and the decision at 104 Gocator 3100 Series Protocols EtherNet IP Protocol 245 In Surface mode the measurement results are updated after each discrete part has been processed If buffering is enabled in the Ethernet Output panel reading the Extended Sample State Assembly Objec
87. Enable RefRegionCount 32s Count of the reference regions that are to be used RefRegions Collection Reference regions Contains 2 SurfaceRegion2D elements AutoTiltEnabled Boolean Setting to enable disable tilt correction 0 Disable 1 Enable TiltXAngle 64f Setting for manual tilt correction angle X TiltYAngle 64f Setting for manual tilt correction angle Y Measurements BaseX StudMeasurement BaseX measurement Measurements BaseY StudMeasurement BaseY measurement Measurements BaseZ StudMeasurement BaseZ measurement SurfaceStud Child Elements Gocator 3100 Series Gocator Device Files Job Files 185 Element Type Description Measurements TipX StudMeasurement TipX measurement Measurements TipY StudMeasurement TipY measurement Measurements TipZ StudMeasurement TipZ measurement Measurements Radius StudMeasurement Radius measurement Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold Decisio
88. File 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 GoSystem_StartAlignment When alignment is performed with alignment reference set to fixed flash memory is written immediately after alignment GoSensor_ SetAlignmentReference is used to configure alignment reference GoSensor_SetAddress Configures a sensor s network address settings GoSensor_ChangePassword Changes the password associated with the specified user account Gocator SDK Write Operation Functions 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 264 Tools and Native Drivers The following sections describe the tools and native drivers you can use w
89. 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 Formats Examples Standard data string for measurements ID 0 and 1 Decision 0 1 OK M00 00 D0 M01 01 D0 Standard formatted measurement data with a non existent measurement of ID 2 Decision 2 ERROR Specified measurement ID not found Please verify your input Custom formatted data string time decision 0 Decision OK 1420266101 0 Gocator 3100 Series Protocols ASCII Protocol 254 Health Commands Optional parameters are shown in italic The placeholder for data is surrounded by brackets lt gt In the examples the delimiter is set to Get Health The Get Health command retrieves health indicators See Health Results page 230 for details on health indicators Message Format Command Health health indicator ID health indicator instance More than one health indicator can be specified Note that the health indicator instance is optionally attached to the indicator ID with a If the health indicator instance field is used the delimiter cannot be set to Reply OK lt health indicator of first ID gt lt health indicator of second ID
90. Job Name Current Job Name Name of currently loaded job file Does not include the extension Each 16 bit register contains a single character State Register Map Stamp Stamps contain trigger timing information used for synchronizing a PLC s actions A PLC can also use this information to match up data from multiple Gocator sensors In Surface mode the stamps are updated after each surface has been processed Gocator 3100 Series Protocols Modbus TCP Protocol 238 Register Address Name Type Description 976 Buffer Advance If buffering is enabled this address must be read by the PLC Modbus client first to advance the buffer After the buffer advance read operation the Modbus client can read the updated Measurements amp Decisions in addresses 1000 1060 977 Buffer Counter Number of buffered messages currently in the queue 978 Buffer Overflow Buffer Overflow Indicator 0 No overflow 1 Overflow 979 Inputs Digital input state 980 zPosition High 64s Encoder value when the index is last triggered 981 zPosition 982 zPosition 983 zPosition Low 984 Exposure High 32u Laser exposure us 985 Exposure Low 986 Temperature High 32u Sensor temperature degress celcius 1000 987 Temperature Low 988 Position High 64s Encoder position 989 Position 990 Position 991 Position Low 992 Time Low 64u Timestamp us 993 Time 994 Time 9
91. Offset Description length 32u 0 Reply size including this field in bytes Reply Gocator 3100 Series Protocols Gocator Protocol 222 Field Type Offset Description id 16u 4 Reply identifier 0x4508 status 32s 6 Reply status progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress The reply may be followed by a series of continue replies See the section on progressive reply Upgrade Commands A client can send commands and receive responses over the Control and Upgrade TCP channels Channel Port Description Control 3190 Sensor accepts commands for most operations Upgrade 3192 Sensor accepts commands for firmware upgrades Command Channels The Control and Upgrade channels can be connected simultaneously but the sensor will accept only a single connection on each port If an additional connection is attempted on a port that is already connected the previous connection will be closed and the new connection will be accepted After connecting to a Gocator device you can use the Get Protocol Version command to retrieve the protocol version Protocol version refers to the version of the Gocator Protocol supported by the connected sensor the sensor to which a command connection is established and consists of major and minor parts The minor part is updated when backward compatible additions are made to the Gocator Protocol The major part will be
92. T ABILITY FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM DAMAGES OR OTHER LIABILITY WHETHER IN AN ACTION OF CONTRACT TORT OR OTHERWISE ARISING FROM OUT OF OR IN 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 FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM DAMAGES OR OTHER LIABILITY WHETHER IN AN ACTION OF CONTRACT TORT OR OTHERWISE ARISING FROM OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE Closure Library We
93. TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE Gocator 3100 Series 296 Gocator 3100 Series Software Licenses 297 BlowFish Website http www chiark greenend org uk sgtatham putty licence html License PuTTY is copyright 1997 2011 Simon Tatham Portions copyright Robert de Bath Joris van Rantwijk Delian Delchev Andreas Schultz Jeroen Massar Wez Furlong Nicolas Barry Justin Bradford Ben Harris Malcolm Smith Ahmad Khalifa Markus Kuhn Colin Watson and CORE SDI S A Permission is hereby granted free of charge to any person obtaining a copy of this software and associated documentation files the Software to deal in the Software without restriction including without limitation the rights to use copy modify merge publish distribute sublicense and or sell copies of the Software and to permit persons to whom the Software is furnished to do so subject to t
94. ToolOptions Child Elements Element Type Description displayName String Display name of the tool isCustom Bool Reserved for future use MeasurementOptions Collection See MeasurementOptions below ToolOption Child Elements ToolOption elements are named by tool type MeasurementOptions The MeasurementOptions element contains a list of available measurement types Element Type Description lt MeasurementOption gt Collection A collection of MeasurementOption elements An element for each measurement is present MeasurementOptions 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 MeasurementOption Child Elements MeasurementOption elements are named by measurement type Gocator 3100 Series Gocator Device Files Job Files 173 Tools The Tools element contains measurement tools The following sections describe each tool and its available measurements 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 Tools Child Elements Surface Types The following types are used by the various measurement tools Region3D A Region3D element defines a rectangular area of interest in 3D Element Type Description
95. USER MANUAL Gocator 3100 Series Document revision B 2 Copyright Copyright 2015 by LMI Technologies Inc All rights reserved Proprietary This document submitted in confidence contains proprietary information which shall not be reproduced or transferred to other documents or disclosed to others or used for manufacturing or any other purpose without prior written permission of LMI Technologies Inc No part of this publication may be copied photocopied reproduced transmitted transcribed or reduced to any electronic medium or machine readable form without prior written consent of LMI Technologies Inc Trademarks and Restrictions Gocator is a registered trademark of LMI Technologies Inc Any other company or product names mentioned herein may be trademarks of their respective owners Information contained within this manual is subject to change This product is designated for use solely as 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 lmi3D com Gocator 3100 Series 3 Table of Contents Copyright 2 Table of Contents 3 Introduction 8 Safety and Maintenance 9 Electrical Safety 9 Environment and Lighting
96. X 64f Setting for volume x position mm Y 64f Setting for volume y position mm Z 64f Setting for volume z position mm Width 64f Setting for volume width mm Length 64f Setting for volume length mm Height 64f Setting for volume height mm Region3D Child Elements SurfaceRegion2D A SurfaceRegion2D element defines a rectangular area of interest on the X Y plane Element Type Description X 64f Setting for area x position mm Y 64f Setting for area y position mm Width 64f Setting for region width mm Height 64f Setting for region height mm SurfaceRegion2D Child Elements SurfaceFeature A SurfaceFeature element defines the settings for detecting a feature within an area of interest Element Type Description Type 32s Setting to determine how the feature is detected within the area 0 Average formerly Centroid 2d 1 Centroid formerly Centroid 3d SurfaceFeature Child Elements Gocator 3100 Series Gocator Device Files Job Files 174 Element Type Description 2 X Min 3 X Max 4 Y Min 5 Y Max 6 Z Min 7 Z Max 8 Median RegionEnabled 32s Setting to enable disable region 0 Disable 1 Enable Region Region3D Element for feature detection volume Script A Script element defines settings for a script measurement Element Type Description Name String Setting for measurement name
97. X Y and Z directions Gocator 3100 Series Specifications Gocator 3100 Series 276 Differential Encoder requires the use of Master 400 800 1200 2400 The following diagram indicates the names corresponding to various measurements in the subsequent sections Mechanical dimensions for each sensor model are illustrated on the following pages Gocator 3100 Series Specifications Gocator 3100 Series 277 Gocator 3110 Field of View Measurement Range Gocator 3100 Series Specifications Gocator 3100 Series 278 Dimensions Envelope Gocator 3100 Series Specifications Gocator Power LAN Connector 279 Gocator Power LAN Connector The Gocator Power LAN connector is a 14 pin M16 style connector that provides power input safety input and Ethernet 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 Function Pin Lead Color on Cordset GND_24 48V 1 White Orange amp Black View Looking into the connector on the sensor GND_24 48V 1 Orange Black DC_24 48V 2 White Green amp Black DC_24 48V 2 Green Black Safety 3 White Blue amp Black Safety 4 Blue Black Sync 5 White Brown amp Black Sync 6 Brown Black Ethernet MX1 7 White Orange Ethernet MX1 8 Orange Ethernet MX2 9 W
98. ace Output 146 To receive commands and send results using EtherNet IP messages 1 Go to the Output page 2 Click on Ethernet in the Output panel 3 Select EtherNet IP in the Protocol option Unlike using the Gocator Protocol you don t select which measurement items to output The Ethernet panel will list the register addresses that are used for EtherNet IP messages communication The EtherNet IP protocol can be used to operate a sensor EtherNet IP only supports a subset of the tasks that can be accomplished in the web interface A sensor can only process EtherNet IP commands when the EtherNet IP is selected in the Protocol option 4 Check the Explicit Message Buffering checkbox if needed Buffering is needed for example in Surface mode if multiple objects are detected within a time frame shorter than the polling rate of the PLC If buffering is enabled with the EtherNet IP protocol the buffer is automatically advanced when the Sample State Assembly Object see page 243 is read 5 Choose the byte order in the Byte Order dropdown Gocator 3100 Series Gocator Web Interface Output 147 To receive commands and send results using ASCII messages 1 Go to the Output page 2 Click on Ethernet in the Output panel 3 Select ASCII as the protocol in the Protocol drop down 4 Set the operation mode in the Operation drop down In asynchronous mode the data results are transmitted when they are
99. alignment plate using the Z Offset parameter Plate single reference hole X offset Y offset Z offset Angle X Angle Y The center of the hole defines the location of the X Y and Z origins The orientation of the surface determines Angle X and Y Plate with two reference holes X offset Y offset Z offset Angle X Angle Y Angle Z The sizes of the primary and the secondary holes must be different The center of the primary hole defines the location of the X Y and Z origins The orientation of the surface determines Angle X and Y The direction of the primary and secondary holes determines Angle Z Gocator 3100 Series Theory of Operation Acquisition Speed 32 Resampling The internal acquisition engine in the Gocator produces a random 3D point cloud where each individual point is an X Y Z coordinate triplet In Surface mode the random 3D point cloud is resampled to an even grid in the X Y plane The resampling divides the X Y plane into fixed size square bins 3D points are projected along the Z axis perpendicular to the X Y plane and points that fall into the same bin will be combined into a single Z value The size of the resampling bins can be set with the X Spacing Interval setting for details see page 64 The X Y resampling plane is established through the Gocator s built in alignment routine That is the resampling plane is set to match the plane described by the calibratio
100. aling of the height map can be adjusted To change the scaling of the height map 1 Select Heightmap from the drop down in the data viewer 2 Click the Scaling button l To automatically set the scale choose Auto in the Range drop down l To automatically set the scale based on a user selected sub region of the heightmap choose Auto Region in the Range drop down and adjust the yellow region box in the data viewer to the desired location and size l To manually set the scale choose the Manual in the Range drop down and enter the minimum and maximum height to which the colors will be mapped Region Definition Regions such as an active area or a measurement region can be graphically set up using the data viewer in the 2D or in the 3D view When the Scan page is active the data viewer can be used to graphically configure the active area The Active Area setting can also be configured manually by entering values into its fields and is found in the Sensor panel see page 58 Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 81 To set up a region of interest 1 Move the mouse cursor to the rectangle In the 3D viewer you must first select which side of the 3D rectangle to adjust by clicking on it The rectangle is automatically displayed when a setup or measurement requires an area to be specified 2 Drag the rectangle to move it and use the handles on the rectangle s border to resize it
101. and 64 bit Windows operating systems Projects and makefiles are included to support other editions of Windows and Linux For Windows users code examples explaining how to wrap the calls in C and VB NET are provided in the tools package which can be downloaded at http lmi3d 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_SDK GO_ SDK doc GoSdk Gocator_3x00 GoSdk html Examples Examples showing how to perform various operations are provided each one targeting a specific area All of the examples can be found in GoSdkSamples sln To run the SDK samples make sure GoSdk dll and kApi dll 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 lmi3d com support downloads Gocator 3100 Series 255 Gocator 3100 Series Software Development Kit 256 Sample Project Environment Variable All sample projects use the environment variable GO_SDK_4 The environment variable should point to the GO_SDK directory for example C 14400 4 0 9 156_SOFTWARE_GO_SDK GO_SDK Header Files Header files are referenced with GoSdk as the source directory for example
102. and a Replay Mode Enabled message will be displayed 2 Click the Download button To upload recorded data 1 Toggle Replay mode on by setting the slider to the left in the Toolbar The slider s background will turn blue and a Replay Mode Enabled message will be displayed 2 Click the Upload button 3 Select the directory and the file name to upload from the client computer and click on OK Recorded data can be exported using the CSV format To export recorded data to CSV 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background will turn blue and a Replay Mode Enabled message will be displayed 2 Click the Export button and select Export Range Data as CSV Only data at the current replay location is exported Use the playback control buttons to move to a different replay location see To replay recorded data in Recording Playback and Measurement Simulation page 37 for more information on playback 3 Optionally convert exported data to another format using the CSV Converter Tool See CSV Converter Tool page 271 for more information on this tool Gocator 3100 Series Gocator Web Interface User Interface Overview 40 Recorded intensity data can be exported to a bitmap BMP format Acquire Intensity must be checked in the Scan Mode panel while data was being recorded in order to export intensity data To export recorded intensity data to BMP 1
103. ant byte Stamp Index Column Position Details 0 0 3 Version 1 4 7 Frame Count 2 8 11 Timestamp us 3 12 15 Encoder value ticks 4 16 19 Encoder index ticks This is the encoder value when the last index is triggered 5 20 23 Digital input states 6 24 27 X offset nm 7 28 31 X resolution nm 8 32 35 Y offset nm 9 36 39 Y resolution nm 10 40 43 Z offset nm 11 44 47 Z resolution nm 12 48 51 Height map Width in pixels 13 52 55 Height map length in pixels 14 56 59 Specify if intensity is enabled or not Stamp Information from GenTL driver Registers GenTL registers are multiple of 32 bits The registers are used to control the operation of the GenTL driver send commands to the sensors or to report the current sensor information Gocator 3100 Series Tools and Native Drivers GenTL Driver 270 Register Address Name Read Write Length bytes Description 260 WidthReg RO 4 Specify the width of the returned images The part height map is truncated if it is wider than the specified width 264 HeightReg RO 4 Specify the height of the returned images i e length of the part The part height map is truncated if it is longer than the specified length 292 ResampleMode RO 4 Enable the resampling logic in the GenTL driver 0 Disable resampling 1 Enable resampling When resampling is enabled the GenTL d
104. as shown below Function Pins Serial_out 13 14 Gocator 3100 Series Specifications Gocator 3100 I O Connector 284 Analog Output The Sensor I O Connector defines one analog output interface Analog_out Function Pins Current Range Analog_out 17 18 4 20 mA Current Mode Voltage Mode To configure for voltage output connect a 500 Ohm Watt resistor between Analog_out and Analog_ out and measure the voltage across the resistor To reduce the noise in the output we recommend using an RC filter as shown below Gocator 3100 Series Specifications Master 100 285 Master 100 The Master 100 accepts connections for power safety and encoder and provides digital output Contact LMI for information regarding this type of power supply Connect the Master Power port to the Gocator s Power LAN connector using the Gocator Power LAN to Master cordset Connect power RJ45 end of the cordset to the Master Power port The Ethernet RJ45 end of the cordset can be connected directly to the Ethernet switch or connect to the Master Ethernet port If the Master Ethernet port is used connect the Master Host port to the Ethernet switch with a CAT5e Ethernet cable To use encoder and digital output wire the Master s Gocator Sensor I O port to the Gocator IO connector using the Gocator I O cordset Gocator I O Pin Master Pin Conductor Color Encoder_A 1 White Brown amp Black Encoder_A 2 Brown Black Enco
105. ast command 2 Alignment state Alignment status 0 Not aligned 1 Aligned The value is only valid when byte1 is set to 0 3 10 Encoder 64s Current encodesr position 11 18 Time 64s Current timestamp 19 Current Job Filename Length 16u Number of characters in the current job filename e g 9 for myjob job The length includes the job extension Valid when byte 1 0 20 43 Current Job Filename Name of currently loaded job file Includes the job extension Each byte contains a single character Valid when byte 1 0 44 99 Reserved Reserved bytes Sensor State Information Sample State Assembly The sample state object contains measurements and their associated stamp information Information Value Class 0x04 Instance 0x321 Attribute Number 3 Length 380 bytes Supported Service 0x0E Get Single Attribute Sample State Assembly Attribute Name Type Value Description Access 3 Command Byte Array Sample state information See below for more details Get Attribute 3 Gocator 3100 Series Protocols EtherNet IP Protocol 244 Byte Name Type Description 0 1 Inputs Digital input state 2 9 Z Index Position 64s Encoder position at time of last index pulse 14 17 Temperature 32u Sensor temperature in degrees Celsius 1000 centidegrees 18 25 Position 64s Encoder position 26 33 Time 64u Time 34 41 Frame
106. at is exported from a physical Gocator and then added to the emulator to create scenarios Support files can contain jobs letting you configure systems and add measurements They can also contain replay data letting you test measurements on real data Gocator 3100 Series Gocator Emulator Running the Emulator 158 To download a support file 1 Click on the Help icon in the upper right corner of the Web interface 2 Click on Download Support File in the dialog that opens 3 If you want change the name from the default support gs The name of the gs file is used in the Available Scenarios list in the emulator launch screen See Downloading a Support File previous page for more information 4 Save the file 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 lmi3d com support downloads selecting a product type and clicking on the Product User Area link To run the emulator double click on Emulator bin win32 GoEmulator exe Gocator 3100 Series Gocator Emulator Running the Emulator 159 Emulator launch screen Virtual sensors are called scenarios in the emulator which are created by importing a previously created support file See Running the Emulator previous page for information on downloading support files You can change the language of the emulator s interface from the launc
107. at the client computer s network settings are properly configured l Ensure that the latest version of Flash is loaded on the client computer l Use the LMI Discovery tool to verify that the sensor has the correct network settings See Sensor Recovery Tool page 264 for more information When attempting to log in the password is not accepted l See Sensor Recovery Tool page 264 for steps to reset the password 3D Data Acquisition When the Start button or the Snapshot button is pressed the sensor does not emit light l The safety input signal may not be correctly applied See Specifications page 275 for more information l The exposure setting may be too low See Exposure page 61 for more information on configuring exposure time l Use the Snapshot button instead of the Start button to capture 3D point cloud data If the LED light flashes when you use the Snapshot button but not when you use the Start button then the problem could be related to triggering See Triggers page 53 for information on configuring the trigger source Performance The sensor CPU level is near 100 l Consider reducing the speed If you are using a time trigger source see Triggers page 53 for information on reducing the speed If you are using an external input or software trigger consider reducing the rate at which you apply triggers Gocator 3100 Series 273 Gocator 3100 Series Troubleshooting 274 l Consider reducing the r
108. ate datasets and press Enter Windows will open Windows Explorer showing the folder containing the scenarios You must select Show hidden files folders and drives in the Windows Explorer Folder Options dialog View tab to see this folder 3 Delete the folder of the scenario you want to remove Using Replay Protection Because making changes to certain sensor settings on the Scan page causes replay data to be flushed you can use the Replay Protection option in the Emulation On message to protect replay data The Emulation On message is displayed whenever the emulator is running a virtual sensor When Replay Protection is on you cannot switch from Replay mode Settings that do not affect replay data can be changed Gocator 3100 Series Gocator Emulator Stopping and Restarting the Emulator 161 Replay Protection is on by default Stopping and Restarting the Emulator To stop the emulator click on the Stop Emulator button in the Emulation On message Stopping the emulator returns you to the launch screen To close the application click on the Close button in the upper right corner of the application To restart the emulator click the Restart Emulator button Restarting the emulator restarts the currently running simulation Stop and Restart buttons Calculating Potential Maximum Frame Rate You can use the emulator to calculate the potential maximum frame rate you can achieve with different settings For exam
109. available In polling mode users send commands on the data channel to request the latest result See Asynchronous and Polling Operation page 246 for an explanation of the operation modes 5 Select the data format from the Data Format drop down Select Standard to use the default result format of the ASCII protocol Select the measurement to send by placing a check in the corresponding checkbox See Standard Result Format page 247 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 Set the special characters in the Special Characters tab Set the command delimiter delimiter termination and invalid value characters Special characters are used in commands and standard format data results 7 Set the TCP ports in the Ports tab Select the TCP ports for the control data and health channels If the port numbers of two channels are the same the messages for both channels are transmitted on the same port 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 3100 Series Gocator Web Interface Output 148 ejectors A digital output can act as a measurement valid signal to allow external devices
