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AP820 Laser Scanner

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1. 6 2 Info Telegram The Info Telegram can be received by sending the command 0x21 to the scanner The packet described below will be received with 2048 Bytes In the field Status information 1 on address 60 will be the value 0x10 in order to identify the Info Telegram The field Status information 1 is not described here specifically because it is composed exactly like the scanner data composition Address Bytes Description Meaning Factory setting 00 to 65 66 Status information 1 See Description Scanner data 66 1 Sensor temperature 67 1 Scanner Status Register 68 1 Version evaluation Reg1 69 1 70 to 74 5 Operating hours counter 75 to 77 3 Switch on counter 78 1 Inputs 79 1 Outlet of laser adjustment control 80 1 Version evaluation Reg2 81 to 97 17 98 to 99 2 Sensor Pixel amount horizontal 100 to 101 2 Sensor Pixel amount vertical 102 to 105 4 Serial number 106 to 107 2 Z Start measurement range 108 to 109 2 Z measurement range 110 to 111 2 X Scan range AMB At the beginning of the measurement range 112 to 113 2 X Scan range EMB At the end of the measurement range 114 to 125 12 126 1 Sensor Data Sensor position mirror Data resolution 127 to 129 3 130 to 135 6 Version Firmware ASCII String e g 2 0 60 136 to 137 2 138 to 168 381 Register of fun
2. Acuity AccuProfile 820 Laser Scanners User s Manual Manual p n LLLO00821 Rev 1 1 For use with Acuity products July 30 2013 Acuity A product line of Schmitt Industries Inc 2765 NW Nicolai St Portland OR 97210 www acuitylaser com Acuity AP820 Laser Scanners Rev 1 0 Limited Use License Agreement px1 YOU SHOULD CAREFULLY READ THE FOLLOWING TERMS AND CONDITIONS BEFORE OPENING THE PACKAGE CONTAINING THE COMPUTER SOFTWARE AND HARDWARE LICENSED HEREUNDER CONNECTING POWER TO THE MICROPROCESSOR CONTROL UNIT INDICATES YOUR ACCEPTANCE OF THESE TERMS AND CONDITIONS IF YOU DO NOT AGREE WITH THEM YOU SHOULD PROMPTLY RETURN THE UNIT WITH POWER SEAL INTACT TO THE PERSON FROM WHOM IT WAS PURCHASED WITHIN FIFTEEN DAYS FROM DATE OF PURCHASE AND YOUR MONEY WILL BE REFUNDED BY THAT PERSON IF THE PERSON FROM WHOM YOU PURCHASED THIS PRODUCT FAILS TO REFUND YOUR MONEY CONTACT SCHMITT INDUSTRIES INCORPORATED IMMEDIATELY AT THE ADDRESS SET OUT BELOW Schmitt Industries Incorporated provides the hardware and computer software program contained in the microprocessor control unit and licenses the use of the product to you You assume responsibility for the selection of the product suited to achieve your intended results and for the installation use and results obtained Upon initial usage of the product your purchase price shall be considered a nonrefundable license fee unless prior written waivers are obtained from Schmitt I
3. Return EthernetScanner WriteData pScanner Buffer 2 End Function In trigger mode simply writing to Register Address 29 issues a software trigger to the AP820 Private Function SendSoftwareTrigger As UInteger Dim Buffer 1 As Byte Buffer 0 amp H1D bit 7 is 0 bits 6 to 0 indicate address 29 Buffer 1 0 Can be anything Return EthernetScanner WriteData pScanner Buffer 2 End Function 12 8 2 Example Limiting the Range Z A final example of using the EthernetScanner_WriteData function to change laser settings demonstrates how to limit the range Z of the AP820 Limiting the range Z of the laser may be very helpful in removing foreground or background objects from the measurement process in order to only acquire profile data from objects of interest The minimum Z is set by writing to Register Address 4 and the maximum Z set by writing to Register Address 5 The units for these Z values are in Pixels 8 which means that each count represents 8 pixels So for example the maximum Z for model AP820 20 is 752 so to set the maximum Z to half the distance 376 write 47 to Register Address 5 i e 47 8 376 The following example illustrates the methodology Private Function SetMaxFieldOfView ByVal Pixels As UInteger As UInteger Dim Buffer 1 As Byte Dim PixelArg As Byte Buffer 0 amp H5 bit 7 is 0 bits 6 to 0 are 5 generate the arguement for the correct number of pixels which is one eig
4. Attach the Power Data cable s Mi2 A coded 8 pin female plug to the male 8 e Acuity AP820 Laser Scanners A t Rev 1 0 ACUIT receptacle on the top of the scanner while the power is off Connect the Supply White and Return Green wires of the sensor cable to a 10 to 30 volt DC power supply or use the sensor s power supply if it came with one 2 1 2 Ethernet connections Attach the Ethernet cable s 4 pin female plug to the male receptacle on the top of the scanner Connect the Ethernet cable s RJ45 connector to an available Ethernet port on a PC computer 2 1 3 Activation Plug the AP820 s Ethernet plug into the Ethernet socket on the PC and power up the laser The AP820 has a default IP address of 192 168 123 222 It can be programmed to use another working IP address via software If you don t know how the AP820 is configured when you first receive it you can restore it to the default IP address by pressing the reset IP button on the side of the laser Configure the PC s TCP IP properties as follows assuming we are using the laser s default IP address Internet Protocol TCP IP Properties General You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings Obtain an IP address automatically o IP address 192 168 123 100 Subnet mask 255 255 255 0
5. Sample Rate Background Elimination Exposure control 1 1 General Overview The Acuity AccuProfile 820 Laser Line Sensor measures surface heights by projecting a beam of visible laser light that creates a line on a target surface Reflected light from the surface is viewed from an angle by a two dimensional CCD detector array inside the AP820 sensor The 2D contour profile is calculated by the scanner s microprocessor from the pixel data from the diffusely reflected laser line The height profile is transmitted through Ethernet communications to a PC computer Real time 3D profiling is created by synchronizing the position of the scanner with encoder inputs from conveyors linear stages or robotic movements A variety of models are specified each to allow a different measurement range and field of view The AP820 scanner technical data sheet specifies scanner performance standards A variety of configuration settings can be selected via the Ethernet interface The complete list of settings is found in the AP820 Command Set chapter and each setting is discussed in detail in a specific operation chapter A DLL Manual also exists for programming information Measurement output is in the form of ASCII data packets for Ethernet models The scanner s detector uses a CCD 2D camera a line laser and the electronics for the processing of the sensor s data signals The scanner provides a 2D scan of an object on the measurement range The width of
6. Synchronize Bytes 8 x 0x00 436182 436183 to 2 436184 436185 1 Image number 2 Half image 0x02 436186 to 5 436187 8 e Acuity AP820 Laser Scanners A t Rev 1 0 ACUIT 20 7 Data Formats 7 1 Profile data For every profile 290 points will be send Every point in the profile will be defined through an X and a Z value The I value refers to the intensity of a point and can be used to define points as valid or invalid The scanner provides linearized profile data by default Switch to non linearized profile data with the commands 0x16 0x80 Calculate a linearized point from the X and Z value as follow X value 13 to 0 X X max X Scan range EMB Data resolution mm X max 4096 Z value 13 to 0 Z Z max Z Measurement range Data resolution mm Z max 4096 The values X max Z max X Scan range EMB Z Measurement range and Data resolution can be received with the Info Telegram Byte Number Bit No Meaning Profile Reg 1 6to 0 X value Bit 6 to 0 Profile Reg 2 6 to 0 X value Bit 13 to 7 Profile Reg 3 6 to 0 Z value Bit 6 to 0 Profile Reg 4 6 to0 Z value Bit 13 to 7 Profile Reg 5 7 to 0 I value Bit 7 to0 value range 0x01 dark to OxFE light 7 2 Encoder Position Data The data for encoder positions are only available when A and B phases of an incremental encoder are connected to the digital inputs 1 and 2 Encoder inputs Protocol In