110. ayed in the Data Viewer see Troubleshooting page 273 10 Press the Stop button The LED light projection should turn off Running a Multi Sensor System All sensors are shipped with a default IP address of 192 168 1 10 Ethernet networks require a unique IP address for each device so you must set up a unique address for each sensor For each additional sensor follow the steps below Gocator 3100 Series Getting Started Network Setup 24 To configure a multi sensor system 1 Turn off the sensor and unplug the Ethernet network connection of any configured sensors 2 Power up the new sensor The power LED blue of the new sensor should turn on immediately 3 Enter the new sensor s default IP address 192 168 1 10 in a web browser 4 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 5 Go to the Manage page Gocator 3100 Series Getting Started Next Steps 25 6 Modify the IP address in the Networking category and click the Save button You should increment the last octet of the IP address for each additional sensor you need to use For example if the IP address of the first sensor you configured is 192 168 1 10 use 192 168 1 11 for the second sensor use 192 168 1 12 for the third etc When you click t
111. bsite http code google com closure library index html License Gocator 3100 Series Software Licenses 299 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 3100 Series Software Licenses 300 Licensed under the MIT License http www op
112. cceptable values of the selected dimension Width and Length for bounding box Major and Minor for ellipse in Match Result Configuring a Bounding Box or an Ellipse To use a bounding box or an ellipse to match a part you must set its dimensions taking into account expected acceptable variations when compared to a reference or golden part To configure a bounding box or ellipse for part matching 1 Go to the Scan page a In the Scan Mode panel choose Surface You must choose Surface in order to scan a part Furthermore the Model page is only displayed in Surface mode Intensity data is not used when part matching using a bounding box or an ellipse but you can enable the Acquire Intensity option if you need intensity data for other reasons b In the Part Detection panel choose Part for the Frame of Reference Part matching is only available when Part has been selected 2 Do one of the following l Scan a reference part See Scan Setup and Alignment page 52 for more information on setting up and aligning Gocator See Running a Standalone Sensor System page 22 for more information on running a Gocator 3100 Series Gocator Web Interface Models and Part Matching 96 system to scan a part l Locate some previously recorded replay data and load it See Recording Playback and Measurement Sim ulation page 37 and Downloading Exporting and Uploading Recorded Data page 38 for more inform ation o
113. ce and provides measurements to evaluate characteristics of countersunk holes including the position X Y and Z of the center of the hole outside radius of the hole hole bevel angle and the depth of the hole The countersunk hole can be on a surface at an angle to the sensor See Adding and Removing Tools page 98 for instructions on how to add measurement tools 2D View 3D View Gocator 3100 Series Gocator Web Interface Measurement 111 Gocator 3100 Series Gocator Web Interface Measurement 112 Measurement Illustration X Determines the X position of the center of the countersunk hole Y Determines the Y position of the center of the countersunk hole Z Determines the Z position of the center of the countersunk hole Measurements Gocator 3100 Series Gocator Web Interface Measurement 113 Measurement Illustration Outer Radius Determines the outer radius of the countersunk hole To convert the radius to a diameter set the Scale setting in the Output panel displayed after expanding the Filters section to 2 Depth Determines the depth of the countersunk hole relative to the surface that the countersunk hole is on Bevel Radius Determines the radius at a user defined offset Offset setting relative to the surface that the countersunk hole is on To convert the radius to a diameter set the Scale setting in the Output panel displayed after expanding the Filters section to
114. computer s Ethernet port for setup and can also be connected to devices such as encoders photocells or PLCs Gocator 3100 Series Getting Started System Overview 12 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 Gocator 3100 Series Getting Started Hardware Overview 13 Hardware Overview The following sections describe Gocator and its associated hardware Gocator 3110 Sensor Item Description Camera Observes light reflected from target surfaces Light Emitter Emits structured light for 3D data acquisition I O Connector Accepts input output signals Power LAN Connector Connects to 1000 Mbit s Ethernet network Power Indicator Illuminates when power is applied blue Safety Indicator Illuminates when laser safety input is active amber Serial Number Unique sensor serial number Gocator 3100 Cordsets Gocator 3100 sensors use two types of cordsets The Power amp Ethernet cordset provides power and safety interlock to the sensor It is also u
115. cription Name String Setting for measurement name Source 32s Setting for source Anchor X String CSV The X measurements IDs used for anchoring Anchor X options String CSV The X measurements IDs available for anchoring Anchor Y String CSV The Y measurements IDs used for anchoring Anchor Y options String CSV The Y measurements IDs available for anchoring Anchor Z String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring NominalRadius 64f Nominal radius mm RadiusTolerance 64f Radius tolerance mm PartialDetectionEnabled Boolean Setting to enable disable partial detection 0 Disable 1 Enable RegionEnabled Boolean Setting to enable disable region 0 Disable 1 Enable Region Region3D Measurement region RefRegionsEnabled Boolean Setting to enable disable reference regions 0 Disable 1 Enable RefRegionCount 32s Count of the reference regions that are to be used RefRegions Collection Reference regions Contains 2 SurfaceRegion2D elements AutoTiltEnabled Boolean Setting to enable disable tilt correction 0 Disable 1 Enable TiltXAngle 64f Setting for manual tilt correction angle X TiltYAngle 64f Setting for manual tilt correction angle Y Measurements X HoleMeasurement X measurement Measurements Y HoleMeasurement Y measurement
116. d This section defines the electrical specifications for Gocator 3100 I O Connector pins organized by function Function Pin Lead Color on Cordset Trigger_in 1 Grey View Looking into the connector on the sensor Trigger_in 2 Pink Out_1 Digital Output 0 3 Red Out_1 Digital Output 0 4 Blue Out_2 Digital Output 1 5 Tan Out_2 Digital Output 1 6 Orange Encoder_A 7 White Brown amp Black Encoder_A 8 Brown Black Encoder_B 9 Black Encoder_B 10 Violet Encoder_Z 11 White Green amp Black Encoder_Z 12 Green Black Serial_out 13 White Serial_out 14 Brown Reserved 15 Blue Black Reserved 16 White Blue amp Black Analog_out 17 Green Analog_out 18 Yellow amp Maroon White Reserved 19 Maroon Gocator I O Connector Pins Grounding Shield The grounding shield should be mounted to the earth ground Gocator 3100 Series Specifications Gocator 3100 I O Connector 282 Digital Outputs Each Gocator sensor has two optically isolated outputs Both outputs are open collector and open emitter this allows a variety of power sources to be connected and a variety of signal configurations Out_1 Collector Pin 3 and Emitter Pin 4 and Out_2 Collector Pin 5 and Emitter Pin 6 are independent and therefore V and GND are not required to be the same Function Pins Max Collector Current Ma
117. d in bytes id 16u 4 Reply identifier 0x101A status 32s 6 Reply status count 32u 10 Number of file names fileNames count 64 char 14 File names Reply Copy File The Copy File command copies a file from a source to a destination within the connected sensor Copy a saved configuration to _live job to make the configuration live Gocator 3100 Series Protocols Gocator Protocol 205 Field Type Offset Description length 64s 0 Command size in bytes id 64s 4 Command identifier 0x101B source 64 char 6 Source file name destination 64 char 70 Destination file name Command 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 Reply Read File Downloads a file from the connected sensor Read the file _live job and _live prof to download the live configuration and template Field Type Offset Description length 32u 0 Command size in bytes id 16u 4 Command identifier 0x1007 name 64 char 6 Source file name Command Field Type Offset Description length 32u 0 Reply size in bytes id 16u 4 Reply identifier 0x1007 status 32s 6 Reply status length 32u 10 File length data length byte 14 File contents Reply Write File The Write File command uploads a file to the connected sensor Write
118. d and transferred to the client computer by using another computer to download the firmware from LMI s website http www lmi3D com support downloads To upgrade the firmware 1 Go to the Manage page and click on the Maintenance category 2 Click the Upgrade button in the Firmware section 3 Provide the location of the firmware file in the File dialog 4 Wait for the upgrade to complete After the firmware upgrade is complete the sensor will self reset If a buddy has been assigned it will be upgraded and reset automatically Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 52 Scan Setup and Alignment The following sections describe the steps to configure Gocator sensors for 3D data acquisition using the Scan page Setup and alignment should be performed before adding and configuring measurements or outputs Scan Page Overview The Scan page lets you configure sensors and perform alignment Element Description 1 Scan Mode panel Contains settings for the current scan mode Video or Surface and other options See Scan Modes next page 2 Trigger panel Contains trigger source and trigger related settings See Triggers next page 3 Sensor panel Contains settings for an individual sensor such as active area or exposure See Sensor page 58 4 Alignment panel Used to perform alignment See Alignment page 64 5 Part Detection panel Used to set the part detection
119. d min 64f Minimum height threshold mm Threshold max 64f Maximum height threshold mm ThresholdDirection 64f Threshold direction 0 Above 1 Below PartDetection Child Elements Gocator 3100 Series Gocator Device Files Job Files 169 Element Type Description 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 64f Maximum gap length mm GapLength used Bool Whether or not this field is used PaddingWidth 64f Padding width mm PaddingWidth min 64f Minimum padding width mm PaddingWidth max 64f Maximum padding width mm PaddingWidth used Bool Whether or not this field is used PaddingLength 64f Padding length mm PaddingLength min 64f 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
120. der_Z 3 White Green amp Black Encoder_Z 4 Green Black Trigger_in 5 Grey Trigger_in 6 Pink Out_1 7 Blue Out_1 8 Red Encoder_B 11 Black Encoder_B 12 Violet Sensor I O Port Pins The rest of the wires in the Gocator I O cordset are not used Gocator 3100 Series Specifications Master 100 286 Function Pin Output_1 Digital Output 0 1 Output_1 Digital Output 0 2 Encoder_Z 3 Encoder_Z 4 Encoder_A 5 Encoder_A 6 Encoder_B 7 Encoder_B 8 Encoder_GND 9 Encoder_5V 10 Encoder Output Port Pins Master 100 Dimensions Gocator 3100 Series Specifications Master 400 800 287 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 I O states to all devices on a sensor network Function Pin 48VDC 1 48VDC 2 GND 48VDC 3 GND 48VDC 4 Safety Control 5 Safety Control 6 Power and Safety 6 pin connector The 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected The Safety Control requires a voltage differential 12VDC to 48VDC across the pin to enable the laser Function Pin Input 1 1 Input 1 GND 2 Reserved 3 Reserved 4 Reserved 5 Digital Input 16 pin connector Gocator 3100 Series Specifications
121. dex ticks This is the encoder value when the last index is triggered 5 20 23 Digital input states 6 24 27 X offset nm 7 28 31 X resolution nm 8 32 35 Y offset nm 9 36 39 Y resolution nm 10 40 43 Z offset nm 11 44 47 Z resolution nm 12 48 51 Height map Width in pixels 13 52 55 Height map length in pixels 14 56 59 Specify if the intensity is enabled Stamp Information from GenTL driver 16 bit Grey Scale Image When the 16 bit grey scale format is used the height map intensity and stamps are stored sequentially in the grey scale image The last row of the image contains the stamp information Rows Details 0 max part height 1 Height map information The width and height of the image represent the dimensions in the X and Y axis Together with the pixel value each pixel presents a 3D point in the real world coordinates The following formula can be used to calculate the real world coordinates X Y Z from pixel coordinates Px Py Pz X X offset Px X resolution Y Y offset Py Y resolution Z Z offset Pz Z resolution Refer to the blue channel on how to retrieve the offset and resolution values If Pz is 0 if the data is invalid The Z offset is fixed to 32768 Z Resolution Z is zero if Pz is 32768 max part height 2 max part height If intensity is enabled Intensity information The width and height of the
122. ding this field in bytes id 16u 4 Reply identifier 0x100E status 32s 6 Reply status Reply 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 Gocator 3100 Series Protocols Gocator Protocol 214 Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4300 Command 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 Reply Backup The Backup command creates a backup of all files stored on the connected sensor and downloads the backup to the client Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x1013 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1013 status 32s 6 Reply status length 32u 10 Data length data length byte 14 Data content Reply Restore The Restore command uploads a backup
123. e and click on the Security category 2 In the Technician section enter the Technician account password and password confirmation 3 Click Change Password The new password will be required the next time that a technician logs in to the sensor If the administrator or technician password is misplaced the sensor can be recovered using a special software tool See Sensor Recovery Tool page 264 for more information Maintenance The Maintenance category in the Manage page is used to do the following l upgrade the firmware and check for firmware updates l back up and restore all saved jobs and recorded data l restore the sensor to factory defaults l reset the sensor Gocator 3100 Series Gocator Web Interface System Management and Maintenance 49 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 replacement sensor is needed If this happens the new sensor can be restored with the backup file To create a backup 1 Go to the Manage page and click on the Maintenance category 2 Click the Backup button under Backup and Restore 3 When you are prompted save the backup Backups are saved as a single archive that c
124. e mode and output format by changing the setting in this file Element Type Description ResampleMode 32u Settings to disable or enable resampling mode 0 Disable 1 Enable When resampling mode is enabled the GenTL driver will resample the height map so that the pixel spacing is the same in the X and Y axis The default value is 1 DataFormat 32u Settings to choose 16 bit RGB or 16 bit grey scale image output 0 16 bit RGB Image 1 16 bit grey scale Image The default value is 0 CSV Converter Tool After you have exported recorded data to CSV you can use the Gocator CSV Converter Tool to convert the exported part data into different formats including ASCII XYZI 16 bit BMP 16 bit PNG and GenTL formats You can get the tool package 14405 x x x x_SOFTWARE_GO_Tools zip from the download area on LMI s website at http lmi3d com support downloads See see Downloading Exporting and Uploading Recorded Data page 38 for more information on exporting recorded data After downloading the tool package unzip the file and run the Gocator CSV Converter tool bin gt win32 gt kCsvConverter exe The software tool supports data exported from Surface mode The GenTL format is a 48 bit RGB or grey scale PNG Height map intensity and stamp information are stored as defined in the GenTL Driver section see page 266 You can load the exported data into image processing software to provide simulation data for d
125. e rate for time trigger Hz FrameRate min 64f Minimum frame rate Hz FrameRate max 64f Maximum frame rate Hz FrameRate maxSource 32s Source of maximum frame rate limit 0 Imager 1 Surface generation MaxFrameRateEnabled Bool Enables maximum frame rate ignores FrameRate EncoderSpacing 64f Encoder spacing for encoder trigger mm EncoderSpacing min 64f Minimum encoder spacing mm EncoderSpacing max 64f Maximum encoder spacing mm EncoderSpacing minSource 32s Source of minimum encoder spacing 0 Resolution 1 Surface generation Triggers Child Elements Gocator 3100 Series Gocator Device Files Job Files 172 Element Type Description EncoderTriggerMode 32s Encoder triggering mode 0 Tracking backward 1 Bidirectional 2 Ignore backward Delay 64f Trigger delay s or mm Delay min 64f Minimum trigger delay s or mm Delay max 64f Maximum trigger delay s 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 ToolOptions The ToolOptions element contains a list of available tool types their measurements and settings for related information Element Type Description lt ToolOption gt Section A collection of ToolOption elements An element for each tool is present
126. e user type 0 None log out 1 Administrator 2 Technician password 64 char 10 Password required for log in only Command 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 Reply Gocator 3100 Series Protocols Gocator Protocol 204 Change Password The Change Password command is used to change log in credentials for a user Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4004 user type 32s 6 Defines the user type 0 None log out 1 Administrator 2 Technician password 64 char 10 New password Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4004 status 32s 6 Reply status Reply List Files The List Files command returns a list of the files in the sensor s file system Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x101A extension 64 char 6 Specifies the extension used to filter the list of files does not include the If an empty string is used then no filtering is performed Command Field Type Offset Description length 32u 0 Reply size including this fiel
127. eaning that it captures an entire surface in 3D in a single snapshot The sensor projects several structured light patterns in a rapid sequence onto the target The reflection of the pattern off the target is captured by two cameras The target must remain stationary during the camera exposure of the light patterns The required exposure time depends on the shape color and reflectiveness of the target but is often shorter than 1 second A Structured Light Modulator SLM produces a sequence of high resolution high contrast light patterns using a blue LED Two cameras capture the reflected light pattern from different viewing angles The sensor can then use either stereo correlation or independent triangulation to generate 3D points from the light pattern Gocator sensors are always pre calibrated to deliver 3D data in engineering units throughout the specified measurement range These are the steps of the acquisition of a 3D point cloud Gocator 3100 Series Theory of Operation 3D Acquisition 28 Step 1 Light pattern projected on target Step 2 Reflected light captured by two cameras Step 3 Use stereo correlation or independent triangulation to generate 3D point cloud Stereo Correlation vs Independent Triangulation Stereo correlation means that the sensor locates the same point on the physical target in the two images captured at different viewing angles Since the exact distance between the two cameras and the viewin
128. easure icon 4 In the measurement list select a measurement To select a measurement it must be enabled See Enabling and Disabling Measurements page 99 for instructions on how to enable a measurement 5 Click in the ID field 6 Enter a new ID number The value must be unique among all measurements 7 Press the Tab or Enter key or click outside the ID field The measurement ID will be changed Common Measurement Settings All tools provide region settings under the Parameter tab and all measurements provide decision and filter settings under the Output tab Many tools and measurements also have tool and measurement specific parameters See the individual measurement tools for details Regions 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 3100 Series Gocator Web Interface Measurement 102 This parameter is also referred to as a measurement region In 3D mode the region defaults to the global field of view To configure regions 1 Go to the Scan page by clicking on the Scan icon 2 Choose Surface mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 3 Go to the Measure page by clicking on the Measure icon 4 In the Tools panel click on a tool in the tool list 5 Expand the region area by
129. easurements next page System Panel The following state and health information is available in the System panel on the Dashboard page Name Description Sensor State Current sensor state Ready or Running Application Version Gocator firmware version Master Connection Whether Master is connected Laser Safety Whether Safety is enabled Uptime Length of time since the sensor was power cycled or reset Dashboard General System Values Gocator 3100 Series Gocator Web Interface Dashboard 155 Name Description CPU Usage Sensor CPU utilization Encoder Value Current encoder value ticks Encoder Frequency Current encoder frequency Hz Memory Usage Sensor memory utilization MB used MB total available Storage Usage Sensor flash storage utilization MB used MB total available Temperature Sensor internal temperature C Ethernet Traffic Network output utilization MB sec Internal Temperature Internal sensor temperature Processing Latency Last delay from camera exposure to when results can be scheduled to Processing Latency Peak Peak latency delay from camera exposure to when results can be scheduled to Rich I O Reset on start Name Description Scan Count Number of scans performed since sensor state last changed to Running Trigger Drop Count of camera frames dropped due to excessive trigger speed Analog Output Drop Count of analog output drops because last
130. ecreases the maximum speed Different target surfaces may require different exposures for optimal results Gocator sensors provide two exposure modes for the flexibility needed to scan different types of target surfaces Exposure Mode Description Single Uses a single exposure for all objects Used when the surface is uniform and is the same for all targets Multiple Uses multiple exposures to create a single scan Used when the target surface has a varying reflectance within a single scan e g white and black Video mode lets you see how the reflected light pattern appears on the camera and identify any stray light or ambient light problems When exposure is tuned correctly the light pattern should be clearly visible along the entire length of the viewer If it is too dim increase the exposure value if it is too bright decrease exposure value Under exposure Light pattern is not fully detected Increase the exposure value Over exposure Light pattern saturated in the center Increase the exposure value When the Gocator is in Multiple exposure mode select which exposure to view using the second drop down box next to View in the data viewer This drop down is only visible in Video scan mode when the Multiple option is selected in the Exposure section in the Sensor panel 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 al
131. ectrical Specifications for Master 1200 2400 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 3100 Series Specifications Master 1200 2400 292 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 Parts and Accessories Description Part Number Gocator 3110 No tools 313110A LED B 00 Gocator 3110 Measurement tools 313110A LED B 01 Gocator 3100 Sensors 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 Masters Description Part Number 2m I O cordset open wire end 30864 2m 5m I O cordset open wire end 30862 10m I O cordset open wire end 30863 15m I O cordset open wire end 30864 15m 20m I O cordset open wire end 30864 20m 25m I O cordset open wire end 30864 25m 2m Power and Ethernet cordset 1x open wire end 1x RJ45 end 30861 2m 5m Power and Ethernet cordset 1x open wire
132. ed RefRegions Collection Reference regions Contains 2 SurfaceRegion2D elements AutoTiltEnabled Boolean Setting to enable disable tilt correction 0 Disable 1 Enable TiltXAngle 64f Setting for manual tilt correction angle X TiltYAngle 64f Setting for manual tilt correction angle Y Measurements X OpeningMeasurement X measurement Measurements Y OpeningMeasurement Y measurement Measurements Z OpeningMeasurement Z measurement Measurements Width OpeningMeasurement Width measurement Measurements Length OpeningMeasurement Length measurement Measurements Angle OpeningMeasurement Angle measurement Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor OpeningMeasurement Gocator 3100 Series Gocator Device Files Job Files 182 Element Type Description DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold SurfacePlane A SurfacePlane element defines settings for a surface plane tool and one or more of its measuremen
133. ed by the angle of an ellipse fitted to the part data Length Determines the length of the smallest rectangle box that encapsulates the part The length reports the dimension of the box in the direction of the major axis When rotation is enabled the bounding box is rotated by the angle of an ellipse fitted to the part data Height Determines the height thickness of the smallest rectangle box that encapsulates the part Z Angle Determines the rotation about the Z axis and the angle of the bounding box relative to the X axis Global X Determines the X position of the center of the smallest rectangle that encapsulates the part The value returned is relative to the global sensor coordinates Global Y Determines the Y position of the center of the smallest rectangle that encapsulates the part The value returned is relative to the global sensor coordinates Gocator 3100 Series Gocator Web Interface Measurement 110 Parameter Description Rotation A bounding box can be vertical or rotated A vertical bounding box provides the absolute position from which the part s Position centroid measurements are referenced Check the Rotation checkbox to select rotated bounding box Decision See Decisions page 102 Region See Regions page 101 Output See Filters page 103 Parameters Countersunk Hole The Countersunk Hole tool locates a countersunk circular opening within a region of interest on the surfa