7. the scan will be indicated with an X value the depth of the measurement will be indicated with a Z value A linearization of the scanner has been carried out in the factory and is stored in the sensor Profile data are output in metric units mm s A calibration by the user is not Acuity AP820 Laser Scanners Acuity Rev 1 0 necessary Therefore every scanner can be exchanged on site without concern for recalibration Do not point the line laser at any person particularly a person s eyes or face Do not attempt to disassemble the scanner Improper disassembly will destroy the optical alignment of the sensor and necessitate factory repairs Do not operate the sensor in areas where the sensor case is exposed to direct sunlight for extended periods or where the air temperature is more than 40 C 104 F or less than 0 C 32 F Special order scanners include an air water cooling capabilities for hot environments up to 400 C Avoid excessive vibration and shocks The scanner contains securely mounted but precisely aligned optical components Do not scratch the lenses on the front face of the scanner Keep the lenses clean with expert optical procedures The lenses are glass with an anti reflection coating Avoid the use of organic cleaning solvents Do not touch the lenses with bare fingers The oils are very difficult to remove Operate only with DC supply voltages up to 30 volts 2 Definition of Terms Scanner Sens
8. Default gateway Use the following DNS server addresses Preferred DNS server Alternate DNS server Use the Demo Program included in zip files on the CD or available for download from the Acuity website This program can be used for testing and demonstration of the general operation of the scanner Through the demo program one can configure scanner settings and even perform real scans and data archiving Troubleshooting Notes If you are unable to Connect to the scanner through the demo program it may be necessary to manually configure the IP Connect the device to a PC Within your Network Connections window change local area network connection 8 e Acuity AP820 Laser Scanners A t Rev 1 0 ACUI properties for the Ethernet interface in use for TCP IP as follows The IP of the scanner is set to default to 192 168 123 222 the PC has to be set to the appropriate network settings to 192 168 123 1 ora value that is compatible with the IP mask that was last stored in the device Subnet mask 255 0 0 0 or a value that is compatible with the IP mask that was last stored in the device Click OK and exit out of the Network Connections windows If necessary reboot pc for settings to take effect Power up the scanner and the red laser line should be visible Ping the IP of the scanner with the command ping 192 168 123 222 t if the scanner responds you can start the demo software If there is no response check the
9. PC s IP settings again and also the Ethernet cables Start the demo software The unit is ready to use 3 General Description The Acuity AP820 Measurement Scanner is a laser based device intended for non contact dimension measuring and checking of surface object profiles shapes target positions displacement dimensions sorting and sensing By measuring distances across a laser line it replaces the functionality of many single point laser sensors to achieve surface profile measurements The AP820 scanner series includes numerous scanners models which vary on their measuring Range Field of View and mechanical dimensions 3 1 Principles of Operation The AccuProfile 820 Profile Measurement Scanner uses optical triangulation principles to measure surface heights by projecting a beam of visible laser light that creates a line on a target surface Reflected light from the target surface is viewed from an angle by a two dimensional CCD detector array 580 by 792 pixels inside the AP820 scanner The 2D contour profile with 550 points is calculated by the scanner s signal processor from the pixel data from the diffusely reflected laser line The height distance profile is transmitted through Ethernet communications to a PC computer Real time 3D profiling is created by synchronizing the position of the scanner with encoder inputs from conveyors linear stages or robotic movements 3 2 Mechanical Dimensions The AccuProfile 820
10. Scanner models have several different enclosure configurations and sizes Acuity AP820 Laser Scanners Acuity Rev 1 0 65 6 ie JOMOg awaya Z 4 4 mm M5 g S Figure 1 AP820 5 mechanical dimensions Figure 3 AP820 40 mechanical dimensions ry on gt z f Brae K ff j Es SE i d E s si a P e Jh d i it Figure 2 AP820 20 mechanical dimensions Acuity AP820 Laser Scanners Rev 1 0 Acuity 600 u D a gt a r a 3 ya z V a f 5 0 65 0 79 0 Figure 4 AP820 60 mechanical dimensions 60 0 o 80 0 i t Figure 5 AP820 80 mechanical dimensions 60 0 84 0 120 0 Figure 6 AP820 120 mechanical dimensions Acuity AP820 Laser Scanners Rev 1 0 Acuity 10 240 0 Figure 7 AP820 240 mechanical dimensions Acuity AP820 Laser Scanners Rev 1 0 11 Acuity 34 2 ae 32 0 13 2 VIR ord 9 P 6 5 3X Holes We 4 4 mm M5 ea Ta oa 4 r d e S e d a d Ae SS Ae Ae pa a 4 m 4 d d d 4 rA o d gd 4 d Figure 8 AP820 400 mechanical dimensions 3 3 Contents Your AP820 Scanner includes the following items 1 The scanner unit A 2m Ethernet cable with connector purchased separately 2 3 A 2m power data cable with solder wire terminati
11. eee 21 E e TE E 21 7 2 Encoder Position Data ic cond erciniennins encore inieteniece termined eege Sege egen 21 Zo Register Of EES EE EE CES 22 7 4 Sensor temperature eege eher 22 7 5 Scanner Status Register Ee Ee te 22 7 6 Version Evaluation Registers AAA 22 7 7 Operating Hours eu 22 7 8 Switch on Counter eege 23 TO MMU secre A AAT OTE A 23 7 10 Adjusting the laser QUT UT sixiercicrevoressinsersteimcerivamesuretenerersiarereieuenent elmer mmencreteiers 23 7 11 Number of Horizontal and Vertical Pixvels 23 7 12 FIFO First In First en WEEN 24 7 13 EE ee 24 7 14 Z and X values Info Telegram address 106Gio 2b 24 7 15 EE geet 24 7 16 Version gent cra crntesdeepeneronesnceratecedorseenmcerdienederatesuneraterietenstetedenieenederoneteaenmretaten 24 Be Scanner COMMU ses see weteracorstemevertseiecensiaenvenaesintereiemeediommiuneiemeaciuincenie mee einer eden 26 8 1 Data format for Register addresses and Data 26 8 2 Register of functions EE 26 9 Description of the control COMMANAS ccceeeeeeseceeeceeeeeneeeteeeeeeeeeeeeeneseesneeeeeaeeeeeneneees 28 9 1 Exposure ato 81 0 eer ene eege 28 9 2 Calculation of the Exposure E 28 9 3 Limiting the Range E 28 GA EELER iscri inenen aaee E R imine me ERE EE REA ENERE 28 9 5 AGC amplification Control 29 9 6 ees 29 9 7 Synchronization le 29 9 8 Measurement Control Trigger AEN 29 WS EE 30 11 Description of the Web Servel ke 31 11 1 Changing KEE 31 12 Programming using
12. 00 08 DC 00 00 00 06 to 09 4 10 to 13 4 Default GateWay 192 168 123 1 14 to 17 4 Default Subnet Mask 255 255 255 0 18 to 21 4 Default IP address 192 168 123 222 22 to 23 2 Default TCP Port 3000 241025 IS S 26 to 31 6 Working MAC address XX XX XX from serial 00 08 DC xx xx xx number 5 32 to 35 4 36 to 39 4 Working GateWay variable o 40 to 43 4 Working Subnet Mask variable 44 to 47 4 Working IP address variable bd 48 to 49 2 Working TCP Port variable 50 to 61 12 62 1 Image number continuously 0 253 63 to 65 3 1450 Bytes which is 66 to 1515 1450 Profile data 290 sets of 5 bytes per point 1516 to 9 1524 1525 to 4 Generator data for position 1528 1529 1 1530 to 31 Register of functions Readout of the register Byte 0 to 30 1560 of functions ki 1561 1 E 1562 1 Sensor temperature 1563 1 Scanner Status Register 1564 1 Version evaluation Reg1 E 1565 1 1566 to 6 Operating hours counter an 1570 1571 to 3 Switch on Counter 1573 1574 1 Inputs Bit 0 for input 1 Bit 1 for input 2 Acuity AP820 Laser Scanners Rev 1 0 18 Acuity 1575 1 Outlet of laser adjustment control 1576 1 Version evaluation Reg2 1577 to 464 2040 2041 to 2 Sensor Pixel amount Typ 290 2042 horizontal 2043 to 2 Sensor Pixel amount vertical Typ 752 2044 2045 to 3 FIFO Charging level maximum value 524287 2047