134. efault value is Terminator Terminates both commands and result output Default value is r n Invalid Represents invalid measurement results Default value is INVALID Special Characters The values of the special characters are defined in the Special Character settings In addition to normal ASCII characters the special characters can also contain the following format values Format Value Explanation t Tab n New line r Carriage return Percentage symbol Format values for Special Characters Standard Result Format Measurement results can either be sent in the standard format or in a custom format In the standard format you select in the web interface which measurement values and decisions to send For each measurement the following message is transmitted M tn in V vn D d1 CR Field Shorthand Length Description MeasurementStart M 1 Start of measurement frame Type tn n Hexadecimal value that identifies the type of measurement The measurement type is the same as defined elsewhere see page 224 Id in n Decimal value that represents the unique identifier of the measurement ValueStart V 1 Start of measurement value Value vn n Measurement value in decimal The unit of the value is measurement specific Gocator 3100 Series Protocols ASCII Protocol 248 Field Shorthand Length Description DecisionStart D 1 Start of measurement
135. efer 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 ReceiveWholePart examples for details on how to acquire data Example Configuring and starting a sensor with the Gocator API include lt GoSdk GoSdk h gt void main Gocator 3100 Series Software Development Kit 262 kIpAddress ipAddress GoSystem system kNULL GoSensor sensor kNULL GoSetup setup kNULL Construct the GoSdk library GoSdk_Construct amp api Construct a Gocator system object GoSystem_Construct amp system kNULL Parse IP address into address data structure kIpAddress_Parse amp ipAddress SENSOR_IP Obtain GoSensor object by sensor IP address GoSystem_FindSensorByIpAddress system amp ipAddress amp sensor Connect sensor object and enable control channel GoSensor_Connect sensor Enable data channel GoSensor_EnableData system kTRUE Optional Setup callback function to receive da
136. egion The location of the reference region is relative to the detected center of the hole and positioned on the nominal surface plane When the Reference Regions option is disabled the tool measures the hole s Z position using all the data in the measurement region except for a bounding rectangular region around the hole Tilt Correction Tilt of the target with respect to the alignment plane When this option is set to Autoset the tool automatically detects the tilt Otherwise the user must enter the angles manually Autoset requires the measurement region to cover more areas on the surface plane than other planes The results from the Plane X and Y tool can be used for angles X and Y parameters Partial Detection Enable if only part of the hole is within the measurement region If disabled the hole must be completely in the region of interest for results to be valid Gocator 3100 Series Gocator Web Interface Measurement 121 Parameter Description Decision See Decisions page 102 Region See Regions page 101 Output See Filters page 103 Measurement Region The center of the hole must be inside the measurement region even if the Partial Detection option is enabled Gocator 3100 Series Gocator Web Interface Measurement 122 Opening The Opening tool locates rounded rectangular and rounded corner openings The opening can be on a surface at an angle to the sensor See Adding and Remov
137. en modify it in the Job Name field 3 Click on the Save button or press Enter Saving a job automatically sets it as the default that is the job loaded when then sensor is restarted Security Gocator sensors can be secured with passwords to prevent unauthorized access Each sensor has two accounts Administrator and Technician 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 3100 Series Gocator Web Interface System Management and Maintenance 48 The Administrator and Technician accounts can be assigned unique passwords By default passwords are blank empty To set or change the password for the Administrator account 1 Go to the Manage page and click on the Security category 2 In the Administrator section enter the Administrator account password and password confirmation 3 Click Change Password The new password will be required the next time that an administrator logs in to the sensor To set or change the password for the Technician account 1 Go to the Manage pag
138. 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 Cordsets Gocator 3100 Series 293 Gocator 3100 Series Parts and Accessories 294 Contact LMI for information on creating cordsets with custom length or connector orientation The maximum cordset length is 60 m Return Policy Return Policy Before returning the product for repair warranty or non warranty a Return Material Authorization RMA number must be obtained from LMI Please call LMI to obtain this RMA number Carefully package the sensor in its original shipping materials or equivalent and ship the sensor prepaid to your designated LMI location Please ensure that the RMA number is clearly written on the outside of the package Inside the return shipment include the address you wish the shipment returned to the name ema
139. ensource 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 3100 Series Software Licenses 301 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 Support For assistance regarding
140. ent Measurements Depth CsHoleMeasurement Depth measurement Measurements BevelRadius CsHoleMeasurement Bevel Radius measurement Measurements BevelAngle CsHoleMeasurement Bevel Angle measurement Measurements XAngle CsHoleMeasurement X Angle measurement Measurements YAngle CsHoleMeasurement Y Angle measurement Measurements Radius CsHoleMeasurement Radius measurement Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold CsHoleMeasurement Output The Output element contains the following sub elements Ethernet Serial Analog Digital0 and Digital1 Each of these sub elements defines the output settings for a different type of Gocator output 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 a
141. entifier 0x452A Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x452A status 32s 6 Reply status Reply Gocator 3100 Series Protocols Gocator Protocol 220 Acquire The Acquire command acquires a new scan Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4528 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4528 status 32s 6 Reply status Reply Acquire Unaligned The Acquire Unaligned command acquires a new scan without performing alignment transformation Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4527 Command 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 Reply Read File Progressive The progressive Read File command reads the content of a file as a stream Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4529 name 64 char 6 Source file name Command Field Type Offset Description length 32u 0 Reply size including t
142. eply Gocator 3100 Series Protocols Gocator Protocol 211 Start Alignment The Start Alignment command is used to start the alignment procedure on a sensor Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4600 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4600 status 32s 6 Reply status opId 32s 10 Operation ID Reply Start Exposure Auto set The Start Exposure Auto set command is used to start the exposure auto set procedure on a sensor Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4601 role 32s 6 Role of sensors to auto set 0 Main 1 Buddy Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4601 status 32s 6 Reply status opId 32s 10 Operation ID Reply Software Trigger The Software Trigger command causes the sensor to take a snapshot while in software mode and in the Running state Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4510 Command Gocator 3100 Series Protocols Gocator Protocol 212 Field Type Offset Descri
143. esolution See Spacing page 64 for more information on configuring resolution l Review the measurements that you have programmed and eliminate any unnecessary measurements 275 Specifications The following sections describe the specifications of the Gocator and its associated hardware Gocator 3100 Series The Gocator 3100 series consists of the sensor models defined below MODEL 3110 Clearance Distance CD mm 150 Measurement Range MR mm 100 Near Field of View mm 60 x 105 Far Field of View mm 90 x160 Linearity Z of MR 0 005 Resolution Z mm 0 035 0 108 Resolution XY mm 0 090 x 0 100 0 150 x 0 160 Light Source Blue LED 465 nm Dimensions mm 49 x 74 4 x 276 Weight kg 1 35 Linearity Z values and Resolution Z are typical values Field of view and resolution XY are specified as X x Y ALL 3100 SERIES MODELS Scan Rate Up to 5 Hz Interface Gigabit Ethernet Inputs Differential Encoder Light Safety Enable Trigger Outputs 2x Digital output RS 485 Serial 115 kBaud Analog Output 4 20 mA Input Voltage Power 24 to 48 VDC 25 Watts Ripple 10 Housing Gasketed aluminum enclosure IP67 Operating Temp 0 to 50 C Storage Temp 30 to 70 C Vibration Resistance 10 to 55 Hz 1 5 mm double amplitude in X Y and Z directions 2 hours per direction Shock Resistance 15 g half sine wave 11 ms positive and negative for
144. eveloping applications using the GenTL driver Gocator 3100 Series Tools and Native Drivers CSV Converter Tool 272 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 the ASCII format will only contain the point coordinates XYZ 3 Select the output format The converted file will reside in the same directory as the CSV file It will also have the same name but with a different file extension The converted file name is displayed in the Output File field 4 Press the Convert button Troubleshooting Review the guidance in this chapter if you are experiencing difficulty with a Gocator sensor system See Return Policy page 295 for further assistance if the problem that you are experiencing is not described in this section Mechanical Environmental The sensor is warm l It is 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 l 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 l Check th
145. example you will see Surface Bounding Box in the user interface but simply Bounding Box in the manual Measurement Tool Management 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 To add a tool 1 Go to the Scan page by clicking on the Scan icon 2 Choose Surface mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 3 Go to the Measure page by clicking on the Measure icon 4 In the 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 Gocator 3100 Series Gocator Web Interface Measurement 99 To remove a tool 1 Go to the Scan page by clicking on the Scan icon 2 Choose Surface mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 3 Go to the Measure page by clicking on the Measure icon 4 In the tool list click on the x button of the tool you want to delete The tool will be removed from the tool list Enabling and Disabling Measurements All of the measurements available in a tool are listed in the measurement list in the Tools panel after a tool
146. f 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 Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4002 Command Gocator 3100 Series Protocols Gocator Protocol 202 Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4002 status 32s 6 Reply status localInfo Sensor Info 10 Info for this device remoteCount 32u 66 Number of discovered sensors remoteInfo remoteCount Sensor Info 70 List of info for discovered sensors Reply Field Type Offset Description deviceId 32u 0 Serial number of the device address 4 byte 4 IP address most significant byte first modelName 32 char 8 Model name firmwareVersion 4 byte 40 Firmware version most significant byte first state 32s 44 Sensor state 1 Conflict 0 Ready 1 Running role 32s 48 Sensor role 0 Main SensorInfo Get States The Get System Info command a list of useful system states Field Type Offset Description length 32u
147. file Alignment Example lt xml version 1 0 encoding UTF 8 gt lt Transform version 100 gt lt EncoderResolution gt 1 lt EncoderResolution gt lt Speed gt 100 lt Speed gt lt Devices gt lt Device role 0 gt lt X gt 2 3650924829 lt X gt lt Y gt 0 0 lt Y gt lt Z gt 123 4966803469 lt Z gt lt XAngle gt 5 7478302588 lt XAngle gt lt YAngle gt 3 7078302555 lt XAngle gt lt ZAngle gt 2 7078302556 lt XAngle gt lt Orientation gt 0 lt Orientation gt lt Device gt lt Device id 1 gt lt X gt 0 lt X gt lt Y gt 0 0 lt Y gt lt Z gt 123 4966803469 lt Z gt lt XAngle gt 5 7478302588 lt XAngle gt lt YAngle gt 3 7078302555 lt XAngle gt lt ZAngle gt 2 7078302556 lt XAngle gt lt Orientation gt 0 lt Orientation gt lt Device gt lt Devices gt lt Transform gt Gocator 3100 Series Gocator Device Files Transformation File 195 Transform The Transform element contains the alignment record for the sensor The version attribute defines the version of the record format lt Transform version 100 gt Element Type Description EncoderResolution 64f Encoder Resolution mm tick Speed 64f Travel Speed mm s Devices Collection Contains two Device elements Transform Child Elements Device A Device element defines the transformation for a sensor There is one entry element per sensor identified by a unique ro
148. g angles are known the distance to the point can be calculated In order for stereo correlation to work and produce a 3D data point the point on the target must be visible in both cameras Stereo acquisition may Gocator 3100 Series Theory of Operation 3D Acquisition 29 produce more stable measurements on targets with a simple shape but will be affected by occlusions on targets with complicated shapes and protruding features Independent triangulation means that each camera independently triangulates off the LED light pattern based on the calibration process that takes place when the sensor is manufactured Since the Gocator 3100 sensor has two cameras a point on the physical target only needs to be visible to one of the cameras in order to generate a 3D point Independent triangulation may improve performance on targets with complicated shapes that can cause occlusion but it relies on the sensor s internal components being fully stable The Reduce Occlusion setting determines whether 3D data is acquired by using stereo correlation or both stereo correlation and independent triangulation See Reduce Occlusion page 58 for more details Gocator 3100 Series Theory of Operation 3D Data Output 30 3D Data Output Gocator measures the shape of the object calculated from either dual triangulation or stereo correlation The Gocator reports a series of 3D coordinates from the surface of the target in the sensor s field of view
149. g is enabled the sensor will store the most recent data as it runs Remember to disable recording if you no longer wish to record live data press the Record button again to disable recording 3 Press the Snapshot button or Start button The Snapshot records a single frame The Start button will run the sensor continuously and all frames will be recorded up to available memory When the memory limit is reached the oldest data will be discarded Newly recorded data is appended to existing replay data unless the sensor job has been modified Gocator 3100 Series Gocator Web Interface User Interface Overview 38 Recording and playback controls when replay is on To replay recorded data 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background will turn blue and a Replay Mode Enabled message will be displayed 2 Use the Replay slider or the Step Forward Step Back or Play buttons to review data The Step Forward and Step Back buttons move and the current replay location backward and forward by a single frame respectively The Play button advances the replay location continuously animating the playback The Stop button replaces the Play button while playing can be used to pause the replay at a particular location The Replay slider or Replay Position box can be used to go to a specific replay frame To simulate measurements on recorded data 1 Toggle Replay mode
150. g state See Analog Output page 150 for information on setting up the analog output Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4519 Command Gocator 3100 Series Protocols Gocator Protocol 213 Field Type Offset Description index 16u 6 Index of the output Must be 0 target 64s 8 Specifies the time clock ticks or position encoder ticks of when the event should happen The target value is ignored if the Signal setting in Analog in the Output panel is not set to Scheduled The output will be triggered immediately See Analog Output page 150 for information on setting the Signal type value 32s 16 Output current micro amperes 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 Reply 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 Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x100E timeout 64u 6 Timeout value microseconds Command Field Type Offset Description length 32u 0 Reply size inclu
151. ge Filtering enabled Preserve Interior Feature enabled Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 74 To configure edge filtering 1 Go to the Scan page and choose Surface in the Scan Mode panel If this mode is not selected you will not be able to configure part detection 2 Expand the Part Detection panel by clicking on the panel header or the button and enable part detection if necessary 3 Check the Edge Filtering checkbox to enable edge filtering 4 Configure the Width and Length settings The Width and Length settings represent the size of the filter on the X axis and the Y axis respectively 5 Set the Preserve Interior Feature setting if necessary The Preserve Interior Feature setting limits filtering to the outside edges of the target Data Viewer The data viewer can display images in a 2D view and height map resampled point cloud or intensity in 2D or 3D views The data viewer changes depending on the current operation mode and the panel that has been selected Use the drop down list at the top left corner to select the data source to view The available data sources depend on the operation mode settings Data Viewer Controls The data viewer is controlled by mouse clicks and by the buttons on the display toolbar The mouse wheel can also be used for zooming in and out Press F when the cursor is in the data viewer to switch to full screen Gocator 3100 Series G
152. gle rotation around the normal of the alignment plane Measurements Parameter Description Type Rounded Slot Rectangle Nominal Width Nominal width of the opening Nominal length Nominal length of the opening Nominal Angle Nominal angle of the opening The default orientation is the length of the opening along the X axis Parameters Gocator 3100 Series Gocator Web Interface Measurement 126 Parameter Description The diagram above illustrates the case where the surface is not tilted When the surface is tilted the orientation is defined with respect to the normal of the surface not with respect to the X Y plane Nominal Radius Nominal radius of the opening ends If the opening type is set to rectangular the radius setting is disabled The opening has an oval shape if the radius is equal to of the width The opening is a rounded rectangle when the radius is less than of the width Width Tolerance The maximum variation from the nominal width from the nominal value Length Tolerance The maximum variation from the nominal length from the nominal value Orientation Tolerance The maximum variation from the nominal orientation from the nominal value Reference Regions The algorithm uses reference regions to calculate the Z position of the opening Reference regions are relative to the center location of the feature This option is typically used in cases where the surface around the
153. gned using the alignment procedure see below Alignment State An indicator on the Alignment panel will display ALIGNED or UNALIGNED depending on the Gocator s state Alignment Types Gocator sensors support two types of alignment which are related to whether the target is stationary or moving Type Description Stationary Stationary is used when the sensor mounting is constant over time and between scans e g when the sensor is mounted in a permanent position over a conveyor belt Moving Moving is used when the sensor s position relative to the object scanned is always changing e g when the sensor is mounted on a robot arm moving to different scanning locations Aligning Sensors Alignment can be used to compensate for mounting inaccuracies by aligning sensor data to a common reference surface To prepare for alignment 1 Choose an alignment reference in the Manage page if you have not already done so See Alignment Reference page 45 for more information 2 Go to the Scan page 3 Choose Surface mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 4 Expand the Alignment panel by clicking on the panel header or the button 5 Ensure that all sensors have a clear view of the target surface Remove any irregular objects from the sensor s field of view that might interfere with alignment Gocator 3100 Series Gocator Web Interface
154. h screen To change the language choose a language option from the top drop down Selecting the emulator interface language Adding a Scenario to the Emulator After you have downloaded a support file you must add it as a scenario in the emulator To add a scenario 1 Launch the emulator if it isn t running already 2 Click the Add button and choose the previously saved support file gs extension in the Choose File to Upload dialog Gocator 3100 Series Gocator Emulator Using Replay Protection 160 Running a Scenario After you have added a scenario by uploading a support file in the emulator you can run the scenario from the emulator launch screen Various scenarios are also included in the installation To run a scenario 1 If you want to filter the scenarios listed in Available Scenarios do one or both of the following l Choose a model family in the Model drop down l Choose Standalone or Buddy to limit the scenarios to single sensor or dual sensor scenarios respect ively 2 Select a scenario in the Available Scenarios list and click Start Removing a Scenario from the Emulator To remove a scenario from the emulator you must remove it manually from the computer s file system The following procedure applies to Windows 7 To remove a scenario 1 Close the Gocator emulator 1 Click the Windows Start button 2 In the Search programs and files field type LOCALAPPDATA LMI GoEmul
155. hannels Channel Port Description Data 3196 Sensor sends data messages Health 3194 Sensor sends health messages Result Channels The ports above can be connected simultaneously and the sensor will also accept multiple connections on each port Messages that are received on the Data and Health channels use a common structure called Gocator Data Protocol GDP Each GDP message consists of a 6 byte header followed by a variable length message specific content section The structure of the GDP message is defined below Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier Gocator Data Protocol GDP messages are always sent in groups The last message flag in the control field is used to indicate the final message within a group If there is only one message per group this bit will be set in each message A Health Result contains a single data block for health indicators Each indicator reports the current status of some aspect of the sensor system such as CPU usage or network throughput Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier count C 32u 6 Count of indicators in this message source 8u 10 Source 0 Main 1 Buddy reserved 3 8u
156. has been added To configure a measurement you must enable it To enable a measurement 1 Go to the Scan page by clicking on the Scan icon 2 Choose Surface mode in the Scan Mode panel Gocator 3100 Series Gocator Web Interface Measurement 100 If this mode is not selected tools will not be available in the Measure panel 3 Go to the Measure page by clicking on the Measure icon 4 In the measurements list check the box of the measurement you want to enable The measurement will be enabled and selected The Output tab which contains output settings will be displayed below the measurements list For some measurements a Parameters tab which contains measurement specific parameters will also be displayed To disable a measurement 1 Go to the Scan page by clicking on the Scan icon 2 Choose Surface mode in the Scan Mode panel 3 Go to the Measure page by clicking on the Measure icon 4 In the measurement list uncheck the box of the measurement you want to disable The measurement will be disabled and the Output tab and the Parameters tab if it was available will be hidden Editing a Tool or Measurement Name You can assign a name to each tool and measurement This allows multiple instances of tools and measurements of the same type to be more easily distinguished in the Gocator web interface The measurement name is also referenced by the Script tool To edit a tool name 1 Go to the Scan
157. he following conditions The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software THE SOFTWARE IS PROVIDED AS IS WITHOUT WARRANTY OF ANY KIND EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT IN NO EVENT SHALL SIMON TATHAM BE LIABLE FOR ANY CLAIM DAMAGES OR OTHER LIABILITY WHETHER IN AN ACTION OF CONTRACT TORT OR OTHERWISE ARISING FROM OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE CodeMirror Website http codemirror net License Copyright C 2011 by Marijn Haverbeke lt marijnh gmail com gt Permission is hereby granted free of charge to any person obtaining a copy of this software and associated documentation files the Software to deal in the Software without restriction including without limitation the rights to use copy modify merge publish distribute sublicense and or sell copies of the Software and to permit persons to whom the Software is furnished to do so subject to the following conditions Gocator 3100 Series Software Licenses 298 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 MERCHAN
158. he Save button you will be prompted to confirm your selection 7 Power cycle or reset the sensor After changing a sensor s network configuration the sensor must be reset or power cycled before the change will take effect 8 Repeat these steps for each additional sensor Next Steps After you complete the steps in this section the Gocator measurement system is ready to be configured for an application using the software interface The interface is explained in the following sections System Management and Maintenance page 42 Contains settings for sensor system layout network motion and alignment handling jobs and sensor maintenance Scan Setup and Alignment page 52 Contains settings for scan mode trigger source detailed sensor configuration and performing alignment Measurement page 97 Contains built in measurement tools and their settings Output page 143 Contains settings for configuring output protocols used to communicate measurements to external devices Dashboard page 154 Provides monitoring of measurement statistics and sensor health Gocator 3100 Series Getting Started Next Steps 26 Toolbar page 35 Controls sensor operation manages jobs and replays recorded measurement data 27 Theory of Operation The following sections describe the theory of operation of Gocator sensors 3D Acquisition Principle of 3D Acquisition The Gocator 3100 is called a 3D snapshot sensor m
159. he height at the 2D centroid in the XY plane or the height at the 3D centroid in XYZ space Decision See Decisions page 102 Region See Regions page 101 Output See Filters page 103 Parameters Script A Script measurement can be used to program a custom measurement using a simplified C based syntax A script measurement can produce multiple measurement values and decisions for the output See Adding and Removing Tools page 98 for instructions on how to add measurement tools See Script Measurement next page for more information on scripts See Script Measurement next page for more information on the script syntax Gocator 3100 Series Gocator Web Interface Measurement 138 To create or edit a Script measurement 1 Add a new Script tool or select an existing Script measurement 2 Edit the script code 3 Add script outputs using the Add button For each script output that is added an index will be added to the Output drop down and a unique ID will be generated To remove a script output click on the button next to it 4 Click the Save button to save the script code If there is a mistake in the script syntax the result will be shown as a Invalid with a red border in the data viewer when you run the sensor Outputs from multiple measurement tools can be used as inputs to the script A typical script would take results from other measurement tools using the value and decision functi
160. he part is accepted and any measurements that are added in the Measure page will return valid values provided that the target is in range etc If the part is rejected any measurements added in the Measure page will return an Invalid value For more information on measurements and decision values see page 97 Gocator 3100 Series Gocator Web Interface Models and Part Matching 84 Using Edge Detection When using edge detection for part matching the Gocator compares a model that you must create from a previous scan to a target one of the parts you want to match to the model In the data viewer a model is represented as a yellow outline The target is represented as a blue outline If the part match quality above a minimum user defined level any measurements configured on the Measure page are applied Model yellow outline and target blue outline Part match quality is 87 789 which is greater than the minimum set by the user so the parts match When you create a model the Gocator runs an edge detection algorithm on either the heightmap or intensity image of a scanned part The resulting model is made up of the detected edge points The scan used to create the model should be of a reference or golden part to which all other parts will be compared After the model has been created you optionally modify the model by adjusting the sensitivity how many edge points are detected or selectively remove edge p
161. he 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 control setpoint DynamicSensitivity used Bool Determines if the setting s value is currently used DynamicSensitivity value 64f Value in use by the sensor useful for determining value when used is false DynamicSensitivity min 64f Minimum value DynamicSensitivity max 64f Maximum value DynamicThreshold 32s Dynamic exposure control threshold If the detected number of spots is fewer than this number the exposure will be increased DynamicThreshold used Bool Determines if the setting s value is currently used DynamicThreshold value 32s Value in use by the sensor useful for determining value when used is false DynamicThreshold min 32s Minimum value DynamicThreshold max 32s Maximum value GammaType 32s Gamma type GammaType used Bool Value in use by the sensor useful for determining value when used is false GammaType value 32s Determines if the setting s value is currently used PartDetection 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 Threshol
162. height of the image represent the dimension in the X and the Y axis Together with the pixel value each blue pixel represents an intensity value in the real world coordinates The following formula can be used to calculate the real world coordinates X Y Z from pixel coordinates Px Py Pz X X offset Px X resolution Y Y offset Py Y resolution Z 16 bit intensity value The intensity value is 0 if the intensity image is not available Gocator outputs 8 bit intensity values The values stored in the 16 bit RGB image is multiplied by 256 To obtain the original values divide the intensity values by 256 Refer to the blue channel on how to retrieve the offset and resolution values Blue Stamp information Stamps are 64 bit auxiliary information related to the height map and intensity content The next table explains how the stamps are packed into the blue pixel channel See Data Results page 224 for an explanation of the stamp information The following table shows how the stamp information is packed into the blue channel A stamp is a 64 bit value packed into four consecutive 16 bit blue pixels with the first byte position storing the most significant byte Gocator 3100 Series Tools and Native Drivers GenTL Driver 268 Stamp Index Blue Pixel Position Details 0 0 3 Version 1 4 7 Frame Count 2 8 11 Timestamp us 3 12 15 Encoder value ticks 4 16 19 Encoder in
163. his field in bytes id 16u 4 Reply identifier 0x4529 status 32s 6 Reply status Reply Gocator 3100 Series Protocols Gocator Protocol 221 Field Type Offset Description progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress The reply may be followed by a series of continue replies Export CSV Progressive The progressive Export CSV command exports replay data as a CSV stream Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4507 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4507 status 32s 6 Reply status progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress Reply Only the current surface scan is exported determined by the playback position The reply may be followed by a series of continue replies See the section on progressive reply Export Bitmap Progressive The progressive Export Bitmap command exports replay data as a bitmap stream Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4508 type 32s 6 Data type 0 Range or video 1 Intensity source 32s 10 Data source to export Command Field Type
164. hite Green Ethernet MX2 10 Green Ethernet MX3 11 White Blue Ethernet MX3 12 Blue Ethernet MX4 13 White Brown Ethernet MX4 14 Brown Gocator Power LAN Connector Pins Two wires are connected to the ground and power pins Grounding Shield The grounding shield should be mounted to the earth ground Gocator 3100 Series Specifications Gocator Power LAN Connector 280 Power Positive voltage is applied to DC_24 48V See Gocator 3100 Series page 275 for the sensor s power requirement Ground is applied to GND_24 48VDC Function Pins Min Max DC_24 48V 2 24 V 48 V GND_24 48VDC 1 0 V 0 V Power requirements 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 Function Pins Min Max Safety_in 4 24 V 48 V Safety_in 3 0 V 0 V Laser safety requirements Confirm the wiring of Safety_in before starting the sensor Wiring DC_24 48V into Safety_in may damage the sensor Gocator 3100 Series Specifications Gocator 3100 I O Connector 281 Gocator 3100 I O Connector The Gocator 3100 I O connector is a 19 pin M16 style connector that provides encoder digital input digital outputs serial output and analog output signals This connector is rated IP67 only when a cable is connected or when a protective cap is use
165. ifferent settings For examples of typical real world scenarios see below For information on the settings used with each trigger source see next page Trigger Examples Example External Input Conveyor External input triggering can be used to produce a snapshot for 3D measurement For example a photocell can be connected as an external input to generate a trigger pulse when a target object has moved into position An external input can also be used Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 56 to gate the trigger signals when time or encoder triggering is used For example a photocell could generate a series of trigger pulses as long as there is a target in position Example Software Trigger Robot Arm Software triggering can be used to produce a snapshot for 3D measurement A software trigger can be used in systems that use external software to control the activities of system components Trigger Settings The trigger source is selected using the Trigger panel in the Scan page Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 57 After specifying a trigger source the Trigger panel shows the parameters that can be configured Parameter Trigger Source Description Source All Selects the trigger source Time External Input or Software Frame Rate Time Controls the frame rate Select Max Speed from the drop down to lock to the maximum
166. igger the next scan Track Backward A scan is triggered only when the target object moves forward If the target object moves backward it must move forward by at least the distance of one encoder spacing to trigger the next scan Bi directional A scan is triggered when the target object moves forward or backward Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 55 Trigger Source Description 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 External Input 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 Software A network command can be used to send a software trigger See Protocols page 196 for more information Depending on the setup and measurement tools used the CPU utilization may exceed 100 which reduces the overall acquisition speed If the Clear Calibration button is pressed the calibration will be erased and the sensor will revert to using sensor coordinates See Acquisition Speed page 32 for the estimated acquisition speeds under d
167. il 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 3100 Series 295 Software Licenses Pico C Website http code google com p picoc License picoc is published under the New BSD License http www opensource org licenses bsd license php Copyright c 2009 2011 Zik Saleeba All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution Neither the name of the Zik Saleeba nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED
168. ilable bytes CPU Usage 2007 CPU usage percentage of maximum Net Out Capacity 2009 Total available outbound network throughput bytes s Net Out Link Status 2034 Current Ethernet link status Sync Source 2043 Gocator synchronization source 1 FireSync Master device 2 Sensor Digital Inputs 2024 Current digital input status one bit per input Event Count 2102 Total number of events triggered Camera Trigger Drops 2201 Number of dropped triggers Analog Output Drops 2501 Output Index Number of dropped outputs Health Indicators Gocator 3100 Series Protocols Gocator Protocol 232 Indicator Id Instance Value Digital Output Drops 2601 Output Index Number of dropped outputs Serial Output Drops 2701 Output Index Number of dropped outputs Sensor State 20000 Gocator sensor state 1 Conflict 0 Ready 1 Running Current Sensor Speed 20001 Current sensor speed Hz Maximum Speed 20002 The sensor s maximum speed Spot Count 20003 Number of found spots in the last profile Max Spot Count 20004 Maximum number of spots that can be found Scan Count 20005 Number of surfaces detected from a top device Laser Overheat 20020 Indicates whether laser overheat has occurred 0 Has not overheated 1 Has overheated Only available on certain 3B laser devices Laser Overheat Duration 2002
169. image represent the dimension in the X and the Y axis Together with the pixel value each blue pixel represents an intensity value in the real world coordinates The following formula can be used to calculate the real world coordinates X Y Z from pixel coordinates Px Py Pz The following formula assumes Py is relative to the first Gocator 3100 Series Tools and Native Drivers GenTL Driver 269 Rows Details row of the intensity information not the first row of the whole 16 bit grey scale image X X offset Px X resolution Y Y offset Py Y resolution Z 16 bit intensity value This intensity value is 0 if the intensity image is not available Gocator outputs 8 bit intensity values The values stored in the 16 bit Grey scale image is multiplied by 256 To obtain the original values divide the intensity values by 256 Refer to the stamps on how to retrieve the offset and resolution values The last row of the 16 bit grey scale image Stamp information Stamps are 64 bit auxiliary information related to the height map and intensity content The next table explains how the stamps are packed into the blue pixel channel See Data Results page 224 for an explanation of the stamp information The following table shows how the stamp information is packed into the last row A stamp is a 64 bit value packed into four consecutive 16 bit pixels with the first byte position storing the most signific
170. ing Shield 281 Digital Outputs 282 Inverting Outputs 282 Digital Inputs 282 Serial Output 283 Analog Output 284 Master 100 285 Master 100 Dimensions 286 Master 400 800 287 Master 400 800 Electrical Specifications 288 Master 400 800 Dimensions 289 Master 1200 2400 290 Master 1200 2400 Electrical Specifications 291 Master 1200 2400 Dimensions 292 Parts and Accessories 293 Return Policy 295 Software Licenses 296 Support 302 Contact 303 8 Introduction The Gocator 3100 series of snapshot LED projection sensors is designed for 3D measurement and control applications Gocator sensors are configured using a web browser and can be connected to a variety of input and output devices This documentation describes how to connect configure and use a Gocator It also contains reference information on the device s protocols and job files Notational Conventions This guide uses the following notational conventions Follow these safety guidelines to avoid potential injury or property damage Consider this information in order to make best use of the product 9 Safety and Maintenance The following sections describe the safe use and maintenance of Gocator sensors Electrical Safety Failure to follow the guidelines described in this section may result in electrical shock or equipment damage Sensors should be connected to earth ground All sensors should be connected to earth gro
171. ing Tools page 98 for instructions on how to add measurement tools The tool uses a complex feature locating algorithm to find a hold and then return measurements See Opening Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel The measurement value can be compared with minimum and maximum constraints to yield a decision You can select the measurement region in which the opening is expected to appear The algorithm can separate out background information that appears inside the opening It can also detect a slot that only partially appears in the data The shape of the opening is defined by its type and its nominal width length and radius The orientation defines the rotation around the normal of the alignment plane Gocator 3100 Series Gocator Web Interface Measurement 123 2D View 3D View Gocator 3100 Series Gocator Web Interface Measurement 124 Gocator 3100 Series Gocator Web Interface Measurement 125 Measurement Panel Measurement Illustration X Determines the X position of the opening s center Y Determines the Y position of the opening s center Z Determines the Z position of the opening s center Width Determines the width of the opening Length Determines the length of the opening Angle Determines the an
172. ing jobs and sensor maintenance See System Management and Maintenance page 42 2 Scan page Contains settings for scan mode trigger source detailed sensor configuration and performing alignment See Scan Setup and Alignment page 52 3 Model page Lets you set up part matching See Models and Part Matching page 82 Gocator 3100 Series Gocator Web Interface User Interface Overview 35 Element Description 4 Measure page Contains built in measurement tools and their settings See Measurement page 97 5 Output page Contains settings for configuring output protocols used to communicate measurements to external devices See Output page 143 6 Dashboard page Provides monitoring of measurement statistics and sensor health See Dashboard page 154 7 CPU Load and Speed Provides important sensor performance metrics See Metrics Area page 40 8 Help Provides links to the user manual and SDK Also lets you download support files from the sensor which can be used with the emulator See Gocator Emulator page 157 for more information on the emulator 9 Toolbar Controls sensor operation manages jobs and replays recorded measurement data See Toolbar below 10 Configuration area Provides controls to configure scan and measurement tool settings 11 Data viewer Displays sensor data tool setup controls and measurements See Data Viewer on page 74 for its use when the Scan page is active and on
173. ints Modifying a model s edge points is useful to exclude noise in the detected edge points and to make sure distinguishing features are properly detected which can improve matching You can modify edge points in two ways First you can control the overall number of edge points that are detected by the edge detection algorithm by raising and lowering the edge detection threshold the Model Sensitivity setting Modifying Model Sensitivity causes the edge detection algorithm to run again Second you can fine tune the model s edge points by selectively removing edge points that are detected by the edge detection algorithm This could be useful for example if an edge on the target parts frequently presents minor variations such as flashing excess material caused by leakage during molding the edge points that make up the model can be edited to exclude that region Editing the model can allow parts to match it more easily Edge points along top of model not removed Part is rejected Min set to 85 Gocator 3100 Series Gocator Web Interface Models and Part Matching 90 Edge points along top of model removed Part is accepted Min set to 85 Removing edge points does not cause the edge detection algorithm to run again To change model senstivity 1 In the Models list select the model you want to configure by clicking on its selection control 2 Click the Model Editing tab 3 Adjust the Model Sensitivity slider
174. is With Normal orientation a positive value shifts the data to the right With Reverse orientation a positive value shifts the data to the left Y Offset Specifies the shift along the Y axis Z Offset Specifies the shift along the Z axis A positive value shifts the data toward the sensor Angle X Specifies the tilt around the X axis Angle Y Specifies the tilt around the Y axis Angle Z Specifies the tilt around the Z axis When applying the transformations Angle is applied before the offsets the object is first rotated around X then Y and then Z To configure transformation settings 1 Go to the Scan page 2 Choose Surface mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 3 Expand the Sensor panel by clicking on the panel header 4 Expand the Transformations area by clicking on the expand button See the table above for more information 5 Set the parameter values See the table above for more information 6 Save the job in the Toolbar by clicking the Save button 7 Check that the transformation settings are applied correctly after 3D acquisition is restarted Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 61 Exposure Exposure determines the duration of camera and light on time Longer exposures can be helpful to detect light patterns on dark or distant surfaces but increasing exposure time d
175. is powered up a warm up time of at least one hour is required to reach a consistent spread of temperature in the sensor Sensor Maintenance Keep sensor windows clean Gocator sensors are high precision optical instruments To ensure the highest accuracy is achieved in all measurements the windows on the front of the sensor should be kept clean and clear of debris Use care when cleaning sensor windows Use dry clean air to remove dust or other dirt particles If dirt remains clean the windows carefully with a soft lint free cloth and non streaking glass cleaner or isopropyl alcohol Ensure that no residue is left on the windows after cleaning Avoid excessive modifications to files stored on the sensor Settings for Gocator sensors are stored in flash memory inside the sensor Flash memory has an expected lifetime of 100 000 writes To maximize lifetime avoid frequent or unnecessary file save operations 11 Getting Started The following sections provide system and hardware overviews in addition to installation and setup procedures System Overview Gocator sensors can be installed and used in scenarios where the target to be scanned is static in position relative to the sensor for the short duration of camera exposure Sensors can be connected as standalone devices or in a multi sensor system Standalone System Standalone systems are typically used when only a single Gocator sensor is required The sensor can be connected to a
176. isplays result calipers related to the selected measurement Parts are displayed using a height map which is a top down view of the XY plane where color represents height See Data Viewer next page 3 Feature Area Configurable region of interest from which feature points are detected These feature points are used to calculate the measurements The number of feature areas displayed depends on which measurement tool is currently selected Gocator 3100 Series Gocator Web Interface Measurement 98 Data Viewer Regions such as active area or measurement regions can be graphically set up using the data viewer in the 2D or in the 3D view When the Measure page is active the data viewer can be used to graphically configure measurement regions Measurement regions can also be configured manually in measurements by entering values into the provided fields see page 101 For instructions on how to set up measurement regions graphically see page 80 Tools Panel The Tools panel lets you add configure and manage tools Tools contain related measurements For example the Position tool provides X Y and Z position measurements Some settings apply to tools and therefore to all measurements whereas some settings apply to specific measurements See Surface Measurement page 106 for information on the measurement tools and their settings Tool names in the user interface include the scan mode but not in the manual So for
177. ith 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 gt win32 gt kDiscovery exe Any sensors that are discovered on the network will be displayed in the Devices list To change the network address of a sensor 1 To change the network address of a sensor 2 Select the Custom option 3 Enter the new network address information 4 Press the Set Address button To restore a sensor to factory defaults 1 Select the sensor serial number in the Devices list 2 Press the Factory Restore button Confirm when prompted Gocator 3100 Series Tools and Native Drivers Sensor Recovery Tool 265 The Sensor Discovery tool uses UDP broadcast messages to reach sensors on different subnets This enables the Sensor Discovery tool to locate and re configure sensors even when the sensor IP address or subnet configuration is unknown Gocator 3100 Series Tools and Native Drivers GenTL Driver 266 GenTL Driver GenTL is an industry standard method of controlling and acquiring da
178. job name when saving files Jobs list Displays the jobs that are currently saved in the sensor s flash storage Save button Saves current settings to the job using the name in the Job Name field Load button Loads the job that is selected in the file list Reloading the current job discards any unsaved changes Delete button Deletes the job that is selected in the jobs list Set as Default button Sets the selected job as the default to be loaded at boot time When the default job is selected this button is used to clear the default Download button Downloads the selected jobs to the client computer Upload button Uploads a job from the client computer Jobs can be loaded and set as default independently For example Job1 could be loaded while Job2 is set as the default Default jobs load automatically when a sensor is power cycled or reset Unsaved jobs are indicated by unsaved Gocator 3100 Series Gocator Web Interface System Management and Maintenance 47 To download load or delete a job or to set one as a default or clear a default 1 Go to the Manage page and click on the Jobs category 2 Select a job in the Jobs list 3 Click on the appropriate button for the operation To save a job 1 Go to the Manage page and click on the Jobs category 2 Provide a name in the Job Name field To save an existing job under a different name click on it in the Jobs list and th
179. l 3 Expand the Alignment panel by clicking on the panel header or the button 4 Click the Clear Alignment button The alignment will be erased and sensors will revert to using sensor coordinates Filters Filters are used to post process data along the X or Y axis to remove noise or clean it up before it is output or is used by measurement tools The following types of filters are supported Filter Description Gap Filling Fills in missing data caused by occlusions using information from the nearest neighbors Gap filling also fills gaps where no data is detected which can be due to the surface reflectivity for example dark or specular surface areas or to actual gaps in the surface Median Substitutes the value of a data point with the median within a specified window around the data point Smoothing Applies moving window averaging to reduce random noise Decimation Reduces the number of data points Filters are applied in the order displayed in the table above The filters are configured in the Filters panel on the Scan page Gap Filling Gap filling works by filling in missing data points using either the lowest values from the nearest neighbors or linear interpolation between neighboring values depending on the Z difference between neighboring values in a specified window The sensor can fill gaps along both the X axis and the Y axis If both X and Y gap filling are enabled missing data is filled along