13. 000 Timeout is an unsigned integer contining the number of milliseconds to wait for a response If successful this function returns a pointer to an object representing the AP820 This pointer will be required to be passed to other functions in the dll If this function is unsuccessful this pointer will be a null pointer First we declare a pointer for the laser object Public pScanner As IntPtr Nothing Then we connect to the object with the following code pScanner EthernetScanner Connect 192 168 123 222 3000 500 If pScanner Nothing Then Failure Else Success Sne If If the function does not return a null pointer we have successfully connected to the laser We will disconnect from the AP820 later by calling EthernetScanner_Disconnect and passing it the pScanner pointer We can check the connect status by calling Private Sub EthernetScanner GetConnectStatus ByVal pScanner As IntPtr ByRef Status As UInteger 8 e Acuity AP820 Laser Scanners A t Rev 1 0 ACUI 34 Where pScanner is the pointer returned by EthernetScanner_Connect and Status is a unsigned integer used as a buffer to contain the status code when the function returns The status codes are 0 Disconnected 1 Disconnecting 2 Connecting 3 Connected Normally when we call EthernetScanner_GetConnectStatus after calling EthernetScanner_Connect we will expect the status result to be 3 12 5 Getting AP820 Param
14. 2 Register of functions Address Bytes Bit Description Meaning Default No 0 to 1 2 6 to 0 Exposure control Manual exposure control 0 2to3 2 4 1 6 to 0 Limiting the Range minZ 0 5 1 6 to 0 Limiting the Range max Z Sensor Pixel amount vertical 8 6 to7 2 6 to 0 Amplification Amplification grey scale image 500 8 to 10 3 11 1 0 AGC amplification 0 off 1 on 0 control 12 1 0 Laser on off 0 off 1 on 1 13 1 0 Ambient light filter O off 1 on 0 14 1 Reset generator generator data for position will be data for position seton 0 15 1 0 Synchronization 0 1 alternately 0 Mode simultaneous 16 1 0 Output mode 0 profile 1 grey scale 0 data image 17 to 19 3 8 e Acuity AP820 Laser Scanners A t Rev 1 0 ACUIT 26 20 1 3 Measurement 0 1 Trigger mode 0 control continuously 21 1 0 Exposure control 0 Automatic 1 Manual 0 Mode 22 1 0 Linearization 0 off 1 on 1 23 to 27 5 28 1 i Reset FIFO Erases all data in the internal FIFO 29 1 KR Software Trigger Function only when measurement control 1 30 1 Reset Sensor All register values on Default value 31 1 i Reset Ethernet Modul 32 1 33 1 KR Request Info Telegram 34 to 94 127 8 e Acuity AP820 Laser Scanners A t Rev 1 0 ACUIT 27 9 Description of the control command
15. 3 Bit 3 Laser on off Byte 1563 Bit 4 Measurement control Continuous Single mode measurement with Trigger Byte 1563 Bit 5 Laser control automatic manual 7 6 Version Evaluation Registers The version of the evaluation will be generated from the registers 1 2 Register 2 shows the third position of the version number Register Bit No Meaning Version Reg 1 7 to 0 Value 36 corresponds to e g version 3 6 Byte 1564 Version Reg 2 7 to 0 Add to the content Reg 2 with e g content 1 results Byte 1576 version 3 61 7 7 Operating Hours Counter The counter increases every 250 msec For the result in seconds the operating hours counter 31 to 0 has to be divided into four Register Bit No Meaning Reg 1 Byte 1566 6 to 0 operating hours counter Bit 6 to 0 8 e Acuity AP820 Laser Scanners A t Rev 1 0 SACH 22 Reg 2 Byte 1567 6 to 0 operating hours counter Bit 13 to 7 Reg 3 Byte 1568 6 to 0 operating hours counter Bit 20 to 14 Reg 4 Byte 1569 Reg 5 Byte 1570 6 to 0 operating hours counter Bit 27 to 21 6 to 0 operating hours counter Bit 31 to 28 7 8 Switch on Counter Every time the sensor is turned on the value will increase to 1 7 9Input Status Register Bit No Meaning Reg 1 Byte 1571 6 to 0 Switch on counter Bit 6 to 0 Reg 2 Byte 1572 6 to 0 Switch on counter Bit 13 to 7 Reg 3 Byte 1573 2
16. ImageNumber As Byte Size of the arrays passed to this function should be 580 Call Ethernet _GetScanRawData until we get an odd image count first Do Result EthernetScanner GetScanRawData pScanner Buffer 3500 0 500 f Result Then Get the Image Number mageNumber Buffer 62 HalfImageNumber ImageNumber 2 Else Return False End If Loop Until ImageNumber lt gt HalfImageNumber 2 Got the first scan stuff it into EVEN numbers of the array For I 0 To 289 i Lower 6 bits of X Higher 6 bits of X Acuity AP820 Laser Scanners A t Rev 1 0 SACH 38 XArray I 2 CUInt Buffer 66 I 5 And amp H7F Or CUInt Buffer 66 I 5 1 And amp H7F lt lt 7 Lower 6 bits of Z Higher 6 bits of A Zarray I 2 CUInt Buffer 66 I 5 2 And amp H7F Or CUInt Buffer 66 I 5 3 And amp H7F lt lt 7 Intensity TArray I 2 CUInt Buffer 66 I 5 4 Next Call Ethernet _GetScanRawData again Result EthernetScanner GetScanRawData pScanner Buffer 3500 0 500 If Result Then check that the image number is correct one more than the first SecondImageNumber Buffer 62 If SecondImageNumber ImageNumber 1 Then Got the second scan stuff it into ODD number of the array For I 0 To 289 d Lower 6 bits of X Higher 6 bits of X XArray I 2 1 CUInt Buffer 66 I 5 And amp H7F Or CUInt Buffer 66 I 5 1 And amp H7F lt lt 7 Lower 6 bits
17. MENSIONS cceeeee eee eee 10 Figure 5 AP820 120 mechanical dimensions eee eee eee eee eee eee 10 Figure 6 AP820 240 mechanical dimensions eens teens teen enaeneaas 11 Figure 7 AP820 400 mechanical dimensions cence eens eeaeeenaeneaas 12 Figure 8 AP820 laser labels E 13 Figure 9 LED Configuration ENEE ENEE NENNEN 16 8 e Acuity AP820 Laser Scanners A t Rev 1 0 ACUIT 1 Introduction This section is a guide to getting started with the AP820 laser sensor and this manual The AP820 scanner has a number of configurable parameters a minimum of which must be set before the scanner can be used the first time However once the parameters are set the sensor will default to that configuration until changed by the user The recommended order for reading the manual is e General Overview Gives a brief understanding of the sensor operation e Operating Guidelines Provides a few important safety tips e Definition of Terms An aid for proper communication e Quick Start Instructions This should provide the information necessary to connect the sensor and verify its operation with an Ethernet connection e General Description Gives important laser operation mechanical and mounting information e Installation and Checkout Tailor the application Use the other chapters for reference e Signal and Power Interface how to connect to the laser scanner e Ethernet Interface Operation modes and formats e Performance Optimization
18. Ptr ByVal Buffer As Byte ByVal Buffersize As UInteger As UInteger End Function lt DllImport EthernetScanner dll gt _ Private Function EthernetScanner GetVersion lt MarshalAs UnmanagedType LPStr Out gt ByVal Version As StringBuilder ByVal Result As UInteger As UInteger End Function lt Dllimport EthernetScanner dll gt _ Private Shared Function EthernetScanner GetScanRawData ByVal pScanner As IntPtr ByVal Buffer As Byte ByVal BufferSize As UInteger ByVal ScanProfileMode As UInteger ByVal Timeout As UInteger As Boolean End Function We will discuss each function individually as we go Note that with the exception of EthernetScanner_GetVersion there is a managed type with default marshalling behavior that matches the unmanaged type in the dll The exception EthernetScanner_GetVersion requires a null terminated string in the buffer passed to it by a pointer To accomplish this we will use the buffer of the StringBuilder type and the MarshalAs attribute in System Runtime InteropServices to marshal the StringBuilder as a pointer to a null terminated string 12 2 Calling EthernetScanner_GetVersion The EthernetScanner_GetVersion function is a fast and easy way to prove that we are calling the dll correctly because it is not dependent on the laser in any way Having imported the dll using DilImport as in the above example we can use the following code to call EthernetScanner_GetVersion P