180. l Whether or not field is used SpacingInterval value 64f Actual value used SpacingIntervalType 32s Spacing interval type 0 Maximum resolution 1 Balanced 2 Maximum speed 3 Custom SpacingIntervalType used Bool Whether or not field is used Tracking Section Described below Material Section Described below Custom Custom Used by specialized sensors XSpacingCount 32u Number of resampled points along X read only YSpacingCount 32u Number of resampled points along Y read only Gocator 3100 Series Gocator Device Files Job Files 167 Tracking Element Type Description Enabled Bool Enables tracking SearchThreshold 64f Percentage of spots that must be found to remain in track Height 64f Tracking window height mm Height min 64f Minimum tracking window height mm Height max 64f Maximum tracking window height mm Tracking Child Elements Material Element Type Description Type 32s Type of Material settings to use 0 Custom 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
181. l parts Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 62 To enable single exposure 1 Place a representative target in view of the sensor The target surface should be similar to the material that will normally be measured 2 Go to the Scan page 3 Expand the Sensor panel by clicking on the panel header 4 Click on the Exposure tab 5 Select Single from the Exposure Mode drop down 6 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 7 Run the sensor and check that 3D data acquisition is satisfactory If 3D data acquisition is not satisfactory adjust the exposure values manually Switch to Video mode to use video to help tune the exposure see Exposure previous page for details Multiple Exposure The sensor combines data from multiple exposures to create a single 3D point cloud Multiple exposures can be used to increase the ability to detect light and dark materials that are in the field of view simultaneously Up to three exposures can be defined with each set to a different exposure level For each exposure the sensor will perform a complete scan at the current frame rate making the effective frame rate slower Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 63 For example if two exposures are selected then the speed will be ha
182. le Measurements X CsHoleMeasurement X measurement Measurements Y CsHoleMeasurement Y measurement Measurements Z CsHoleMeasurement Z measurement Measurements OuterRadius CsHoleMeasurement Outer Radius measurement Measurements Depth CsHoleMeasurement Depth measurement Measurements BevelRadius CsHoleMeasurement Bevel Radius measurement Measurements BevelAngle CsHoleMeasurement Bevel Angle measurement Measurements XAngle CsHoleMeasurement X Angle measurement Measurements YAngle CsHoleMeasurement Y Angle measurement Measurements Radius CsHoleMeasurement Radius measurement Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state CsHoleMeasurement Gocator 3100 Series Gocator Device Files Job Files 180 Element Type Description 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold SurfaceOpening A SurfaceOpening element defines settings for a surface opening tool and one or more of its measurements Element Type Desc
183. le attribute 0 for main and 1 for buddy lt Device role 0 gt Element Type Description X 64f Translation in the X axis mm Y 64f Translation in the Y axis mm Z 64f Translation in the Z axis mm XAngle 64f Rotation about X axis degrees YAngle 64f Rotation about Y axis degrees ZAngle 64f Rotation about Z axis degrees Device Child Elements The rotation counter clockwise in the X Z plane is performed before the translation 196 Protocols The following sections describe the protocols that Gocator sensors support Gocator Protocol This section describes TCP and UDP commands and data formats used by a client computer to communicate with Gocator sensors Network communication enables the client to l Send commands to run sensors provide software triggers read write files etc l Receive data health and diagnostic messages l Upgrade firmware The Concepts section defines network connection types Discovery Control Upgrade Data and Health common data types and other terminologies Subsequent sections provide details about network commands and data formats The Gocator SDK provides open source C language libraries that implement the network commands and data formats defined in this section See Software Development Kit page 255 for more information General Modes A Gocator system can operate in the following modes Mode Description Video Sends raw video
184. led Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Location Thickness measurement only 32s Measurement type 0 Maximum 1 Minimum 2 2D Centroid 3 3D Centroid 4 Average 5 Median VolumeMeasurement SurfaceCsHole A SurfaceCsHole element defines settings for a surface countersunk hole tool and one or more of its measurements Gocator 3100 Series Gocator Device Files Job Files 187 Element Type Description Name String Setting for measurement name Source 32s Setting for source Anchor X String CSV The X measurements IDs used for anchoring Anchor X options String CSV The X measurements IDs available for anchoring Anchor Y String CSV The Y measurements IDs used for anchoring Anchor Y options String CSV The Y measurements IDs available for anchoring Anchor Z String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring NominalBevelAngle 64f Nominal bevel angle mm BevelAngleTolerance 64f Bevel angle tolerance mm NominalOuterRadius 64f Nominal ou
185. lf of the single exposure frame rate The sensor will perform a complete multi exposure scan for each external input The resulting 3D point cloud is a composite created by combing data collected with different exposures To enable multiple exposure 1 Go to the Scan page 2 Expand the Sensor panel by clicking on the panel header or the button 3 Click on the Exposure tab 4 Select Multiple from the Exposure Mode drop down 5 Click the button to add an exposure step Up to a maximum of three exposure settings can be added To remove an exposure select it in the exposure list and click the button 6 Set the exposure level for each exposure to make the Gocator s camera less or more sensitive as required If Acquire Intensity is enabled select the exposure step that is used to capture the intensity output 7 If Acquire Intensity is enabled select the exposure step that is used to capture the intensity output 8 Run the sensor and check that 3D data acquisition is satisfactory If 3D data acquisition is not satisfactory adjust the exposure values manually Switch to Video mode to use video to help tune the exposure see Exposure page 61 for details Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 64 Spacing The Spacing tab lets you configure the spacing interval Spacing Interval Spacing interval is the spacing between data points in resampled data A larger interval
186. lid Reply Gocator 3100 Series Protocols Gocator Protocol 218 A reply status of 996 means that the current configSuration mode sensor type etc does not support simulation A reply status of 992 means that the simulation buffer is empty Note that the buffer can be valid even if the simulation buffer is actually empty due to optimization choices This scenario means that the simulation buffer would be valid if data were recorded Seek Playback The Seek Playback command seeks to any position in the current playback dataset The frame is then sent Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4503 frame 32u 6 Frame index Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4503 status 32s 6 Reply status Reply Step Playback The Step Playback command advances playback by one frame Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4501 direction 32s 6 Define step direction 0 Forward 1 Reverse Command 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 Reply When the system is running in the Replay mode
187. llected since the sensor was started Std The standard deviation of all measurement results collected since the sensor was started Pass Fail The counts of pass or fail decisions that have been generated Invalid The count of frames from which no feature points could be extracted Dashboard Measurement Statistics Gocator 3100 Series Gocator Emulator Downloading a Support File 157 Gocator Emulator The Gocator emulator is a stand alone application that lets you run a virtual sensor In a virtual sensor you can test recordings and jobs and even evaluate new features You can also use a virtual sensor to familiarize yourself with the overall interface rather than taking a physical device off of the production line to do this The Gocator emulator is only supported on Windows 7 and 8 Emulator showing a part in recorded data A measurement is applied to the recorded data The following are the limitations of the emulator l Job files saved in the emulator are not persistent they are lost when you close the emulator However you can keep these jobs by downloading them from the Jobs list on the Manage page see page 36 for more information on saving jobs The job files can then be loaded into the emulator or even onto a physical sensor for final testing l Only one instance can be run at a time Downloading a Support File Virtual sensors are created using a support file ending with a gs extension th
188. mation on wiring serial output to an external device see Serial Output page 283 To exchange results using ASCII messages 1 Go to the Output page 2 Click on Serial in the Output panel 3 Select ASCII in the Protocol option 4 Select the Data Format Select Standard to use the default result format of the ASCII protocol Select value and decision to send by placing a check in the corresponding check box See Standard Result Format page 247 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 Gocator 3100 Series Gocator Web Interface Output 153 format string See Custom Result Format page 248 for the supported format string syntax 5 Select the measurments to send Select measurements by placing a check in the corresponding check box 6 Set the Special Characters Select the delimiter termination and invalid value characters Special characters are used in commands and standard format data results Gocator 3100 Series Gocator Web Interface Dashboard 154 Dashboard The following sections describe the Dashboard page Dashboard Page Overview The Dashboard page summarizes sensor health information and measurement statistics Element Description 1 System Displays sensor state and health information See System Panel below 2 Measurements Displays measurement statistics See M
189. measurement To select a measurement it must be enabled See Enabling and Disabling Measurements page 99 for instructions on how to enable a measurement 6 Click on the Output tab For some measurements only the Output tab is displayed 7 Enter values in the Min and Max fields Filters Filters can be applied to measurement values before they are output from the 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 3100 Series Gocator Web Interface Measurement 104 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 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 To configure the filters 1 Go to the Scan page by clicking on the Scan icon 2 Choose Surface mode in the Scan Mode panel If this mode is not selected tools will not be available
190. ment items to send Measurements shown here correspond to measurements that have been added using the Measure page see page 97 All of the tasks that can be accomplished with the Gocator s web interface creating jobs performing alignment sending data and health information and software triggering etc can be accomplished programmatically by sending Gocator protocol control commands Gocator 3100 Series Gocator Web Interface Output 145 To receive commands and send results using Modbus TCP messages 1 Go to 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 Check the Buffering checkbox if needed Buffering is needed for example in Surface mode if multiple objects are detected within a time frame shorter than the polling rate of the PLC If buffering is enabled with the Modbus protocol the PLC must read the Advance register to advance the queue before reading the measurement results Gocator 3100 Series Gocator Web Interf
191. ment value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 98 for instructions on how to add measurement tools The Z offset reported is the Z position at zero position on the X axis and the Y axis The results of the Plane Angle X and Plane Angle Y measurements can be used to customize the tilt angle in the Hole Opening and Stud tools Gocator 3100 Series Gocator Web Interface Measurement 129 2D View 3D View Measurement Panel Gocator 3100 Series Gocator Web Interface Measurement 130 Measurement Illustration Angle X Determines the X angle of the surface with respect to the alignment target Angle Y Determines the Y angle of the surface with respect to the alignment target Offset Z Determines the z offset of the surface with respect to the alignment target Measurements Parameter Description Decision See Decisions page 102 Region See Regions page 101 Output See Filters page 103 Parameters Position The Position tool reports the X Y or Z position of a part The feature type must be specified and is one of the following Average the mean X Y and Z of the data points Median median X Y and Z of the data points Centroid the centroid of the data considered as a volume with respect to the z 0 plane Min X Max X Min Y Max Y Min Z or Max Z The measurement value can be compared with minimum and ma
192. n 64f Minimum value for invalid current mA CurrentInvalid max 64f Maximum value for invalid current mA DataScaleMin 64f Measurement value corresponding to minimum current DataScaleMax 64f Measurement value corresponding to maximum current Analog Child Elements Gocator 3100 Series Gocator Device Files Job Files 192 Element Type Description Delay 64f Output delay s or mm depending on delay domain defined below DelayDomain 32s Output delay domain 0 Time s 1 Encoder mm Measurement 32u Selected measurement source Measurement options 32u CSV List of available measurement sources 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 Element Type Description Protocol 32s Serial protocol 0 ASCII 1 Selcom Protocol options 32s CSV List of available protocols Selcom Section Described below Ascii Section Described below Measurements 32u CSV Selected measurement sources Measurements options 32u CSV List of available measurement sources Serial Child Elements Selcom Element Type Description Rate 32u Output bit rate Rate options 32u CSV List of available rates Format 32s Output format 0 12 bit 1 12 bit
193. n a system are synchronized with the system clock this value can be used for diagnostic purposes or used to synchronize the start time of the system Gocator 3100 Series Protocols Gocator Protocol 209 Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x100A Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x100A status 32s 6 Reply status timestamp 64u Timestamp in clock ticks Reply Get Encoder This command retrieves the current system encoder value Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x101C Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x101C status 32s 6 Reply status encoder 64s 10 Current encoder position in ticks Reply Reset Encoder The Reset Encoder command is used to reset the current encoder value Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x101E Command 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 Reply S
194. n plate see System Coordinates previous page In the Ethernet data channel only the Z values are reported and the X and Y positions can be reconstructed through the 2D array index at the receiving end the client Resampling reduces the complexity for the algorithms in the Gocator s built in measurement tools allowing them to run on the embedded processors All built in measurement tools in the Gocator operate on resampled data in Surface mode Acquisition Speed The following table provides estimates of the acquisition speed under different field of view resolution intensity and occlusion reduction settings The exposure was set to 2 milliseconds with no measurement tools instantiated Field of View X x Y x MR Resolution mm Speed Hz Acquire Intensity and Reduce Occlusion options disabled 90x160x100 0 5 1 2 90x160x100 0 2 0 8 90x160x100 0 1 0 2 35x35x100 0 5 7 5 35x35x100 0 2 2 7 35x35x100 0 1 1 9 35x35x35 0 5 9 35x35x35 0 2 6 8 35x35x35 0 1 4 0 Gocator 3100 Series Theory of Operation Acquisition Speed 33 34 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 Element Description 1 Manage page Contains settings for sensor system layout network motion and alignment handl
195. n replay data 3 Go to the Model page a Make sure the Enabled option is checked in the Part Matching panel b In the Match Algorithm drop down choose Bounding Box or Ellipse 4 Set Min and Max of both of the dimensions of the selected match algorithm shape taking into account expected acceptable variations l If you chose Bounding Box for the match algorithm select Width and then Length in Match Result set ting the minimum and maximum values acceptable for each dimension l If you chose Ellipse for the match algorithm select Minor and then Major in Match Result setting the minimum and maximum values acceptable for each dimension 5 Save the job by clicking the Save button See Saving and Loading Settings page 36 for more information on saving jobs Running Part Matching To run part matching simply make sure that the Enabled option is checked on the Part Matching panel when the Gocator is running Any measurements that are added and configured on the Measure page will be applied to parts if a part match is accepted regardless of the part s orientation a successfully matched part is rotated to match orientation of the bounding box or ellipse returning a value and decision as long as the part is in range etc If a part match is rejected measurements will return an Invalid value Using Part Matching to Accept or Reject a Part Part matching results only determine whether a measurement is applied to a par
196. n to the Gocator on port 502 Control and data messages are communicated on this TCP connection Up to eight clients can be connected to the Gocator simultaneously A connection will be closed after 10 minutes of inactivity Messages All Modbus TCP messages consist of an MBAP header Modbus Application Protocol a function code and a data payload The MBAP header contains the following fields 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 Modbus Application Protocol Header Gocator 3100 Series Protocols Modbus TCP Protocol 235 Field Length Bytes Description Length 1 Byte count of the rest of the message including the Unit identifier and data fields Unit ID 1 Used for intra system routing purpose The Modbus Client sets the value and the Server Gocator copies the value into its responses Modbus Application Protocol Specification describes the standard function codes in detail Gocator supports the following function codes Function Code Name Data Size bits Description 3 Read Holding Registers 16 Read multiple data values from the sensor 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 Registers
197. nMax 64f Maximum decision threshold RadiusOffset Radius measurement only 64f Radius offset of the stud StudMeasurement SurfaceVolume A SurfaceVolume element defines settings for a surface volume tool and one or more of its measurements Element Type Description Name String Setting for measurement name Source 32s Setting for source Anchor X String CSV The X measurements IDs used for anchoring Anchor X options String CSV The X measurements IDs available for anchoring Anchor Y String CSV The Y measurements IDs used for anchoring Anchor Y options String CSV The Y measurements IDs available for anchoring SurfaceVolume Child Elements Gocator 3100 Series Gocator Device Files Job Files 186 Element Type Description Anchor Z String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring RegionEnabled Boolean Setting to enable disable region Region Region3D Measurement region Measurements Volume VolumeMeasurement Volume measurement Measurements Area VolumeMeasurement Area measurement Measurements Thickness VolumeMeasurement Thickness measurement Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnab
198. nd 3 are the identifiers of measurements that are enabled and available for output The value of the Measurements element that is 2 means that only the measurement with id 2 Hole X will be sent to output Gocator 3100 Series Gocator Device Files Job Files 189 lt SurfaceHole gt lt Measurements gt lt X id 2 gt lt Y id 3 gt lt Output gt lt Ethernet gt lt Measurements options 2 3 gt 2 lt Measurements gt Ethernet The Ethernet element defines settings for Ethernet output Element Type Description Protocol 32s Ethernet protocol 0 Gocator 1 Modbus 2 EtherNet IP 3 ASCII Ascii See ASCII page 193 EIP See EIP Modbus See Modbus Videos 32s CSV Selected video sources 0 Top Videos options 32s CSV List of available video sources see above Surfaces 32s CSV Selected surface sources 0 Top Surfaces options 32s CSV List of available surface sources see above SurfaceIntensities 32s CSV Selected surface intensity sources 0 Top SurfaceIntensities 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 Ethernet Child Elements ASCII Element Type Description Operation 32s Operation mode 0 Asynchronous 1
199. nding on the trigger mode Message Format Command Start start target The start target optional is the time or encoder position at which the sensor will be started The time and encoder target value should be set by adding a delay to the time or encoder position returned by the Stamp command The delay should be set such that it covers the command response time of the Start command Reply OK or ERROR lt Error Message gt Formats Examples 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 Message Format Command Stop Reply OK or ERROR lt Error Message gt Formats 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 page 53 Message Format Command Trigger start target Formats Gocator 3100 Series Protocols ASCII Protocol 250 Message Format The start target optional is the time or encoder position at which the sensor will be star
200. ndler in a GoDataSet object The GoDataSet object is a container that can contain any type of data including scan data surfaces measurements and results from various operations Data inside the GoDataSet object are represented as messages The following illustrates the content of a GoDataSet object of a surface mode setup with two measurements Gocator 3100 Series Software Development Kit 259 After receiving the GoDataSet object you should call GoDestroy to dispose the GoDataSet object You do not need to dispose objects within the GoDataSet object individually All objects that are explicitly created by the user or passed via callbacks should be destroyed by using the GoDestroy function Measurement Values and Decisions Measurement values and decisions are 32 bit signed values k32s See Value Types page 257 for more information on value types The following table lists the decisions that can be returned Decision Description 1 The measurement value is between the maximum and minimum decision values This is a pass decision 0 The measurement value is outside the maximum and minimum This is a fail decision 1 The measurement is invalid for example the target is 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 Measurement Decisions Refer
201. ned integer k64u 64 bit unsigned integer k64f 64 bit floating number kBool Boolean value can be kTRUE or kFALSE kStatus Status value can be kOK or kERROR kIpAddress IP address Output Types The following output types are available in the SDK Data Type Description GoDataMsg Represents a base message sourced from the data channel See GoDataSet Type below for more information GoMeasurementMsg Represents a message containing a set of GoMeasurementData objects GoProfileIntensityMsg Represents a data message containing a set of profile intensity arrays GoProfileMsg Represents a data message containing a set of profile arrays GoRangeIntensityMsg Represents a data message containing a set of range intensity data GoRangeMsg Represents a data message containing a set of range data GoResampledProfileMsg Represents a data message containing a set of resampled profile arrays GoStampMsg Represents a message containing a set of acquisition stamps GoSurfaceIntensityMsg Represents a data message containing a surface intensity array GoSurfaceMsg Represents a data message containing a surface array GoVideoMsg Represents a data message containing a video image Output Data Types Refer to the GoSdkSamples sample code for examples of acquiring data using these data types See Setup and Locations page 255 for more information on the code samples GoDataSet Type Data are passed to the data ha
202. nstruct 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_FindSensorById or GoSystem_FindSensorByIpAddress to get the sensor by ID or by IP address Refer to the Discover example for details on iterating through all sensors Refer to other examples for details on how to get a sensor handle directly from IP address Connect Sensors Sensors are connected by calling GoSensor_Connect You must first get the sensor object by using GoSystem_SensorAt GoSystem_FindSensorById or GoSystem_FindSensorByIpAddress Configure Sensors Some configuration is performed using the GoSensor object such as managing jobs uploading and downloading files scheduling outputs setting alignment reference etc Most configuration is however performed through the GoSetup object for example setting scan mode exposure exposure mode active area speed alignment filtering subsampling etc Surface generation is configured through the GoSurfaceGeneration object and part detection settings are configured through the GoPartDetection object See Class Hierarchy page 256 for information on the different objects used for configuring a sensor Sensors must be connected before they can be configured Refer to the Configure example for details on how to change settings and to switch save or load jobs R
203. nt 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 attributesSize 16u 6 Size of attributes in bytes min 12 current 12 opId 32u 8 Operation ID status 32s 12 Operation status exposure 32s 16 Exposure result ns Gocator 3100 Series Protocols Gocator Protocol 229 Edge Match 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 decision byte 6 Overall match decision xOffset 32s 7 Target x offset in model space m yOffset 32s 11 Target y offset in model space m zAngle 32s 15 Target z rotation in model space microdegrees quality 32s 19 Match quality thousandth qualityDecision byte 24 Quality match decision reserved 2
204. nt16s Two 16 bit signed integers Data Types IP addresses are an exception to the little endian rule The bytes in the address a b c d will always be transmitted in the order a b c d big endian Status Codes Each reply on Discovery page 197 Control page 200 and Upgrade page 222 channels contains a status field containing a status code indicating the result of the command The following status codes are defined Label Value Description OK 1 Command succeeded Failed 0 Command failed Invalid State 1000 Command is not valid in the current state Item Not Found 999 A required item e g file was not found Invalid Command 998 Command is not recognized Invalid Parameter 997 One or more command parameters are incorrect Not Supported 996 The operation is not supported Status Codes Discovery Commands Sensors ship with the following default network configuration Gocator 3100 Series Protocols Gocator Protocol 198 Setting Default DHCP 0 disabled IP Address 192 168 1 10 Subnet Mask 255 255 255 0 Gateway 0 0 0 0 disabled The Get Address and Set Address discovery commands can be used to modify a sensor s network configuration Discovery commands are UDP broadcast messages Destination Address Destination Port 255 255 255 255 3220 When a sensor accepts a discovery command it will send a UDP broadcast response Destination Address Destination P
205. ocator Web Interface Scan Setup and Alignment 75 Video Mode In Video scan mode the data viewer displays a camera image from either of the two cameras in the sensor Exposure View Exposure can be set to Dynamic or Multiple Different exposures can be displayed in the data viewer if more than one exposure has been set For details on setting exposure in the Exposure tab in the Sensor panel see page 61 If the Multiple option is selected in the Exposure tab and multiple exposures have been set a drop down is displayed at the top of the data viewer This drop down lists the exposures that have been added Choosing an exposure changes the view of the data viewer to that exposure If the Single option is selected in the Exposure tab the exposure drop down will not be shown and only one exposure will be displayed Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 76 To select the exposure view of the display 1 Go to the Scan page and choose Video mode in the Scan Mode panel 2 Select the camera view in the data viewer Select Front Camera or Back Camera from the first drop down list next to View at the top of the data viewer 3 Select the exposure Select the exposure from the second drop down list next to View at the top of the data viewer This drop down is only be visible if the Multiple option has been selected To display a color exposure overlay on the video image to help set the cor
206. of jobs is handled in the Jobs panel in the Manage page See Jobs page 45 for more information Gocator 3100 Series Gocator Web Interface User Interface Overview 37 Managing Multiple Settings A Gocator can store several hundred jobs Being able to switch between different jobs is useful when a Gocator is used with different constraints during separate production runs for example width decision constraints might be loose during one production run and tight during another depending on the desired grade of the part Switching active jobs can be done manually through the web interface as described under To activate an existing job in Saving and Loading Settings previous page Switching active jobs can also be done programmatically using the supported industrial protocols Modbus EtherNet IP and ASCII the Gocator s native Ethernet protocol and through the SDK Recording Playback and Measurement Simulation Gocator sensors can record and replay data and can also simulate measurement tools on recorded data This feature is most often used for troubleshooting and fine tuning measurements but can also be helpful during setup Recording and playback are controlled by using the toolbar controls Recording and playback controls when replay is off To record live data 1 Toggle Replay mode off by setting the slider to the left in the Toolbar 2 Press the Record button to enable recording When replay is off and recordin
207. oints from the model to improve matching Models are saved as part of a job Once you have finished modifying the model you can also modify target sensitivity which controls how many edge points are detected on the subsequently scanned targets that will be compared to the model the same edge detection algorithm used for creating models is used to compare a model to a part Typically setting up edge detection to perform part matching involves the following steps Gocator 3100 Series Gocator Web Interface Models and Part Matching 85 1 Scan a reference part you can also use replay data that you have previously saved 2 Create a model based on the scan using either heightmap or intensity data 3 Adjust the model edge detection algorithm sensitivity and selective removal of edge points 4 Scan another part typical of the parts that would need to match the model 5 Adjust the target sensitivity 6 Set match acceptance level Part Matching panel showing Target Matching tab Model Editing tab on Part Matching panel The following settings are used to configure part matching using edge detection Gocator 3100 Series Gocator Web Interface Models and Part Matching 86 Setting Description Match Algorithm Determines which algorithm the sensor will use to attempt a match Set this to Edge for edge detection Image Type Determines what kind of data the Gocator will use to detect edges and therefore
208. on 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 3 Align moving target Start alignment process and also calibrate encoder resolution State Command Register Values Gocator 3100 Series Protocols Modbus TCP Protocol 237 Value Name Description 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 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 Register Address Name Type Description 300 Stopped Running Sensor State 0 Stopped 1 Running 301 Busy Busy State 0 Not busy 1 Busy Registers 302 to 363 below are only valid when the Busy State is not Busy 302 Alignment State Current Alignment State 0 Not aligned 1 Aligned 303 306 Encoder Value 64s Current Encoder value ticks 307 310 Time 64s Current time us 311 Job File Length 16u Number of characters in the current job file name 312 371 Live
209. on Information Surface Heightmap In 2D view displays the pseudo color height map In 3D view overlays the 2D pseudo color height map on the 3D model Surface Grayscale In 2D view displays the grayscale height map In 3D view overlays the grayscale height map on the 3D model Surface Uniform Overlays a uniform shaded surface on the 3D model Only available in 3D view Surface Intensity In 2D view displays the intensity In 3D view overlays the intensity map on the 3D model Acquire Intensity must be checked in the Scan Mode panel 2D viewer with height map overlay 2D viewer with grayscale overlay Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 79 2D viewer with intensity overlay 3D viewer with height map overlay 3D viewer with grayscale overlay 3D viewer with uniform overlay 3D viewer with uniform overlay Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 80 Clicking on the 3D button toggles between the 2D and 3D viewer See Data Viewer Controls page 74 for explanations on the available controls To manually select the display type and the display view in the Scan page 1 Go to the Scan page 2 Select the View options in the data viewer Heightmap Grayscale Uniform or Intensity can be selected from the left drop down list Height Map Color Scale Height maps are displayed in pseudo color The height axis Z is color coded The sc
210. on and output the result using the output function Stamp information such as time and encoder stamps are available in the script whereas the actual 3D point cloud 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 Scripts must be less than 27000 characters long The following elements of the C language are supported 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 Operator Standard C arithmetic operators except ternary operator i e condition trueValue falseValue Explicit casting e g int a int a_float is not supported Function Declarations Standard C function declarations with argument passed by values Pointers are not supported Supported Elements Built in Functions Function Description int Measurement_Exists int id Tests for the existence of a measurement by ID Parameters id Measurement ID Returns Measurement Functions Gocator 3100 Series Gocator Web Interface Measurement 139 Function Description 0 measurement does
211. ontains all of the files from the sensor Gocator 3100 Series Gocator Web Interface System Management and Maintenance 50 To restore from a backup 1 Go to the Manage page and click on the Maintenance category 2 Click the Restore button under Backup and Restore 3 When you are prompted select a backup file to restore The backup file is uploaded and then used to restore the sensor Any files that were on the sensor before the restore operation will be lost To restore a sensor to its factory default settings 1 Go to the Manage page and click on Maintenance 2 Consider making a backup Before proceeding you should perform a backup Restoring to factory defaults cannot be undone 3 Click the Factory Restore button under Factory Restore You will be prompted whether you want to proceed Firmware Upgrade LMI recommends routinely updating firmware to ensure that Gocator sensors always have the latest features and fixes To download the latest firmware 1 Go to the Manage page and click on the Maintenance category 2 Click the Check Updates button in the Firmware section 3 Download the latest firmware If a new version of the firmware is available follow the instructions to download it to the client computer Gocator 3100 Series Gocator Web Interface System Management and Maintenance 51 If the client computer is not connected to the Internet firmware can be downloade
212. ool uses a complex feature locating algorithm to find a hold and then return measurements See Hole Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel The measurement value can be compared with minimum and maximum constraints to yield a decision Gocator 3100 Series Gocator Web Interface Measurement 118 2D View 3D View Gocator 3100 Series Gocator Web Interface Measurement 119 Measurement Panel Measurement Illustration X Determines the X position of the hole center Y Determines the Y position of the hole center Z Determines the Z position of the hole center Radius Determines the radius of the hole Measurements Parameter Description Nominal Radius Expected radius of the hole Radius Tolerance The maximum variation from the nominal radius from the nominal radius Parameters Gocator 3100 Series Gocator Web Interface Measurement 120 Parameter Description Reference Regions The algorithm uses the Reference Regions option to calculate the Z position of the hole It is typically used in cases where the surface around the hole is not flat When this option is set to Autoset the algorithm automatically determines the reference region When the option is not set to Autoset the user manually specifies the reference r
213. opening is not flat Gocator 3100 Series Gocator Web Interface Measurement 127 Parameter Description When the Reference Regions setting is disabled the tool measures the opening s Z position using the all data in the measurement region except for a bounding rectangular region around the opening With one or more reference region the algorithm calculates the Z positions as the average values of the data within the regions When the user places the reference region manually all of the data is used whether the data is inside or outside the opening The user should place the reference region carefully Tilt Correction Tilt of the target with respect to the alignment plane Set to Auto Set to have the tool automatically detect the target s tilt or enter the angles manually Auto Set requires the measurement region to cover more areas on the surface plane than other planes The results from the Plane X and Y tool can be used for angles X and Y parameters Decision See Decisions page 102 Region See Regions page 101 Output See Filters page 103 Gocator 3100 Series Gocator Web Interface Measurement 128 Measurement Region The center and the two sides and ends of the opening must be within the measurement region even if Partial Detection is enabled Plane The Plane tool provides measurements that report angle X angle Y and offset Z of the surface with respect to the alignment target The measure
214. or the major and minor axis lengths of an ellipse fitted to the part s shape in the XY plane and also for the ratio of the major and minor axis lengths and for the orientation angle of the ellipse The measurement value can be compared with minimum and maximum constraints to yield a decision Gocator 3100 Series Gocator Web Interface Measurement 116 See Adding and Removing Tools page 98 for instructions on how to add measurement tools 2D View 3D View Measurement Panel Measurement Illustration Major Determines the major axis length of an ellipse fitted to the part s area in the XY plane Measurements Gocator 3100 Series Gocator Web Interface Measurement 117 Measurement Illustration Minor Determines the minor axis length of an ellipse fitted to the part s area in the XY plane Ratio Determines the minor major axis ratio of an ellipse fitted to the part s area in the XY plane Z Angle Determines the orientation angle of an ellipse fitted to the part s area in the XY plane Parameter Description Decision See Decisions page 102 Region See Regions page 101 Output See Filters page 103 Parameters Hole The Hole tool locates a circular opening within a region of interest on the surface and returns its position and radius See Adding and Removing Tools page 98 for instructions on how to add measurement tools The hole can be on a surface at an angle to the sensor The t
215. ort 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 Field Type Offset Description length 64u 0 Command length type 64s 8 Command type 0x1 signature 64u 16 Message signature 0x0000504455494D4C deviceId 64u 24 Serial number of the device whose address information is queried 0 selects all devices Command 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 0x0000504455494D4C deviceId 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 Reply Gocator 3100 Series Protocols Gocator Protocol 199 Field Type Offset Description reserved 4 byte 56 Reserved subnetMask 4 byte 60 The subnet mask in left to right order reserved 4 byte 64 Reserved gateway 4 byte 68 The gateway address in left to right order reserved 4 byte 72 Reserved reserved 4 byte 76 Reserved Set Address The Se
216. ou can adjust a model s sensitivity you can adjust the target sensitivity that is the threshold at which edge points are detected on the heightmaps or intensity images of parts that you want to match to the model Adjusting the target sensitivity is useful to exclude noise improving part matching To change target senstivity 1 Click the Target Matching tab 2 Adjust the Target Sensitivity setting to exclude noise in order to properly detect the distinguishing features that will allow parts to match Gocator 3100 Series Gocator Web Interface Models and Part Matching 93 You can also set the sensitivity value manually in the provided text box Setting the Match Acceptance Criteria In order for a part to match a model the match quality must reach the minimum set in the Min field in Acceptance Criteria section of the Part Matching panel Part accepted Quality result is greater than Min Running Part Matching To run part matching simply make sure that the Enabled option is checked on the Part Matching panel when the Gocator is running Any measurements that are added and configured on the Measure page will be applied to parts if a part match is accepted regardless of the part s orientation a successfully matched part is rotated to match orientation of the model returning a value and decision as long as the part is in range etc If a part match is rejected measurements will return an Invalid value Using Bounding
217. ovides sensor power and safety interlock and broadcasts system wide synchronization information i e time encoder count encoder index and digital I O states to all devices on a sensor network Function Pin 48VDC 1 48VDC 2 GND 48VDC 3 GND 48VDC 4 Safety Control 5 Safety Control 6 Power and Safety 6 pin connector The 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected The Safety Control requires a voltage differential 12VDC to 48VDC across the pin to enable the laser Function Pin Input 1 1 Input 1 GND 2 Reserved 3 Reserved 4 Digital Input 16 pin connector Gocator 3100 Series Specifications Master 1200 2400 291 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 Function Pin Encoder_A 1 Encoder_A 2 Encoder_B 3 Encoder_B 4 Encoder_Z 5 Encoder_Z 6 GND 7 5VDC 8 Encoder 8 pin connector Master 1200 2400 Electrical Specifications Master 1200 2400 Power Supply Voltage 48VDC Power Supply current Max 10A Power Draw Min 15W Safety Voltage 12 to 48VDC Encoder signal voltage range RS485 Differential Digital input voltage range Logical LOW 0 VDC to 0 1VDC Logical HIGH 3 5 VDC to 6 5VDC El
218. page by clicking on the Scan icon 2 Choose Surface mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 3 Go to the Measure page by clicking on the Measure icon 4 In the tool list double click on the tool name you want to change 5 Type a new name in the ID field 6 Press the Tab or Enter key or click outside the name edit field The name will be changed To change a measurement name 1 Go to the Scan page by clicking on the Scan icon 2 Choose Surface mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 3 Go to the Measure page by clicking on the Measure icon 4 In the measurement list double click on the measurement name you want to change Gocator 3100 Series Gocator Web Interface Measurement 101 5 Type a new name in the ID field 6 Press the Tab or Enter key or Click outside of the name edit field The name change will be changed Changing a Measurement ID The measurement ID is used to uniquely identify a measurement in the Gocator protocol or in the SDK The value must be unique among all measurements To edit a measurement ID 1 Go to the Scan page by clicking on the Scan icon 2 Choose Surface mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 3 Go to the Measure page by clicking on the M
219. ple 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 of the emulated Gocator sensor See Active Area page 58 for more information on 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 page 61 for more information on exposure To adjust active area in the emulator Replay Protection must be turned off See Using Replay Protection previous page for more information Saving changes to active area causes replay data to be flushed 162 Gocator Device Files This section describes the device files found on a Gocator Job Files Job files which reside in a Gocator s internal storage contain settings that control system behavior when a sensor is running If Alignment Reference is set to Dynamic a job file will also contain transformation settings Elements in job files contain three types of values settings constraints and properties Settings are input values that can be edited Constraints are read only limits that define the valid values for settings Properties are read only values that provide supplemental information related to sensor setup When a job file is received from a sensor it will contain settings constraints and properties When a job file is sent to a sensor any constraints or properties in
220. ption length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4510 status 32s 6 Reply status Reply Schedule Digital Output The Schedule Digital Output command schedules a digital output event The digital output must be configured to accept software scheduled commands and be in the Running state See Digital Output page 147 for information on setting up the digital output Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4518 index 16u 6 Index of the output starts from 0 target 64s 8 Specifies the time clock ticks or position um of when the event should happen The target value is ignored if the Signal setting in Digital in the Output panel is not set to Scheduled The output will be triggered immediately See Digital Output page 147 for information on setting Signal value 8u 16 Specifies the target state 0 Set to low continuous 1 Set to high continuous Ignored if output type is pulsed Command 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 Reply 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 Runnin
221. r resolution calibration Disk Section See Disk next page Bar Section See Bar next page Plate Section See Plate next page Alignment Child Elements Gocator 3100 Series Gocator Device Files Job Files 165 Disk Element Type Description Diameter 64f Disk diameter mm Height 64f Disk height mm Disk Child Elements Bar 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 Bar Child Elements Plate 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 Plate Child Elements Devices Device Element Type Description role 32s Sensor role 0 Main DataSource 32s Data source of device output read only 0 Top ActiveArea Region3D Active area Contains min and max attributes for each element TransformedDataRegion Region3D Active area after transformation read only PatternSequenceType 32s G3 projection sequence for video mode 0 Normal 100 Nine Lines PatternSequenceType optio ns 32s CSV List of available projection sequences Devices Device Child Elements Gocator 3100 Series Gocator Device Files
222. racters 247 Standard Result Format 247 Custom Result Format 248 Control Commands 248 Start 249 Stop 249 Trigger 249 Load Job 250 Stamp 250 Stationary Alignment 251 Clear Alignment 251 Data Commands 251 Get Result 251 Get Value 252 Get Decision 253 Health Commands 254 Get Health 254 Software Development Kit 255 Setup and Locations 255 Class Reference 255 Gocator 3100 Series 7 Examples 255 Sample Project Environment Variable 256 Header Files 256 Class Hierarchy 256 GoSystem 256 GoSensor 257 GoSetup 257 GoLayout 257 GoTools 257 GoTransform 257 GoOutput 257 Data Types 257 Value Types 257 Output Types 258 GoDataSet Type 258 Measurement Values and Decisions 259 Operation Workflow 259 Initialize GoSdk API Object 260 Discover Sensors 261 Connect Sensors 261 Configure Sensors 261 Enable Data Channels 261 Perform Operations 261 Limiting Flash Memory Write Operations 263 Tools and Native Drivers 264 Sensor Recovery Tool 264 GenTL Driver 266 16 bit RGB Image 267 16 bit Grey Scale Image 268 Registers 269 XML Settings File 271 CSV Converter Tool 271 Troubleshooting 273 Specifications 275 Gocator 3100 Series 275 Gocator 3110 277 Gocator Power LAN Connector 279 Grounding Shield 279 Power 280 Safety Input 280 Gocator 3100 I O Connector 281 Ground
223. re resolution spacing interval etc For parameters that are independently controlled for Main and Buddy sensors functions accept a role parameter GoLayout The GoLayout class represents layout related sensor configuration GoTools The GoTools class is the base class of the measurement tools The class provides functions for getting and setting names retrieving measurement counts etc GoTransform The GoTransform class represents a sensor transformation and provides functions to get and set transformation information as well as encoder related information GoOutput 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 Value Types GoSDK is built on a set of basic data structures utilities and functions which are contained in the kApi library The following basic value types are used by the kApi library Type Description k8u 8 bit unsigned integer k16u 16 bit unsigned integer k16s 16 bit signed integer Value Data Types Gocator 3100 Series Software Development Kit 258 Type Description k32u 32 bit unsigned integer k32s 32 bit signed integer k64s 64 bit sig
224. re read only Register Address Name Read Write Description 0 124 Control Registers WO Registers for Modbus commands See Control Registers below for detailed descriptions 300 371 Sensor States RO Report sensor states See State next page for detailed descriptions 900 999 Stamps RO Return stamps associated with each surface See State next page for detailed descriptions 1000 1060 Measurements amp Decisions RO 20 measurement and decision pairs See Measurement Registers page 238 for detailed descriptions Register Map Overview Control Registers Control registers are used to operate the sensor Register 0 stores the command to be executed Registers 1 to 21 contain parameters for the commands The Gocator executes a command when the value in Register 0 is changed To set the parameters before a command is executed you should set up the parameters and the command using a single Multiple Write register command Register Address Name Read Write Description 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 Control Register Map The values used for the Command Register are described below Value Name Descripti
225. rect exposure check Exposure Indication at the top of the data viewer Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 77 Exposure Indication uses the following colors n Blue Indicates background pixels ignored by the sensor n Red Indicates saturated pixels Correct tuning of exposure depends on the reflective properties of the target material and on the requirements of the application Settings should be carefully evaluated for each application The Gocator 3100 cannot generate 3D points in over saturated areas indicated with red or in under exposed areas indicated with blue If it s not possible to set a single exposure to capture the entire object target without red areas appearing in the image the Multiple exposure feature should be enabled Use the drop down selection box to view each exposure and tune one high exposure for dark areas on the target and one low exposure for bright areas on the target Note that multiple exposures reduce the maximum speed the sensor can run at Surface Mode When the Gocator is in Surface scan mode the data viewer can display height maps and intensity images You can select the data to display from the View drop down Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 78 Clicking on the 3D button displays Surface data in the 3D viewer The 3D model is overlaid with the information that corresponds to the selected View option View Opti
226. rent frame unsigned int Stamp_Inputs Gets the digital input state of the current frame Stamp Functions Function Description float sqrt float x Calculates square root of x float sin float x Calculates sin x x in radians float cos float x Calculates cos x x in radians float tan float x Calculates tan x x in radians float asin float x Calculates asin x x in radians float acos float x Calculates acos x x in radians float atan float x Calculates atan x x in radians float pow float x float y Calculates the exponential value x is the base y is the exponent float fabs float x Calculates the absolute value of x Math Functions Example The following example shows how to create a custom measurement that is based on the values from other measurements The example calculates the 3 Dimensional Euclidean distance between the center Gocator 3100 Series Gocator Web Interface Measurement 142 of a hole and the center of the base of a nearby stud then checks decision limits on this metric before sending the output Calculate the 3 Dimensional Euclidean distance between two points in 3D space Retrieve 3D coordinate from Hole X Y and Z tools assumes these tools have been configured as ID 0 ID 1 and ID 2 respectively double HoleX Measurement_Value 0 double HoleY Measurement_Value 1 double HoleZ Measurement_Value 2 Retrieve 3D coordinate from Stud