19. TION OF THE HARDWARE OR SOFTWARE TO ANOTHER PARTY YOUR LICENSE IS AUTOMATICALLY TERMINATED TERM The license is effective until terminated You may terminate it at any other time by returning all hardware and software together with all copies of associated documentation It will also terminate upon conditions set forth elsewhere in this Agreement or if you fail to comply with any term or condition of this Agreement You agree upon such termination to return the hardware and software together with all copies of associated documentation In the event of termination the obligation of confidentiality shall survive 12 MONTH LIMITED WARRANTY EXCEPT AS STATED BELOW IN THIS SECTION THIS PRODUCT IS PROVIDED AS IS WITHOUT WARRANTY OF ANY KIND EITHER EXPRESSED OR IMPLIED INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE Schmitt Industries Incorporated does not warrant that the functions contained in the product will meet your requirements or that the operation of the product will be uninterrupted or error free Schmitt Industries Incorporated does warrant as the only warranty provided to you that the product which is furnished to you will be free from defects in materials and workmanship under normal use for a period of twelve 12 months from the date of delivery to you as evidenced by a copy of your warrant receipt LIMITATIONS OF REMEDIES Schmitt Industries Incorporated s enti
20. Windows DLL Cales 32 12 1 Importing Ke TC UE 32 12 2 Calling EthernetScanner_GetVerSion cccceeeeeeee eee eeeeeecneeeeeeeeeeteneenaaeeeeeeeeeneee 33 Acuity AP820 Laser Scanners A t Rev 1 0 ACUIT 12 3 Establishing Ethernet communication with the AP820 ssssssssssesssssssserrnrresserrrrrre 33 12 4 Calling EthernetScanner_Connect Ethernet_Scanner_Disconnect and EthernetScanner_ GetConnectStatusS cccccccccsesssscccececceeeseesececeeeseesseeaaeceeeeessesaaeaeeeeeeees 34 12 5 Getting AP820 Parameters by calling EthernetScanner_Getlnfo ceeeeeeeee 35 12 6 Getting Profile Data from the Abo 36 12 6 1 Examples EthernetScanner_GetScanRawData A 37 12 7 Description of other parameters returned by EthernetScanner_GetScanRawData 39 12 8 Writing Commands to the AP820 weriisiccessiniccerececasansteineereeutwensteteneneceiwescebmeencmeieiar 39 12 8 1 Examples Laser on Triggering ENEE 40 12 8 2 Example Limiting the Range Z iis cetciscasssccsnctetesanetiavsatecalersneiaresanedenetd eeiaraeunuiecnure 41 12 9 Description of Register Addresses accessible via EthernetScanner_WriteData 42 Table of Figures Figure 1 AP820 20 mechanical dimensions eeeeeee eee eee eee eee eee enna 9 Figure 2 AP820 40 mechanical GIMENSIONS eeeeee eee eee teat eee teat eeeeaee 9 Figure 3 AP820 60 mechanical GIMENSIONS cceeee cece ee eee eee teeta ee eee 10 Figure 4 AP820 80 mechanical GI
21. anner dll These functions are EthernetScanner_Connect EthernetScanner_Disconnect EthernetScanner_GetConnectStatus EthernetScanner_GetScanRawData EthernetScanner_GetInfo EthernetScanner_WriteData EthernetScanner_GetVersion We will import these into VB net using the DllImport attribute in the System Runtime InteropServices namespace which we will reference at the top of the module containing the code to import the dll functions Imports System Runtime InteropServices Then we use DllImport to import the functions from the dll lt DlliImport EthernetScanner dll1 gt Private Function EthernetScanner Connect ByVal IPAddr As String ByVal Port As String ByVal Timeout As UInteger As IntPtr End Function lt DllImport EthernetScanner dl1 gt Private Function EthernetScanner Disconnect ByVal pScanner As IntPtr As BE en End Function lt DllImport EthernetScanner dll gt _ Private Sub EthernetScanner GetConnectStatus ByVal pScanner As IntPtr ByRef Status As UInteger End Sub lt DlliImport EthernetScanner dll gt _ Private Function EthernetScanner GetInfo ByVal pScanner As IntPtr ByRef ScaniInfo As ScanInfoStruct ByVal ScanInfoSize As UInteger ByVal Timeout Acuity AP820 Laser Scanners A t Rev 1 0 ACUIT 32 As UInteger As UInteger End Function lt DlliImport EthernetScanner dll gt _ Private Function EthernetScanner WriteData ByVal pScanner As Int
22. bi t eg g g at bo es ee A A Public LaserIntensityThreshold As UInteger Public LaserTargetValue As UInteger Public PeakWidthLimit As UInteger Public PeakThreshold As UInteger Public Synchronization As UInteger Public ProtocolVersion As UInteger Public ShutterControl As UInteger Public Linearization2 As Integer D D D D 5 Public Speed As UInteger Public FPGAVersion As UInteger Public DigitalInput As UInteger Publiec LaserValueOfProfile As UInteger Cruct re To get the current settings back from the laser pass this structure by reference to EthernetScanner_GetInfo Public Function GetInfo ByRef ScanInfo As ScanInfoStruct As Boolean Dim Result As Boolean Result EthernetScanner GetInfo pScanner ScanInfo 296 500 End Function 12 6 Getting Profile Data from the AP820 Profile data is retrieved from the AP820 by calling EthernetScanner_GetScanRawData The function is or the following form Private Function EthernetScanner GetScanRawData ByVal pScanner As IntPtr ByVal Buffer As Byte ByVal BufferSize As UInteger ByVal ScanProfileMode As UInteger ByVal Timeout As UInteger As Boolean Where pScanner is the pointer returned by EthernetScanner_Connect Buffer is a byte array that will contain the data described later Buffersize contains the size of the buffer 3500 Note that the buffer must be at least 3500 bytes even though only the first 2048 bytes contain us
23. ch scan it actually has twice that many pixels 580 and in one scan returns pixels 0 2 4 and so on and the next scan returns pixels 1 3 5 and so on Data from these sequential scans can therefore be interleaved to form one 580 point scan at pixels 0 1 2 3 4 5 and so on To assist in this the structure returned by EthernetScanner_GetScanRawData contains an image counter at index 62 This image counter increments by one each time a new scan is obtained and resets to zero every 254 scans This counter can be used to identify odd numbered vs even numbered scans We would use the image counter to determine whether the scan is odd or even numbered and whether two scans are sequential We obtain the odd numbered scan first containing even numbered pixels 0 2 4 and so on then get the even number scan second containing the odd numbered pixels 1 3 5 and so on Whether used for interleaving sequential scans or in applications that use each 290 point scan individually the image counter can be used in any application to insure that in transferring a series of scans from the laser a scan has not been missed The following example interleaves two successive scans into a single 580 point profile Public Shared Function GetInterleavedData ByVal XArray As UInteger ByVal Zarray As UInteger ByVal IArray As UInteger As Boolean Dim Buffer 3500 As Byte Dim Result As Boolean Dim As Integer Dim ImageNumber HalfImageNumber Second
24. cremental Signal A B 90 Phase shifted Input level Low 0 2 V High 5 30 V Register Bit No Meaning Position generator 6 to0 Position generator Bit 6 to 0 Reg 1 Byte 1525 Position generator 6 to 0 Position generator Bit 13 to 7 Reg 2 Byte 1526 Position generator 6 to0 Position generator Bit 20 to 14 Reg 3 Byte 1527 Position generator 5 to 0 Position generator Bit 26 to 21 Reg 4 Byte 1528 6 Direction of movement of Position generator 8 e Acuity AP820 Laser Scanners A t Rev 1 0 ACUIT 21 7 3 Register of Functions You can read back the data of the register of functions of the AP820 laser sensor The content of this register is described in Section 8 2 7 4 Sensor temperature A temperature probe is a built into the AP820 sensor The temperature will be measured one time per second Register Bit No Meaning Temperature 6 to0 Temperature Value Signed byte representing Reg 1 126 C Ox7E_ temperature in C valid range from Byte 1562 85 C 0x55 55 to 126 25C 0x19 Bit 7 is the leading sign 0 C 0x00 1 C OxFF 25C OxE7 7 5 Scanner Status Register Register Bit No Meaning Value 0 Value 1 Status Byte 1563 Bit 0 Profile data not linear linear Reg 1 Byte 1563 Bit 1 Register condition After reset If changed Byte 1563 Bit 2 Transmission format Scanner data Grey scale image Byte 156
25. ctions Readout of the register of Byte 0 to 30 functions 169 1 170 to 172 3 FIFO Charging level maximum value 524287 Acuity AP820 Laser Scanners Rev 1 0 19 Acuity 173 to 1875 2047 6 3 Grey Scale Image The scanner offers the user the capability to display the sensor s grey scale image as captured on the CCD array rather than height profile data To receive the grey scale image the following one time sequence has to be send to the scanner Description Register Command Output mode Grey scale image 0x10 0x81 Set the Trigger Mode 0x14 0x84 Activate grey scale image Mode 0x10 0x81 Clear the FIFO 0x1C Release the Trigger 0x1D The image will be assembled with two half images at 290 lines with 752 pixels As many packets as necessary will be sent in order to complete the transmission of the entire image The next grey scale image can be received by resending the command Release the Trigger The grey scale image has a value range of 0x01 to OxFE Address Bytes Description Significance 0 to 218079 2180805 Grey scale image data 1 Half 290 x 752 218080 Pixel image 218080 to 8 Synchronize Bytes 8 x 0x00 218087 218088 to 2 218089 218090 1 Image number 1 Half image 0x01 218091 to 5 218095 218096 to 2180805 Grey scale image data 2 Half 290 x 752 218080 Pixel 436175 image 436175 to 8
26. eful data ScanProfileMode is reserved and should always be 0 Timeout is the timeout time in milliseconds This function returns 0 on success and 1 on failure The profile data is returned in the byte array starting at index 66 and continuing through the next 1450 bytes to index 1515 We will describe the contents of the rest of the array later but for now we will concentrate on these 1450 bytes containing the data Each successive group of 5 bytes contains Acuity AP820 Laser Scanners A t Rev 1 0 ACUI 36 Byte 1 Bits 6 to 0 Contains Bits 6 to 0 of the raw X value Byte 2 Bits 6 to 0 Contains Bits 13 to 7 of the raw X value Byte 3 Bits 6 to 0 Contains Bits 6 to 0 of the raw Z value Byte 4 Bits 6 to 0 Contains Bits 13 to 7 of the raw Z value Byte 5 Bits 7 to 0 Contains an intensity value from 1 dark to 254 light This pattern is repeated 290 times for a total of 1450 290 5 bytes The measured profile for a single scan is represented by 290 pixels horizontally The laser in fact has 580 pixels but only makes measurements on 290 pixels in each scan So for example scan number N will return data from pixels 1 3 5 and so on and the subsequent scan number N 1 will return data from pixels 0 2 4 and so on Thus although the horizontal field of view of odd numbered and even numbered scans is the same and the resolution of each scan is 1 290 of the horizontal field of view the field of view is shi
27. eteadmenientenmemon 8 3 1 Principles f CP OF ANON ege ere eebe EE 8 3 2 Mechanical DiIM nsSiOn c ccc cccicccsdccscececnes cacstncncecsccatvanstncacecacnedcacdtnencadeccetvacsdacscecndeases 8 3 3 COMENS n nnn a aa Eae EE 12 34 Laser Safely ereire a E a RE PESEE EA see Rustin deus cies seumsseesanes 12 3 5 Sensor Mammteranegss sbeEuEReEgegrkeeNbegkedES EReEEENEEEEER EE AENgERdESERNEEENEEERERdE EE EEN ge 13 36 Sens r SONICS tee 13 3 7 Sensor Specifications ic conciiercinteronsencrecsammetnieiend beret neatnntdeeietenmateniatimcetmdaaeesetcts 13 4 Installation and el e ciiiiisicivehiriarethiniaiisnianedebiedeiaehaiesstialosdnxaesnapenseiusbiniesniiiainieidixusk 14 7S MUMIN EE 14 42 Cabling aaa oes ee ee ee ee 14 421 ER ee e 14 422 Ge GANS isepa si cccenci ccs saceecawieieeasieeneicadessneecawla easiness 15 43 Cannes eminem mee 15 4A HOWE e 16 4 4 1 Communications Check ciiciccsahiacosiadivarinadindeinubineeiniindeidadiaaninadindeduebinteandbiadninibiness 16 4 4 2 Verifying Operation EE 16 5 Ethernet Interface Lettre Eesen daddies 17 5 1 Changing hr 17 6 Transmission Formats Sensor Data 18 6J SCANNED See 18 6 2 Info Telegram etccecctesssoscpenctteiantenensiencnmatimicteneieceh Seoieue nexatnadtoolietetmadeiiceimietmaneteatetsie 19 Acuity AP820 Laser Scanners A t Rev 1 0 SACH 6 3 Grey Scale Image ssa ccc vaccans ssc ce cctiaek asst eeceecas ees cecbar ewes tee acetone 20 Te Bata 01046 gare mee ee eer a e e ea a
28. eters by calling EthernetScanner_GetInfo Information about the AP820 settings can be obtained by calling EthernetScanner_GetInfo The information is returned in the following structure lt StructLayout LayoutKind Sequential gt Public Structure ScanInfoStruct MarshalAs UnmanagedType ByValTStr sizeconst 16 gt Public erialNumber As String MarshalAs UnmanagedType ByValTStr sizeconst 128 gt Public irmwareVersion As String ublic BeginningOfMeasuringRange As UInteger ublic MeasuringRange As UInteger ublic ScanRangeBeginning As UInteger ublic ScanRangeEnd As UInteger ublic MaxZLinearized As UInteger ublic MaxXLinearized As UInteger ublic MaxZNonLinearized As UInteger ublic MaxXNonLinearized As UInteger ublic NumZPixels As UInteger ublic NumXPixels As UInteger ublic ScannerTemperature As UInteger ublic OperatingSecondsCounter As UInteger ublic PowerCycleCounter As UInteger ublic Fifo As UInteger ublic PositionEncoder As UInteger ublic PositionEncoderDirection As UInteger ublic Protocol As UInteger ublic Linearization As UInteger ublic CameraMode As UInteger ublic ProfileMode As UInteger ublic ScannerMode As UInteger ublic ShutterTimeManual As Integer ublic ShutterTimeAuto As Integer ublic PixelReadOutStart As UInteger ublic PixelReadOutEnd As UInteger ublic VideoGain As UInteger Acuity AP820 Laser Scanners A t Rev 1 0 SACH 35 bei bet Ao Fo PF FF
29. f Result Then For I 0 To 289 i Lower 6 bits of X Higher 6 Bits Of X Z XArray I CUInt Buffer 66 I 5 And amp H7F Or CUInt Buffer 66 I 5 1 And amp H7F lt lt 7 l Lower 6 bits of Z Higher 6 bits of ZArray I CUInt Buffer 66 I 5 2 And amp H7F Or CUInt Buffer 66 I 5 3 And amp H7F lt lt 7 Intensity IArray I CUInt Buffer 66 I 5 4 Next End I Return Result 8 e Acuity AP820 Laser Scanners A t Rev 1 0 ACUIT 37 End Function Note that the above function returns raw data which has not yet been scaled in mm The full range of X is 0 to 4095 and the full range of Z is O to 4095 The intensity range is 1 to 254 and can be used to determine if a particular data point is valid To scale the data in millimeters use the following formulae Xraw 4096 ScanRangeEnd 0 1 Zraw 4096 MeasuringRange 0 1 Note that ScanRangeEnd and MeasuringRange are members of the ScannerInfo structure which has previously been discussed These ranges can be determined by calling the EthernetScanner_GetInfo function or alternately from the specifications for the particular model of the laser being used Xmm zmm The discussion which follows explains how to interleave two back to back scans to obtain a 580 point profile which will have the same X width but twice the resolution of the 290 point scan Although the AP820 returns 290 points in ea
30. file is also presented Nersiominfo Firmware 2 0 60 Q4 Electronic System 46 2 Serial number 1009003 Default Settings IP 192 168 125222 Port 03000 MAC 00 08 DC 00 00 E0 IP 192 168 123 222 Port 03000 SubNetMask 255 255 255 000 SubNetMask 255 255 000 000 Working Settings a MAC 00 08 DC 3D 4A 6B IP 192 168 123 222 Port 03000 Change IP Adress SubNetMask 255 255 255 000 Scanner connected to 192 168 123 001 Sensor hour meter 00005 hour 29 min 23 sec 8 e Acuity AP820 Laser Scanners A t Rev 1 0 ACUI 12 Programming using Windows DLL Calls The following discussion is an attempt to show step by step what is required to set up program and get results from an AP820 laser using Windows DLL function calls To illustrate the use of the Windows DLL functions this document presents examples of how to call each of the functions from the Visual Basic DotNet environment Visual Basic DotNet was selected because it is the most straightforward to use of the Windows programming languages Experienced C or C programmers should not have difficulty translating the methodology into their programming language Note the variation between C and VB hexadecimal expressions The discussion below assumes familiarity with Visual Basic DotNet and associated terms and concepts such as managed and unmanaged code etc 12 1 Importing EthernetScanner dll The functions that access the AP820 are exported in a library called EthernetSc