227. ring gt ERROR lt Error Message gt If arguments are specified OK lt data string in standard format gt ERROR lt Error Message gt Formats Examples Standard data string for measurements ID 0 and 1 Result 0 1 OK M00 00 V151290 D0 M01 01 V18520 D0 Standard formatted measurement data with a non existent measurement of ID 2 Result 2 ERROR Specified measurement ID not found Please verify your input Custom formatted data string time value 0 decision 0 Result OK 1420266101 151290 0 Get Value The Get Value command retrieves measurement values Message Format Command Value measurement ID measurement ID Reply If no arguments are specified the custom format data string is used OK lt custom data string gt ERROR lt Error Message gt If arguments are specified OK lt data string in standard format except that the decisions are not sent gt ERROR lt Error Message gt Formats Examples Standard data string for measurements ID 0 and 1 Value 0 1 Gocator 3100 Series Protocols ASCII Protocol 253 OK M00 00 V151290 M01 01 V18520 Standard formatted measurement data with a non existent measurement of ID 2 Value 2 ERROR Specified measurement ID not found Please verify your input Custom formatted data string time value 0 Value OK 1420266101 151290 Get Decision The Get Decision command retrieves measurement decisions Message
228. ription Name String Setting for measurement name Source 32s Setting for source Anchor X String CSV The X measurements IDs used for anchoring Anchor X options String CSV The X measurements IDs available for anchoring Anchor Y String CSV The Y measurements IDs used for anchoring Anchor Y options String CSV The Y measurements IDs available for anchoring Anchor Z String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring Type 32s Type of the opening 0 Rounded 1 Slot NominalWidth 64f Nominal width mm NominalLength 64f Nominal length mm NominalAngle 64f Nominal angle degrees NominalRadius 64f Nominal radius mm WidthTolerance 64f Radius tolerance mm LengthTolerance 64f Length tolerance mm AngleTolerance 64f Angle tolerance degrees PartialDetectionEnabled Boolean Setting to enable disable partial detection 0 Disable 1 Enable RegionEnabled Boolean Setting to enable disable region SurfaceOpening Child Elements Gocator 3100 Series Gocator Device Files Job Files 181 Element Type Description 0 Disable 1 Enable Region Region3D Measurement region RefRegionsEnabled Boolean Setting to enable disable reference regions 0 Disable 1 Enable RefRegionCount 32s Count of the reference regions that are to be us
229. river will resample the height map so that the pixel spacing is the same in the X and Y axis 296 EncoderValue0 RO 4 Report the current encoder value least significant 32 bit The current encoder value is latched from the sensor when this register is read 300 EncoderValue1 RO 4 Report the current encoder value most significant 32 bit The encoder value is latched when EncoderValue0 register is read User should read EncoderValue0 before reading EncoderValue1 304 Configuration File RW 16 Read the name of sensor live configuration file or switch write the sensor configuration file The configuration name is NULL terminated and includes the extension job Writing to this register causes the sensor to switch to the specified configuration 320 Transformatio n X offset RO 4 Return the sensor transformation X offset 324 Transformatio n Z offset RO 4 Return the sensor transformation Z offset 328 Transformatio n Angle RO 4 Return the sensor transformation angle 332 Transformatio n Orientation RO 4 Return the sensor transformation orientation 336 Clearance distance RO 4 Return the sensor clearance distance Register Map Overview Gocator 3100 Series Tools and Native Drivers CSV Converter Tool 271 XML Settings File The settings file Go2GenTL xml resides in the same directory as the Gocator GenTL driver Users can set the resampl
230. rning a value and decision as long as the part is in range etc If a part match is rejected measurements will return an Invalid value Creating a Model Gocator creates a model by running an edge detection algorithm on the heightmap or intensity image of a scan The algorithm is run when a model is first created and whenever the Model Sensitivity setting is changed To create a model 1 Go to the Scan page a In the Scan Mode panel choose Surface You must choose Surface in order to scan a part Furthermore the Model page is only displayed in Surface mode b If you want to use intensity data to create the model make sure Acquire Intensity is checked c In the Part Detection panel choose Part for the Frame of Reference Part matching is only available when Part has been selected 2 Do one of the following l Scan a reference part See Scan Setup and Alignment page 52 for more information on setting up and aligning Gocator See Running a Standalone Sensor System page 22 for more information on running a system to scan a part l Locate some previously recorded replay data and load it See Recording Playback and Measurement Sim ulation page 37 and Downloading Exporting and Uploading Recorded Data page 38 for more inform ation on replay data Gocator 3100 Series Gocator Web Interface Models and Part Matching 88 3 Go to the Model page a Make sure the Enabled option is checked in the
231. s to calculate the base plane of the stud Reference regions are relative to the base of the stud Tilt Correction Tilt of the target with respect to the alignment plane Set to Auto Set to have the tool automatically detect the tilt or enter the angles manually Auto Set requires the measurement region to cover more areas on the surface plane than other planes The results from the Plane X and Y tool can be used for angles X and Y parameters Decision See Decisions page 102 Region See Regions page 101 Output See Filters page 103 Parameters Measurement Region The tip and the side of the stud must be within the measurement region Volume The Volume tool determines the volume area and thickness of a part The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 98 for instructions on how to add measurement tools 2D View 3D View Gocator 3100 Series Gocator Web Interface Measurement 136 Measurement Panel Measurement Illustration Volume Measures volume in XYZ space Area Measures area in the XY plane Measurements Gocator 3100 Series Gocator Web Interface Measurement 137 Measurement Illustration Thickness Measures thickness height of a part Parameter Description Location Thickness measurement only One of the following maximum height minimum height average height median height t
232. sed address 4 byte 11 IP address most significant byte first subnetMask 4 byte 15 Subnet mask gateway 4 byte 19 Gateway address Set Address The Set Address command modifies the network configuration of a Gocator sensor On receiving the command the Gocator will perform a reset You should wait 30 seconds before re connecting to the Gocator Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x3013 dhcpEnabled byte 6 0 DHCP not used 1 DHCP used address 4 byte 7 IP address most significant byte first subnetMask 4 byte 11 Subnet mask gateway 4 byte 15 Gateway address Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x3013 status 32s 8 Reply status Reply 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 firmware by sending the Start Upgrade command see page 223 Firmware upgrade files are available from the downloads section under the support tab on the LMI web site See Firmware Upgrade page 50 for more information on obtaining the latest firmware Every Gocator sensor contains factory backup firmware I
233. sed for sensor communication via 1000 Mbit s Ethernet with a standard RJ45 connector The Master version of the Power amp Ethernet cordset provides direct connection between the sensor and a Master 400 800 1200 2400 The Gocator 3100 I O cordset provides digital I O connections an encoder interface RS 485 serial connection and an analog output If you use a Master 100 with a Gocator 3100 series sensor you must use the latest version of the Master 100 with a metal shielded Master Power Port and a Power amp Ethernet cordset with a metal shielded Power Sync RJ45 plug Gocator 3100 Series Getting Started Hardware Overview 14 The maximum cordset length is 60 m See Gocator 3100 I O Connector page 281 and See Gocator Power LAN Connector page 279 for pinout details See Parts and Accessories page 293 for cordset lengths and part numbers Contact LMI for information on creating cordsets with customized lengths and connector orientations Master 100 The Master 100 is used by the Gocator 3100 series for standalone system setup Item Description Master Ethernet Port Connects to the RJ45 connector labeled Ethernet on the Power LAN to Master cordset Master Power Port Connects to the RJ45 connector labeled Power Sync on the Power LAN to Master cordset Provides power and laser safety to the Gocator Sensor I O Port Connects to the Gocator I O cordset Master Host Port Connects to the host PC s Ethernet port Po
234. size including this field in bytes id 16u 4 Command identifier 0x4523 source 32s 6 Source 0 Live 1 Replay buffer Command Gocator 3100 Series Protocols Gocator Protocol 217 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 Reply Get Playback Source The Get Playback Source command gets the data source for data acquisition Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4524 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4524 status 32s 6 Reply status source 32s 10 Source 0 Live 1 Replay buffer Reply Simulate The Simulate command simulates the last frame if playback source is live or the current frame if playback source is the replay buffer Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4522 source 32s 6 Source 0 Live 1 Replay buffer Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4522 status 32s 6 Reply status bufferValid 8u 10 Whether or not the buffer is va
235. ssing latency reported in the dashboard and in the health messages The unit of the delay is configured in the trigger panel See Triggers page 53 for details The analog output takes about 75 us to reach 90 of the target value for a maximum change then another 40 us to settle completely To respond to software scheduled commands 1 Go to the Output page 2 Click on Analog in the Output panel 3 Set Trigger Event to Software Gocator 3100 Series Gocator Web Interface Output 152 4 Specify if the output is immediate or scheduled An analog output value becomes active immediately or scheduled Immediate output becomes active as soon as a Scheduled Analog Output command see page 212 is received Software scheduled command can schedule an analog value to output at a specified future time or encoder value or changes its state immediately The Delay setting in the panel is ignored Commands that schedule event in the past will be ignored An encoder value is in future if the value will be reached by moving in the forward direction the direction that encoder calibration was performed in Serial Output The Gocator s web interface can be used to select measurements to be transmitted via RS 485 serial output Each sensor has one serial output channel The ASCII protocol outputs data asynchronously using a single serial port See ASCII Protocol page 246 for the ASCII Protocol parameters and data formats For infor
236. stud axis and the top of the stud the base is the intersection of the stud axis and the surrounding plane The stud shape is defined by the tip height and base height The base and tip heights specify where the shaft with the nominal radius begins and ends Gocator 3100 Series Gocator Web Interface Measurement 133 2D View 3D View Gocator 3100 Series Gocator Web Interface Measurement 134 Measurement Panel Measurement Illustration Tip X Determines the X position of the stud tip Tip Y Determines the Y position of the stud tip Tip Z Determines the Z position of the stud tip Base X Determines the X position of the stud base Base Y Determines the Y position of the stud base Base Z Determines the Z position of the stud base Radius Determines the radius of the stud Measurements Gocator 3100 Series Gocator Web Interface Measurement 135 Parameter Description Nominal Stud Radius Expected radius of the stud Nominal Stud Length Expected length of the stud Base Height The height above the base surface that will be ignored when the truncated cone is fit to the stud data Tip Height The height from the top of the surface that will be ignored when the truncated cone is fit to the stud data Radius Offset Radius measurement only The distance from the tip of the stud from which the radius is measured Reference Regions The algorithm uses reference region
237. sults 6 Specify Current Range and Invalid current values The values specified here determine the minimum and maximum current values in milliamperes If Invalid is checked the current value specified with the slider is used when a measurement value is not valid If Invalid is not checked the output holds the last value when a measurement value is not valid 7 Specify if the output is immediate or scheduled An analog output can become active immediately or scheduled Check the Scheduled option if the output needs to be scheduled A scheduled output becomes active after a specified delay from the start of Gocator exposure A scheduled output can be used to track the decisions for multiple objects as these objects travel from the sensor to the eject gates The delay specifies the distance from the sensor to the eject gates An Immediate output becomes active as soon as the measurement results are available The output activates after the Gocator finishes processing the data As a result the time between the start of Gocator exposure and output activates depends on the processing latency The latency is reported in the dashboard and in the health messages 8 Specify a delay The delay specifies the time or spatial location between the start of Gocator exposure and the output becomes active The delay should be larger than the time needed to process the data inside the Gocator It should be set to a value that is larger than the proce
238. surement 107 Measurement Tools Bounding Box The Bounding Box tool provides measurements related to the smallest rectangle box that encapsulates the part for example X position Y position width length etc The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 98 for instructions on how to add measurement tools A bounding box can be vertical or rotated A vertical bounding box provides the absolute position from which the Position centroids tools are referenced 2D View 3D View Gocator 3100 Series Gocator Web Interface Measurement 108 Measurement Panel Measurement Illustration X Determines the X position of the center of the smallest rectangle that encapsulates the part The value returned is relative to the part Y Determines the Y position of the center of the smallest rectangle that encapsulates the part The value returned is relative to the part Z Determines the Z position of the center of the smallest rectangle that encapsulates the part The value returned is relative to the part Measurements Gocator 3100 Series Gocator Web Interface Measurement 109 Measurement Illustration Width Determines the width of the smallest rectangle box that encapsulates the part The width reports the dimension of the box in the direction of the minor axis When rotation is enabled the bounding box is rotat
239. t Identity Object Class 0x01 Attribute Name Type Value Description Access 1 Vendor ID UINT 1256 ODVA Provided Vendor ID Get 2 Device Type UINT 43 Device Type Get 3 Product Code UINT 2000 Product Code Get 4 Revision USINT USINT x x Byte 0 Major Revision Byte 1 Minor Revision Get 6 Serial number UDINT 32 bit value Sensor serial number Get 7 Product Name SHORT STRING 32 Gocator Gocator Product Name Get Gocator 3100 Series Protocols EtherNet IP Protocol 241 TCP IP Object Class 0xF5 The TCP IP Object contains read only network configuration attributes such as IP Address TCP IP configuration via Ethernet IP is not supported See Volume 2 Chapter 5 3 of the CIP Specification for a complete listing of TCP IP object attributes Attribut e Name Type Value Description Access 1 Status UDINT 0 TCP interface status Get 2 Configuration Capability UINT 0 Get 3 Configuration Control UINT 0 Product Code Get 4 Physical Link Object Structure See description See 5 3 3 2 4 of CIP Specification Volume 2 Path size UINT Path Padded EPATH Get 5 Interface Configuration Structure See description See 5 3 3 2 5 of CIP Specification Volume 2 IP Address UDINT Network Mask UDINT Gateway Address UDINT Name Server UDINT Secondary Name UDINT Domain Name UDINT Get Etherne
240. t Whether the measurement returns a pass or fail value its decision depends on whether the measurement s value is between the Min and Max values set for the measurement This decision in addition to the actual value can in turn be used to control a PLC for example The part matching decision itself is not passed to the Gocator output but you can simulate this by setting up a measurement that will always pass if it is applied For example you could set up a Position Z measurement choosing Max Z as the feature type and setting the Min and Max values to the measurement range of the sensor This way as long as a part matches and the target is in range etc the measurement will pass This measurement decision which is passed to the Gocator s output could in turn be used to control a PLC Gocator 3100 Series Gocator Web Interface Measurement 97 Measurement The following sections describe the Gocator s tools and measurements Measure Page Overview Measurement tools are added and configured using the Measure page The content of the Tools panel in the Measure page depends on the current scan mode In Surface mode the Measure page displays tools for surface measurement In Video mode tools are not accessible Element Description 1 Tools panel Used to add manage and configure tools and measurements see next page and to choose anchors see page 104 2 Data Viewer Displays surface data sets up tools and d
241. t automatically advances the buffer See See Ethernet Output page 144 for information on the Output panel Gocator 3100 Series Protocols ASCII Protocol 246 ASCII Protocol This section describes the ASCII protocol available over the Ethernet and serial outputs The protocol communicates using ASCII strings The output result format from the sensor is user configurable Ethernet Communication Gocator s Ethernet communication is bidirectional Measurement results are sent on the Ethernet output in one of two modes Polling or Asynchronous The ASCII protocol over Ethernet enables the client to l Switch to a different job l Align run and trigger sensors l Receive sensor states health indicators stamps and measurement results As with the Gocator Protocol see page 196 there are separate channels for Control Data and Health messages The Control channel is used for commands The Data channel is used to receive and poll for measurement results The Health channel is used to receive health indicators The port number used for each channel is configurable Each port can accept multiple connections up to a total of 16 connections for all ports Channels can share the same port or operate on individual ports The default port number is 8190 for all channels The following port numbers are reserved for Gocator internal use 80 843 2000 2100 2500 2600 3100 3250 Asynchronous and Polling Operation On the Ethernet
242. t 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 Field Type Offset Description length 64u 0 Command length type 64s 8 Command type 0x2 status 64s 16 1 OK 0 Error signature 64u 24 Message signature 0x0000504455494D4C deviceId 64u 32 Serial number of the device whose address information is queried 0 selects all devices dhcpEnabled 64u 40 0 Disabled 1 Enabled reserved 4 byte 48 Reserved address 4 byte 52 The IP address in left to right order reserved 4 byte 56 Reserved subnetMask 4 byte 60 The subnet mask in left to right order reserved 4 byte 64 Reserved gateway 4 byte 68 The gateway address in left to right order reserved 4 byte 72 Reserved reserved 4 byte 76 Reserved Command Field Type Offset Description length 64u 0 Reply length type 64s 8 Reply type 0x1002 status 64s 16 Operation status signature 64u 24 Message signature 0x0000504455494D4C deviceId 64u 32 Serial number Reply Gocator 3100 Series Protocols Gocator Protocol 200 Control Commands A client can send commands and receive responses over the Control and Upgrade TCP channels Channel Port Description Control 3190 Sensor accepts commands for most operations
243. t 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 l Switch to a different active job l Align and run sensors l Receive sensor states stamps and measurement results EtherNet IP is enabled in the Output panel For more information see Ethernet Output page 144 Concepts To EtherNet IP enabled devices on the network the sensor information is seen as a collection of objects which have attributes that can be queried For example an assembly object is a type of object with a data attribute that can be accessed with the GetAttribute and SetAttribute commands The Gocator uses assembly objects to take commands and provide sensor state and measurement values The PLC sends a command to start a Gocator The PLC then periodically queries the attributes of the assembly objects for its latest measurement results In EtherNet IP terminology the PLC is a scanner and the Gocator is an adapter The Gocator supports unconnected or connected explicit messaging with TCP Implicit I O messaging is not supported The default EtherNet IP ports are used Port 44818 is used for TCP connections and UDP queries e g list Identity requests Port 2222 for UDP I O Messaging is not supported Basic Objec
244. t Link Object Class 0xF6 The Ethernet Link Object contains read only attributes such as MAC Address Attribute 3 See Volume 2 Chapter 5 4 of the CIP Specification for a complete listing of Ethernet Link object attributes Attribute Name Type Value Description Access 1 Interface Speed UDINT 1000 Ethernet interface data rate mbps Get 2 Interface Flags UDINT See 5 4 3 2 1 of CIP Specification Volume 2 Bit 0 Link Status 0 Inactive 1 Active Bit 1 Duplex 0 Half Duplex 1 Full Duplex Get 3 Physical Address Array of 6 USINTs MAC Address for example 00 16 20 00 2E 42 Get Assembly Object Class 0x04 The Gocator Ethernet IP object model includes the following assembly objects Command Sensor State and Sample State Gocator 3100 Series Protocols EtherNet IP Protocol 242 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 Information Value Class 0x4 Instance 0x310 Attribute Number 3 Length 32 bytes Supported Service 0x10 Write Single Attribute Command Assembly Attributes 1 and 2 are not implemented as they are not required for the static assembly object Attribute Name Type Value Description Access 3 Command Byte
245. ta asynchronously GoSystem_SetDataHandler system onData amp contextPointer Retrieve setup handle setup GoSensor_Setup sensor Reconfigure system to use time based triggering GoSetup_SetTriggerSource setup GO_TRIGGER_TIME Send the system a Start command GoSystem_Start system Data will now be streaming into the application Data can be received and processed asynchronously if a callback function has been set recommended Data can also be received and processed synchronously with the blocking call GoSystem_ReceiveData system amp dataset RECEIVE_TIMEOUT Send the system a Stop command GoSystem_Stop system Free the system object GoDestroy system Free the GoSdk library GoDestroy api Gocator 3100 Series Software Development Kit 263 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 Power loss during flash memory write operation will also cause Gocators to enter rescue mode This topic applies to all Gocator sensors Name Description GoSensor_Restore Restores a backup of sensor files GoSensor_RestoreDefaults Restores factory default settings GoSensor_Copy
246. ta from an imaging device Gocator provides a GenTL driver that allows GenTL compliant third party software e g Halcon and Common Vision Blox to acquire and process 3D point clouds and intensity generated from the Gocator s Surface mode in real time You can get the tool package containing the driver from the downloads area on the LMI Technologies website at http lmi3d com support downloads After downloading the tool package 14405 x x x x_SOFTWARE_GO_Tools zip unzip the file The driver is found under the GenTL x86 directory To install the driver in Windows 7 1 Open the Control panel 2 Select System and Security and then click System 3 Click Advanced System Settings The Advanced System Settings link is typically in the left column of the window 4 For 32 bit systems click New to create a system environment variable GENICAM_GENTL32_PATH and point it to the GenTL x86 directory If the system environment variable already exists click Edit 5 For 64 bit systems click New to create a system environment variable GENICAM_GENTL64_PATH and point it to the GenTL x64 directory If the system environment variable already exists click Edit To work with the Gocator GenTL driver the Gocator must operate in Surface mode with its part output enabled in the Ethernet Output Panel Check Acquire Intensity and enable intensity output in the Ethernet panel in the Output page if intensity data is required Gocator 310
247. tart The Start command starts the sensor system system enters the Running state Gocator 3100 Series Protocols Gocator Protocol 210 Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x100D reserved 64s Reserved field set to 0 Command 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 Reply Scheduled Start The scheduled start command starts the sensor system system enters the Running state at target time or encoder value depending on the trigger mode Field Type Description length 64s Command size in bytes id 64s Command identifier 0x100F target 64s Target scheduled start value in ticks or microseconds depending on the trigger type Command Field Type Description length 64s Reply size in bytes id 64s Reply identifier 0x101D status 64s Reply status Reply Stop The Stop command stops the sensor system system enters the Ready state Field Type Type Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x1001 Command 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 R
248. ted The time and encoder target value should be set by adding a delay to the time or encoder position returned by the Stamp command The delay should be set such that it covers the command response time of the Start command Reply OK or ERROR lt Error Message gt Examples Command Trigger Reply OK Command Trigger 1000000 Reply OK Load Job The Load Job command switches the active sensor configuration Message Format Command LoadJob job file name If the job file name is not specified the command returns the current job name An error message is generated if there is no job loaded job is appended if the filename does not have an extension Reply OK or ERROR lt Error Message gt Formats Examples Command LoadJob test job Reply OK test job loaded successfully Command LoadJob Reply OK test job Command 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 Message Format Command Stamp time encoder frame If no parameters are given time encoder and frame will be returned There could be more than one selection Reply If no arguments are specified OK time lt time value gt encoder lt encoder position gt frame lt frame count gt ERROR lt Error Message gt If arguments are specified only the selected stamps will be returned Formats
249. ter radius mm OuterRadiusTolerance 64f Outer radius tolerance mm NominalInnerRadius 64f Nominal inner radius mm InnerRadiusTolerance 64f Inner radius tolerance mm BevelRadiusOffset 64f Bevel radus offset mm PartialDetectionEnabled Boolean Setting to enable disable partial detection 0 Disable 1 Enable RegionEnabled Boolean Setting to enable disable region 0 Disable 1 Enable Region Region3D Measurement region RefRegionsEnabled Boolean Setting to enable disable reference regions 0 Disable 1 Enable RefRegionCount 32s Count of the reference regions which are to be used RefRegions Collection Reference regions Contains 2 SurfaceRegion2D elements AutoTiltEnabled Boolean Setting to enable disable tilt correction 0 Disable 1 Enable TiltXAngle 64f Setting for manual tilt correction angle X TiltYAngle 64f Setting for manual tilt correction angle Y CurveFitEnabled Boolean Setting to enable disable curve fitting 0 Disable 1 Enable CurveOrientation 64f Setting for curve orientation angle SurfaceCsHole Child Elements Gocator 3100 Series Gocator Device Files Job Files 188 Element Type Description Measurements X CsHoleMeasurement X measurement Measurements Y CsHoleMeasurement Y measurement Measurements Z CsHoleMeasurement Z measurement Measurements OuterRadius CsHoleMeasurement Outer Radius measurem
250. the Save button Sensor The following sections describe the settings that are configured in the Sensor panel on the Scan page Reduce Occlusion When the option is disabled 3D data is acquired using only stereo correlation between the two cameras meaning that a point on the target must be visible in both cameras to produce a 3D data point When this option is enabled default each camera independently triangulates off the LED light pattern which may improve performance on targets with complicated shapes that can cause occlusions Stereo correlation is also used See Stereo Correlation vs Independent Triangulation page 28 for more information To enable or disable the Reduce Occlusion option 1 Go to the Scan page 2 Choose Surface mode in the Scan Mode panel If this mode is not selected the Sensor panel will not be displayed 3 Expand the Sensor panel by clicking on the panel header 4 Check or uncheck the Reduce Occlusion checkbox 5 Save the job in the Toolbar by clicking the Save button Active Area Active area refers to the region within the sensor s maximum field of view that is used for 3D data acquisition By default the active area covers the sensor s entire field of view By reducing the active area the sensor can operate at higher speeds Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 59 To set the active area 1 Go to the Scan page 2 Choose S
251. the X and Y axes at the same time using the available neighboring data Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 68 To configure X or Y gap filling 1 Go to the Scan page 2 Choose Surface mode in the Scan Mode panel If this mode is not selected you will not be able to configure gap filling 3 Expand the Filters panel by clicking on the panel header or the button 4 Click on the Gap Filling tab 5 Enable the X or Y setting and select the maximum width value The value represents the maximum gap width that the Gocator will fill Gaps wider than the maximum width will not be filled 6 Save the job in the Toolbar by clicking the Save button 7 Check that the laser profiling is satisfactory Median The Median filter substitutes the value of a data point with the median calculated within a specified window around the data point Missing data points will not be filled with the median value calculated from data points in the neighbourhood To configure X or Y median 1 Go to the Scan page 2 Choose Surface mode in the Scan Mode panel Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 69 If this mode is not selected you will not be able to configure gap filling 3 Expand the Filters panel by clicking on the panel header or the button 4 Click on the Median tab 5 Enable the X or Y setting and select the maximum width val
252. the Y axis If parts are closer than the gap interval they will be merged into a single part Padding Width Determines the amount of extra data on the X axis from the surface surrounding the detected part that will be included This is mostly useful when processing part data with third party software such as HexSight Halcon etc Padding Length 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 Min Area Determines the minimum area for a detected part Set this value to a reasonable minimum in order to filter out small objects or noise Max Part Length Determines the maximum length of the part object When the object exceeds the Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 72 Setting Description 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 Frame of Reference Determines the coordinate reference for surface measurements Sensor When Frame of Reference is set to Sensor the sensor s frame of reference is used When set to Sensor all measurement values are relative to the sensor s field of view in X and relative to the encoder zero position in Y Part When Frame of Reference is set to Part
253. 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 The following sections correspond to the XML structure used in job files Configuration Root Element Type Description version 32u Configuration version 101 Setup Section See Setup below for a description of the Setup elements ToolOptions Section List of available tool types and their information See ToolOptions page 172 for more information Tools Collection Collection of sections Each section is an instance of a tool and is named by the type of the tool it describes See the topics for each tool for more information Tools options String CSV List of available tool types Output Section See Output page 188 for a description of the Outputs elements Configuration Child Elements Setup The Setup element contains settings related to system and sensor setup Gocator 3100 Series Gocator Device Files Job Files 163 Element Type Description TemperatureSafetyEnabled Bool Enables laser temperature safety control TemperatureSafetyEnabled used Bool Whether or not this property is used ScanMode 32s The default scan mode ScanMode options String CSV List of available scan modes
254. to configure the encoder See Motion and Alignment page 44 4 Jobs Lets you manage jobs stored on the sensor See Jobs page Gocator 3100 Series Gocator Web Interface System Management and Maintenance 43 Element Description 45 5 Security Lets you change passwords See Security page 47 6 Maintenance Lets you upgrade firmware create restore backups and reset sensors See Maintenance page 48 Sensor System The following sections describe the Sensor System category on the Manage page This category lets you choose the layout standalone or dual sensor systems and provides other system settings Sensor 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 To enable disable Autostart 1 Go to the Manage page and click on the Sensor System category 2 Check uncheck the Autostart option in the Main section Gocator 3100 Series Gocator Web Interface System Management and Maintenance 44 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 To configure the network settings 1 Go to the Manage page 2 In the Networking category specify the Type IP Subnet Mask and Gateway se
255. to synchronize to the timing at which measurement results are output In this mode the sensor outputs a digital pulse when a measurement result is ready A digital output can also act as a strobe signal to allow external devices to synchronize to the timing at which the sensor exposes In this mode the sensor outputs a digital pulse when the sensor exposes Each sensor supports two digital output channels See Digital Outputs page 282 for information on wiring digital outputs to external devices Trigger conditions and pulse width are then configured within the panel To output measurement decisions 1 Go to the Output page 2 Click on Digital 1 or Digital 2 in the Output panel 3 Set Trigger Event to Measurement 4 In Configuration set Assert On and select the measurements that should be combined to determine the output If multiple measurement decisions are selected and Assert On is set to Pass the output is activated when all selected measurements pass If Assert On is set to Fail the output is activated when any one of the selected measurements fails 5 Set the Signal option The signal type specifies whether the digital output is a continuous signal or a pulsed signal If Signal is set to Continuous the signal state is maintained until the next transition occurs If Signal is set to is Pulsed you must specify the pulse width and how it is scheduled Gocator 3100 Series Gocator Web Interface Output
256. ts Element Type Description Name String Setting for measurement name Source 32s Setting for source Anchor X String CSV The X measurements IDs used for anchoring Anchor X options String CSV The X measurements IDs available for anchoring Anchor Y String CSV The Y measurements IDs used for anchoring Anchor Y options String CSV The Y measurements IDs available for anchoring Anchor Z String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring RegionsEnabled Boolean Setting to enable disable regions 0 Disable 1 Enable RegionCount 32s Count of the regions Regions Region3D Measurement region Contains 1 or 2 Region3D elements Measurements XAngle PlaneMeasurement XAngle measurement Measurements YAngle PlaneMeasurement YAngle measurement Measurements ZOffset PlaneMeasurement ZOffset measurement SurfacePlane Child Elements Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable PlaneMeasurement Gocator 3100 Series Gocator Device Files Job Files 1
257. ttings The Gocator sensor can be configured to use DHCP or assigned a static IP address 3 Click on the Save button You will be prompted to confirm your selection Motion and Alignment The Motion and Alignment category on the Manage page lets you configure alignment reference encoder resolution and travel speed Gocator 3100 Series Gocator Web Interface System Management and Maintenance 45 Alignment Reference The Alignment Reference setting can have one of two values Fixed or Dynamic 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 Go to the Manage page and click on the Motion and Alignment category 2 In the Alignment section choose Fixed or Dynamic in the Alignment Reference drop down Jobs The Jobs category on the Manage page lets you manage the jobs stored on the sensor Gocator 3100 Series Gocator Web Interface System Management and Maintenance 46 Element Description Name field Used to provide a
258. ttom 2 Top Left 3 Top Right exposure 32u 33 Exposure ns reserved 3 8u 37 intensities H W 8u 40 Surface intensities Measurement Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier count C 32u 6 Count of measurements in this message reserved 2 8u 10 Reserved id 16u 12 Measurement identifier measurements C Measurement 16 Array of measurements see below Field Type Offset Description value 32s 0 Measurement value decision 8u 4 Measurement decision bitmask Bit 0 1 Pass 0 Fail Measurement Gocator 3100 Series Protocols Gocator Protocol 228 Field Type Offset Description 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 Bits 0 14 Message type identifier attributesSize 16u 6 Size of attributes in bytes min 8 current 8 opId 32u 8 Operation ID status 32s 12 Operation status 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 alignme
259. ue 6 Save the job in the Toolbar by clicking the Save button 7 Check that the laser profiling is satisfactory Smoothing Smoothing works by substituting a data point value with the average value of that data point and its nearest neighbors within a specified window Smoothing can be applied along the X axis or the Y axis X smoothing works by calculating a moving average across samples along the X axis Y smoothing works by calculating a moving average along the X axis If both X and Y smoothing are enabled the data is smoothed along X axis first then along the Y axis Missing data points will not be filled with the mean value calculated from data points in the neighbourhood To configure X or Y smoothing 1 Go to the Scan page 2 Choose Surface mode in the Scan Mode panel If this mode is not selected you will not be able to configure smoothing 3 Expand the Filters panel by clicking on the panel header or the button 4 Click on the Smoothing tab 5 Enable the X or Y setting and select the averaging window value 6 Save the job in the Toolbar by clicking the Save button 7 Check that the laser profiling is satisfactory Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 70 Decimation Decimation reduces the number of data points along the X or Y axis by choosing data points at the end of a specified window around the data point For example by setting X to 2
260. uld influence measurement If the unit must be installed in an environment with high ambient light levels a lighting shield or similar device may need to be installed to prevent light from affecting measurement Avoid installing sensors in hazardous environments To ensure reliable operation and to prevent damage to Gocator sensors avoid installing the sensor in locations Gocator 3100 Series Safety and Maintenance Sensor Maintenance 10 l that are humid dusty or poorly ventilated l with a high temperature such as places exposed to direct sunlight l where there are flammable or corrosive gases l where the unit may be directly subjected to harsh vibration or impact l where water oil or chemicals may splash onto the unit l where static electricity is easily generated Ensure that ambient conditions are within specifications Gocator sensors are suitable for operation between 0 50 C and 25 85 relative humidity non condensing The Master 400 800 1200 2400 is similarly rated for operation between 0 50 C The storage temperature is 30 70 C The sensor must be heat sunk through the frame it is mounted to When a sensor is properly heat sunk the difference between ambient temperature and the temperature reported in the sensor s health channel is less than 15 C Gocator sensors are high accuracy devices and the temperature of all of its components must therefore be in equilibrium When the sensor
261. ultiple job files If there is a job file that is designated as the default it will be loaded automatically when the sensor is reset Alignment Alignment can either be fixed or dynamic as controlled by the Alignment Reference setting in Motion and Alignment in the Manage page Alignment is saved automatically at the end of the alignment procedure when Alignment Reference is set to Fixed When Alignment Reference is set to Dynamic however you must manually save the job to save alignment The job drop down list shows the list of jobs stored in the sensor The job that is currently active is listed at the top The job name will be marked with unsaved to indicate any unsaved changes To save a job 1 Select a job in the job drop down list l If you are creating a new job choose New in the job drop down list and enter a name for the job l If you are saving changes to an existing job choose the job in the job drop down list 2 Press the Enter key or click the Save button The job will be saved to sensor storage using the name you provided Saving a job automatically sets it as the default that is the job loaded when then sensor is restarted To activate an existing job 1 Select an existing file name in the job drop down list The job will be activated from sensor storage If there are any unsaved changes to the current job you will be asked whether you want to discard those changes Detailed management
262. und through their housing All sensors should be mounted on an earth grounded frame using electrically conductive hardware to ensure the housing of the sensor is connected to earth ground Use a multi meter to check the continuity between the sensor connector and earth ground to ensure a proper connection Minimize voltage potential between system ground and sensor ground Care should be taken to minimize the voltage potential between system ground ground reference for I O signals and sensor ground This voltage potential can be determined by measuring the voltage between Analog_out and system ground The maximum permissible voltage potential is 12 V but should be kept below 10 V to avoid damage to the serial and encoder connections See Gocator 3100 I O Connector page 281 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 co
263. updated in the event that breaking changes are made to the Gocator Protocol Get Protocol Version The Get Protocol Version command reports the Upgrade protocol version of the connected sensor Field Type Description length 64s Command size in bytes id 64s Command identifier 0x0100 Command Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status majorVersion 64s Major version minorVersion 64s Minor version Reply Gocator 3100 Series Protocols Gocator Protocol 223 Start Upgrade The Start Upgrade command begins a firmware upgrade for the Main sensor All sensors will automatically reset 3 seconds after the upgrade process is complete Field Type Offset Description length 64s 0 Command size in bytes id 64s 4 Command identifier 0x0000 skipValidation byte 6 Whether or not to skip validation 0 do not skip 1 skip length 32u 7 Length of the upgrade package bytes data length byte 11 Upgrade package data Command 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 Reply Get Upgrade Status The Get Upgrade Status command determines the progress of a firmware upgrade Field Type Offset Description length 32u 0 Command size including this field in bytes
264. urces that will transmit data via Ethernet See Ethernet Output next page 2 Digital Output 1 Used to select the data sources that will be combined to produce a digital output pulse on Output 1 See Digital Output page 147 3 Digital Output 2 Used to select the data sources that will be combined to produce a digital output pulse on Output 2 See Digital Output page 147 4 Analog Panel Used to convert a measurement value or decision into an analog output signal See Analog Output page 150 5 Serial Panel Used to select the measurements that will be transmitted via RS 485 serial output See Serial Output page 152 Gocator 3100 Series Gocator Web Interface Output 144 Ethernet Output A sensor uses TCP messages Gocator protocol to receive commands from client computers and to send video 3D point clouds intensity and measurement results to client computers The sensor can also receive commands from and send measurement results to a PLC using ASCII Modbus TCP or EtherNet IP protocol See Protocols page 196 for the specification of these protocols The specific protocols used with Ethernet output are selected and configured within the panel To receive commands and send results using Gocator Protocol messages 1 Go to the Output page 2 Click on the Ethernet category in the Output panel 3 Select Gocator as the protocol in the Protocol drop down 4 Check the video data intensity or measure
265. ure ment X measurement Measurements Y BoundingBoxMeasure ment Y measurement Measurements Z BoundingBoxMeasure ment Z measurement Measurements Width BoundingBoxMeasure ment Width measurement Measurements Height BoundingBoxMeasure ment Height measurement Measurements ZAngle BoundingBoxMeasure ment ZAngle measurement Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold BoundingBoxMeasurement SurfaceEllipse A SurfaceEllipse element defines settings for a surface ellipse tool and one or more of its measurements Gocator 3100 Series Gocator Device Files Job Files 176 Element Type Description Name String Setting for measurement name Source 32s Setting for source Anchor X String CSV The X measurements IDs used for anchoring Anchor X options String CSV The X measurements IDs available for anchoring Anchor Y String CSV The
266. urface mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 3 Expand the Sensor panel by clicking on the panel header or the button 4 Click on the Active Area tab 5 Click the Select button 6 Click the Acquire button to see a scan while setting the active area 7 Set the active area Enter the active area values in the edit boxes or adjust the active area graphically in the data viewer The 2D view allows you to adjust the sizes and positions in the X axis and Z axis The 3D view allows you to adjust the sizes and positions in the X axis Y axis and Z axis See Regions page 101 for more information 8 Click the Save button in the Sensor panel Click the Cancel button to cancel setting the active area 9 Save the job in the Toolbar by clicking the Save button 3D acquisition devices are usually more accurate at the near end of their measurement range If your application requires a measurement range that is small compared to the maximum measurement range of the sensor mount the sensor so that the active area can be defined at the near end of the measurement range Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 60 Transformations The transformation settings are used to control how 3D data are converted from sensor coordinates to system coordinates Parameter Description X Offset Specifies the shift along the X ax
267. wer Accepts power 48 V Power Switch Toggles sensor power Laser Safety Switch Toggles laser safety signal provided to the sensors O laser off I laser on Trigger Signals a digital input trigger to the Gocator Encoder Accepts encoder A B and Z signals Digital Output Provides digital output Gocator 3100 Series Getting Started Hardware Overview 15 See Master 100 page 285 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 Item Description Sensor Ports Master connection for Gocator sensors no specific order required Ground Connection Earth ground connection point Laser Safety Laser safety connection Encoder Accepts encoder signal Input Accepts digital input See Master 400 800 page 287 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 3100 Series Getting Started Hardware Overview 16 Item Description Sensor Ports Master connection for Gocator sensors no specific order required Ground Connection Earth ground connection point Laser Safety Laser safety connection Encoder Accepts encoder signal Input Accepts digital input See Master 1200 2400
268. x Collector Emitter Voltage Min Pulse Width Out_1 3 4 40 mA 70 V 20 us Out_2 5 6 40 mA 70 V 20 us The resistors shown above are calculated by R V 2 5 mA The size of the resistors is determined by power V 2 R Inverting Outputs To invert an output connect a resistor between ground and Out_1 or Out_2 and connect Out_1 or Out_2 to the supply voltage Take the output at Out_1 or Out_2 The resistor selection is the same as what is shown above Digital Inputs Every Gocator sensor has a single optically isolated input To use this input without an external resistor supply 3 3 24 V to Pin 1 and GND to Pin 2 Gocator 3100 Series Specifications Gocator 3100 I O Connector 283 Active High If the supplied voltage is greater than 24 V connect an external resistor in series to Pin 1 The resistor value should be R Vin 1 2V 10mA 680 Active Low To assert the signal the digital input voltage should be set to draw a current of 3 mA to 40 mA from Trigger_In The current that passes through Trigger_In is I Vin 1 2 Vdata 680 To reduce noise sensitivity we recommend leaving a 20 margin for current variation i e uses a digital input voltage that draws 4mA to 25mA Function Pins Min Voltage Max Voltage Min Current Max Current Min Pulse Width Trigger_in 1 2 3 3 V 24 V 3 mA 40 mA 20 us Serial Output Serial RS 485 output is connected to Serial_out
269. ximum constraints to yield a decision See Adding and Removing Tools page 98 for instructions on how to add measurement tools Gocator 3100 Series Gocator Web Interface Measurement 131 2D View 3D View Measurement Panel Measurement Illustration X Determines the X position of the selected feature type Y Determines the Y position of the selected feature type Z Determines the Z position of the selected feature type Measurements Gocator 3100 Series Gocator Web Interface Measurement 132 Parameter Description Feature Type One of the following Average Centroid Min X Max X Min Y Max Y Min Z Max Z Median Decision See Decisions page 102 Region See Regions page 101 Output See Filters page 103 Parameters Stud The Stud tool measures the location and radius of a stud See Adding and Removing Tools page 98 for instructions on how to add measurement tools The tool uses a complex feature locating algorithm to find a hold and then return measurements See Stud Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel The measurement value can be compared with minimum and maximum constraints to yield a decision The location of the stud is defined at either the stud tip or the stud base The tip is the intersection of the
270. y identifier 0x4100 status 32s 6 Reply status name 64 char 10 File name null terminated Reply Set Default Job The Set Default Job command sets the name of a default job file that will be loaded at boot time Field Type Offset Description length 32u 0 Command size including this field in bytes Command Gocator 3100 Series Protocols Gocator Protocol 207 Field Type Offset Description id 16u 4 Command identifier 0x4101 fileName 64 char 6 File name null terminated 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 Reply Get Loaded Job The Get Loaded Job command returns the currently loaded i e live file name and modified status for a file type Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4512 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4512 status 32s 6 Reply status fileName 64 char 10 Name of the currently loaded file changed 8u 74 Whether or not the currently loaded file has been changed 1 yes 0 no Reply Set Alignment Reference The Set Alignment Reference command is used to set the sensor s alignment reference Field Type Offset

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