31. for the power supply The White wire is the Power Supply Input to the sensor The sensor accepts a wide range from 10 to 30 VDC power and consumes lt 4 W Power supplies from 10 VDC to 30 VDC may be used Higher voltages will result in excessive current drawn by the over voltage protection circuitry and may cause permanent damage 4 2 1 2 Drain Wire Clear The cable may have an un insulated wire drain that connects the stainless steel harness plug of the cable It should also be connected to ground at the power supply end of the cable 4 2 2 Ethernet cable The Ethernet cable uses a Mi2 D Coded 4pol Industrial Ethernet cable The other end is a standard RJ45 connector Connection Pin Function Cablecolors Note No 1 TX green white Sending data Ethernet M12 round 2 Rx red white Receiving data Ethernet 4 pol 3 Tx green Sending data Ethernet D coded 4 Rx red Receiving data Ethernet female Screen Connected with the connector plug housing 4 3 Connection box Optional Users can purchase the optional terminal block that joins the connections of the sensor power supply and triggers encoder red RS232 interface blue pink grey Digital input 1 yellow Digital input 2 green Synchron out brown Synchron in white GND Power adaptor 12 30V Acuity AP820 Laser Scanners Rev 1 0 Acuity 15 4 4 Power Onjpx2 Caution be sure
32. fted by one pixel in odd numbered scans with respect to the field of view of the even numbered scan An important consequence of this is that if the one pixel shift of the measurement points is not important for the application the user can treat each scan as an independent measurement and obtain 290 pixel scans at the rate of approximately 100 Hz On the other hand if he she wishes to resolve the horizontal field of view into 580 parts and the measured target is assumed not to change during the time between adjacent scans he she can programmatically interleave the data from odd numbered scans with the data from even numbered scans and and get twice the resolution i e 580 pixels at half the rate Example code demonstrating data interleaving to accomplish a 580 point profile will be presented after discussion of 290 point scanning 12 6 1 Examples EthernetScanner_GetScanRawData The following example illustrates the use of the EthernetScanner_GetScanRawData function to obtain a single 290 point scan across the field of view X Public Function GetData ByVal XArray As UInteger ByVal ZArray As UInteger ByVal IArray As UInteger As Boolean Dim Buffer 3500 As Byte Dim Result As Boolean Dim I As Integer Size of the arrays passed to this function should be 290 Call EthernetScanner GetScanRawData Result EthernetScanner GetScanRawData pScanner Buffer 3500 0 500 If everthing went OK stuff the results in the arrays I
33. he value can be increased here Register Bit No Meaning Reg 1 6to 0 value Bit 6to 0 0x000 minimum amplification Reg 2 2to0 value Bit 9 to 7 OxSFF maximum amplification 8 e Acuity AP820 Laser Scanners A t Rev 1 0 ACUIT 28 9 5 AGC amplification control When this function is activated the scanner dynamically controls the amplification of the sensor signal This is an automatic function that offers optimal results on most surfaces in cases of surfaces with varying reflectivities However when the scanner looks into emptiness with no target within range the sensor is sensitive to ambient light 9 6 Ambient Light Filter The ambient light filter is helpful for measurements in very bright ambient sun glare and in the vicinity welding arcs This bandpass filter is especially helpful on highly reflective surfaces like metals By using this filter the resolution of the scanner will be slightly diminished 9 7 Synchronization Mode This mode controls how two scanners work together when connected with the help of synchronization inputs and outputs The function alternately permits the use of two scanners that may interfere laser of sensor 1 seen by detector of sensor 2 and visa versa with each other This way it is possible to measure the very same spot on a target with both scanners doubling the effective measuring rate Simultaneously Alternately Set up thi
34. hth the number of pixels PixelArg CByte Pixels 8 Buffer 1 amp H80 And PixelArg put a 1 in bit 7 and number of pixels in pits 6 0 Return AP820Class WriteData Buffer 2 End Function Acuity AP820 Laser Scanners A t Rev 1 0 ACUIT 41 12 9 Description of Register Addresses accessible via EthernetScanner_WriteData The following is a table of settings commands and associated Register Addresses which can be accessed via the EthernetScanner_WriteData function Refer to section 9 for descriptions of the purpose of each of the commands Bytes 0 to 1 Exposure Control Maximum exposure time and brightness at amp HOOO Minimum exposure time and brightness at amp H3FF 8 e Acuity AP820 Laser Scanners A t Rev 1 0 SACH 42
35. id This Agreement will be governed by the laws of the United States and the State of Oregon United States of America Should you have any questions concerning this Agreement you may contact Schmitt Industries Incorporated by writing to Schmitt Industries Incorporated 2765 NW Nicolai St Portland Oregon 97210 USA YOU ACKNOWLEDGE THAT YOU HAVE READ THIS AGREEMENT UNDERSTAND IT AND AGREE TO BE BOUND BY ITS TERMS AND CONDITIONS YOU FURTHER AGREE THAT IT IS THE COMPLETE AND EXCLUSIVE STATEMENT OF THE AGREEMENT BETWEEN YOU AND SCHMITT INDUSTRIES INCORPORATED AND ITS DEALER US WHICH SUPERSEDED ANY PROPOSAL OR PRIOR AGREEMENT ORAL OR WRITTEN AND ANY OTHER COMMUNICATIONS BETWEEN US RELATING TO THE SUBJECT MATTER OF THIS AGREEMENT Acuity AP820 Laser Scanners Rev 1 0 Procedures for Obtaining Warranty Service 1 Contact your Acuity distributor or call Schmitt Industries Inc to obtain a return merchandise authorization RMA number within the applicable warranty period Schmitt Industries will not accept any returned product without an RMA number 2 Ship the product to Schmitt Industries postage prepaid together with your bill of sale or other proof of purchase your name address description of the problem s Print the RMA number you have obtained on the outside of the package This device complies with FCC Part 15 Class A CE Mark CISPR22 CNS13438 EN55022 ICES 003 VCCI Operation is subject to the following t
36. ixels Bit 6 to 0 Reg 1 Byte 2043 Number of Vertical pixels 6 to 0 Sensor Number of pixels Bit 13 to 7 Reg 2 Byte 2044 7 12 FIFO First In First Out The Scanner has a Data FIFO of 512 kByte This value indicates the charging level Register Bit No Meaning Reg 1 Byte 2045 Zo FIFO charging level Bit 7 to 0 Reg 2 Byte 2046 7 to0 FIFO charging level Bit 15 to 8 Reg 3 Byte 2047 2100 FIFO charging level Bit 18 to 16 7 13 Serial number The reading of the serial number Bit 27 to 0 results in a decimal number with 7 digits For example 1009003 Starting from the left the first two digits refer to the month on which the product was manufactured followed by the year and a continuous 3 digits number Register Bit No Meaning Reg 1 Byte 102 6 to 0 serial number Bit 6 to 0 Reg 2 Byte 103 6 to0 serial number Bit 13 to 7 Reg 3 Byte 104 6 to 0 serial number Bit 20 to 14 Reg 4 Byte 105 6 to0 serial number Bit 27 to 21 7 14 Z and X values Info Telegram address 106 to 125 Every one of the 4 values consists of a double register The information in the address 106 to 113 are indicated as follows value Data resolution mm Register Bit No Meaning Reg 1 6 to0 value Bit 6 to 0 Reg 2 6 to 0 value Bit 13 to 7 K N be Sensor Data Register Bit No Meaning value 0 value 1 Sensor Data Reg 1 3 Data resolution 0 1 mm 1 0 m
37. m 7 16 Version Firmware This is the version of the sensor s Ethernet firmware An ASCII String will be sent For example see below 8 e Acuity AP820 Laser Scanners A t Rev 1 0 ACUIT 24 Register Bit No Meaning e g Version 06 0 2 Firmware Reg 1 7 to 0 o Firmware Reg 2 7to0 6 Firmware Reg 3 7to0 Se Firmware Reg 4 7 to0 o Firmware Reg 5 7to0 e Firmware Reg 6 7 to 0 2 Acuity AP820 Laser Scanners Rev 1 0 25 Acuity 8 Scanner control 8 1 Data format for Register addresses and Data For normal operation it is not necessary to write the registers An initialization of the scanner is not necessary The control commands are composed as follow Bit No Meaning value 0 value 1 control command 6 to 0 Data 7 Identified Datas are address Datas are register value To be able to write the register value first the register address will be sent followed by the value The register address that was set will be maintained until a new register address is sent In cases of double registers the register value will be assumed only after the writing of a higher quality register In cases of control registers in which the column Bit No is marked with it is sufficient to write the register address to perform the function Registers that are not included in the table in section 8 2 should not be addressed 8
38. ndustries incorporated LICENSE a You are granted a personal nontransferable and non exclusive license to use the hardware and software in this Agreement Title and ownership of the hardware and software and documentation remain in Schmitt Industries Incorporated b the hardware and software may be used by you only on a single installation C you and your employees and agents are required to protect the confidentiality of the hardware and software You may not distribute disclose or otherwise make the hardware and software or documentation available to any third party d you may not copy or reproduce the hardware and software or documentation for any purpose e your may not assign or transfer the hardware and software or this license to any other person without the express prior written consent of Schmitt Industries Incorporated f you acknowledge that you are receiving only a LIMITED LICENSE TO USE the hardware and software and related documentation and that Schmitt Industries Incorporated retains title to the hardware and software and documentation You acknowledge that Schmitt Industries Incorporated has a valuable proprietary interest in the hardware and software and documentation YOU MAY NOT USE COPY MODIFY OR TRANSFER THE HARDWARE AND SOFTWARE IN WHOLE OR IN ANY PART WITHOUT THE PRIOR WRITTEN CONSENT OF SCHMITT INDUSTRIES INCORPORATED Acuity AP820 Laser Scanners Rev 1 0 IF YOU TRANSFER POSSESSION OF ANY POR
39. ner_Connect Buffer contains the array of bytes to be sent to the laser Buffersize is the number of bytes to be sent i e the size of Buffer This function returns the number of bytes written on success and 1 on failure The byte array contains two types of bytes Register Address bytes and Register Data Values The order of the bytes in the array must be Register Address first followed by any data value bytes which may be required for the particular register A byte indicating which Register Address is to be written to must have a 0 in bit 7 and the Register Address in bits 6 to 0 A byte indicating what data value to write to the specific register must have a 1 in bit 7 and the data value in bits 6 to 0 12 8 1 Examples Laser on Triggering In the following section we demonstrate how to execute two laser commands turning the laser on and changing the triggering method as well as how to change a setting the Z measurement range Once these three examples are understood coding of any other register related operation should be straight forward by analogy For example let s consider commands to turn on and to turn off the laser programmatically We see in the Register of Functions that the laser on off function is at Register Address 12 and that a data value of 0 in bit O of the register turns the laser off and a data value of 1 in bit O turns the laser on We need a 2 byte array perform these tasks the first byte will be
40. of Z Higher 6 bits of Z Zarray I 2 1 CUInt Buffer 66 I 5 2 And amp H7F Or CUInt Buffer 66 I 5 3 And amp H7F lt lt 7 Intensity TArray I 2 1 CUInt Buffer 66 I 5 4 Next Else something went wrong Return False End If Else Return False End If Return Result End Function At this point both the X and Z arrays will contain the 580 interleaved points acquired by the two back to back scans 12 7 Description of other parameters returned by EthernetScanner_GetScanRawData In addition to the profile data discussed above the buffer returned by EthernetScanner_GetScanRawData contains the following additional information The buffer returned by EthernetScanner_GetScanRawData is a byte array declared as follows Dim Buffer 3500 as Byte The various parameters and their location within the byte array are in the chart in section 6 1 Explanations of these parameters can be found through section 7 12 8 Writing Commands to the AP820 The EthernetScanner_WriteData function is used to write an array of bytes to the laser in order to change settings or issue laser commands such as a trigger The form of the function is Acuity AP820 Laser Scanners Acuity Rev 1 0 39 Private Function EthernetScanner WriteData ByVal pScanner As IntPtr ByVal Buffer As Byte ByVal Buffersize As UInteger As Uinteger Where pScanner is the pointer returned by EthernetScan
41. on purchased separately 4 This User s Manual part number LLLO00821 3 4 Laser Safety The AP820 scanners have a visible laser line produced by a semiconductor laser diode The laser class of the scanner depends on the model specifications but may range from a Class 2 to a Class 3B laser device in accordance with EN60825 1 2001 11 and FDA 21CFR 1040 This laser device should not be aimed at the human eye Installers of laser sensors should follow precautions set forth by FDA 21CFR 1040 10 or by their local safety oversight organization Do not direct the laser beam at other people to avoid potential eye hazards If required use eyewear specifically designed to block laser 660 nm wavelength visible radiations Acuity AP820 Laser Scanners Rev 1 0 12 Acuity PULSED LASER RADIATION PULSED LASER RADIATION DO NOT STARE INTO BEAM DO NOT STARE INTO BEAM SEMICONDUCTOR LASER 660nm SEMICONDUCTOR LASER 660nm MAXIMUM OUTPUT imW MAXIMUM OUTPUT Ed CLASS 2M LASER PRODUCT CLASS 3R LASER PRODUCT Figure 9 AP820 laser labels 3 5 Sensor Maintenance The AP820 sensor requires little maintenance from the user The sensor lenses should be kept clean of dust buildup as a part of regular preventative maintenance Use compressed air to blow dirt off the window then use delicate tissue wipes with a light solvent such as isopropyl alcohol or water Avoid using pressurized water and do not use abrasive wipes on the optical glass For heavy dust o
42. or The complete 2D profile measuring device Target The object of measurement The relative distances from the scanner to the target surface is measured by the sensor Laser Laser line This light visible laser line is emitted from the sensor reflected from the target and collected by the camera lens lt Range gt The maximum relative distance measurable by the sensor in the Z axis Range Beginning Range Ending The region over which the target can be measured At the near end of the range the sensor measures zero At the far end of the range the sensor measures its maximum value its Range value Field of View The lateral distance profiled by the scanner in the X axis The Field of View varies at different Ranges 2 1 Quick Start Instructions This will get the AP820 scanner operating for quick measurements in its factory default configuration For full instructions use the individual sections of this manual for mounting power connections data connections and configuration 2 1 1 Mounting and Power connections Mount the scanner in such a way that the case is not twisted or warped Use two screws through the threaded mounting holes on the sides of the AP820 scanner See the technical data sheet or the section of this User s Manual for mounting hole specifications The laser should be aimed at a target such that the distance from the sensor face to the target can be measured between the Range Beginning and Range End
43. ply voltage the scanner will send immediately the following AP820 Scanner 2 0 60 WebServer aktive P9 4 0 WDC5 0x01 H 290 W 752 Sensor Pixel amount Serial number 10 09 003 Register EEPROM Data 80 03 2E 7F 18 74 04 00 00 53 00 00 04 F8 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 70 05 22 02 6B 4A 3D 00 12 04 58 04 2C 02 10 03 7F 1F 7F 1F 00 00 04 00 3C 17 47 04 02 7F 7F 01 AP820 Head 127 AP820 Evaluation 46 2 Working Data MAC 00 08 DC 3D 4A 6B IP 192 168 123 222 3000 A Working IP address SubNetz 255 255 255 0 GateWay 192 168 123 1 Broadcast Packet initW3100A InitNetConfig Socket Web aktiv to TCP Connecting to ClientIP 192 168 123 1 2223 FiFo 0 0 0 Connect IP address TCP Rx 1 8 e Acuity AP820 Laser Scanners A t Rev 1 0 ACUI 30 11 Description of the Web Servers Address the scanner by using the integrated Web Server with the help of a web browser The parameters and the scan profile will be indicated A scan profile update is not performed automatically until the scanner is updated via the website Additionally the access with the web browser allows the set up directly of the working IP address the Port and the Subnet mask 11 1 Changing the IP address Type the new IP port and subnet mask into the appropriate fields of the web browser The password is q4 After pressing Change IP address the scanner confirms the new data on a report within a new screen page A new scan pro
44. r dirt buildup on the lenses rinse the lenses before wiping clean to avoid lens scratching If your sensor does not function according to specifications contact Schmitt Industries Inc 3 6 Sensor Service The AP820 sensor has no user serviceable parts Do not open the unit Refer all service questions to Schmitt Industries Inc 3 7 Sensor Specifications Go to http www acuitylaser com pdf ap820 users manual pdf Acuity AP820 Laser Scanners Acuity Rev 1 0 13 4 Installation and Checkout 4 1 Mounting The scanner should be securely mounted to rigid mechanical fixtures brackets or stages In environments of high vibration consider using insulating bushings with a bracket to minimize the transfer of this movement to the scanner The floors of some industrial environments could transfer vibration to scanner fixtures and care should be taken to eliminate this source of displacement measurement error Never weld the scanner in place and avoid using a welder s arc on metal fixtures with the scanner connected Consult the appropriate mechanical drawings see section Mechanical Dimensions 3 2 to locate the size and location of the mounting holes for each scanner model For the smaller models the mounting holes are located on the side of the scanner head to conserve space The small enclosures have two mounting holes on the side of the sensor The medium enclosure models have three through holes that should be used for secure moun
45. r to provide the optimal profile Only in cases where the object has a very strong color reflectivity variation surface is it useful to activate the AGC function as described in the register of functions The values in this description that are represented in hexadecimal format will be represented in C format Therefore 0x23 will be the hexadecimal value 23 5 1 Changing the IP address The AP820 scanners have a default IP address as well as a working IP address See the table in section 6 1 for details Changes to the working IP address will be saved permanently The default IP address will be activated by the RESET IP button The default IP address is fix programmed and cannot be changed by the user Another working IP address can be set through the Web Server The procedure is explained in section 11 Acuity AP820 Laser Scanners Acuity Rev 1 0 17 6 Transmission Formats Sensor Data Blue marked words refer to the description of data formats Addresses without a corresponding headword in the register Description do not contain any function but can contain data 6 1 Scanner data The profile data as well as the status information will be transmitted at 2048 Bytes per Scan The composition of the packet is described in the following table Address__ Bytes Description Meaning Factory setting 00 to 05 6 Default MAC address
46. re liability and your exclusive remedy shall be I the replacement of any hardware and software not meeting Schmitt Industries Limited Warranty and which is returned to Schmitt Industries Incorporated or an authorized Schmitt Industries dealer with a copy of your purchase receipt or 2 if Schmitt Industries Incorporated or the dealer is unable within ninety 90 days to deliver a replacement product which is free of defects in material or workmanship you may terminate this Agreement by returning the product and your money will be refunded to you by the dealer from whom you purchased the product IN NO EVENT WILL SCHMITT INDUSTRIES INCORPORATED BE LIABLE TO YOU FOR ANY DAMAGES INCLUDING ANY LOST PROFITS LOST SAVINGS OR OTHER INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE SUCH PRODUCTS EVEN IF SCHMITT INDUSTRIES INCORPORATED OR AN AUTHORIZED DEALER HAD BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES OR FOR ANY CLAIM BY ANY OTHER PARTY SOME AREAS DO NOT ALLOW THE LIMITATIONS OR EXCLUSION OF LIABILITY FOR INCIDENTAL OR CONSEQUENTIAL DAMAGES SO THE ABOVE LIMITATION OR EXCLUSION MAY NOT APPLY TO YOU Acuity AP820 Laser Scanners Rev 1 0 GENERAL You may not sublicense assign or transfer the license or the hardware software and documentation except as expressly provided in this Agreement Any attempt otherwise to sublicense assign or transfer any of the rights duties or obligations hereunder is vo
47. s 9 1 Exposure control This register is for the manual control of the sensor s exposure It only has an effect when the register exposure control mode is set to 1 for manual Register Bit No Meaning Reg 1 6 to 0 value Bit6 to 0 0x000 maximum exposure time Reg 2 2 to 0 value Bit 9 to 7 and brightness Ox3FF minimum exposure time and brightness 9 2 Calculation of the Exposure Time The sensor works with 94 8 half images per second This is a 10 55 millisecond frequency The maximum exposure time is 4 62 milliseconds The exposure time can be keyed in 1024 steps Based on this the minimum exposure time can be calculated as maximum exposure time 1024 4 51 usec To identify from which position on the exposure was carried out it is required that a position encoder is plugged to the scanner The position will be saved at the end of an image _ _ 10 26 msec period N Exposure time Store Position encoder data 9 3 Limiting the Range Z The registers for limiting the range Z define the area in which the sensor is being read out A profile cannot be generated outside of a defined window With this function it is possible to measurement window in front of the sensor in order to reduce the Z measurement range at the front and back 9 4 Amplification The amplification of the sensor signal can be influenced In cases of very dark and reflecting surfaces t
48. s function by connecting the Sync Out outlet of scanner 1 with the Sync In input of scanner 2 The GND Pins of both scanners also must be connected with each other The external Trigger function is not available when the scanners are being synchronised with each other In this mode the image counters of the scanners run synchronously as well This makes it possible to tell which pictures were taken simultaneously by comparing the numbers of the images 9 8 Measurement Control Trigger This function controls the Trigger Mode Scans or images can be obtained only when an external hardware trigger has been released over a Pin Sync In or when a software trigger has been released with a register 29 After the trigger two scans or two grey scale images are sent A Hardware Trigger will be released with a 0 1 Slope on the Sync In input The signal should be sufficiently bounce free Dk3 During a running measurement it will not be possible to release a further measurement and the command is ignored The maximum image frequency in this mode is about 60 Hz 8 e Acuity AP820 Laser Scanners A t Rev 1 0 ACUIT 29 10 RS232 Interface The sensor can communicate scanner data information via the serial interface Make the necessary connections of the serial lines See section 4 2 to the serial port of a PC computer The specifications for the port settings are as follows 115200 baud 8 data Bit no parity 1 stopbit After turning on the sup
49. that the laser will not cause an eye hazard When power is applied the red laser line will be emitted from the top window of the AP820 scanner The LEDS adjacent to the cable connectors on the scanner head should illuminate yellow connection LED red funktion LED flashing Figure 10 LED Configuration 4 4 1 Communications Check To begin communication with the scanner you may use your own application software or the free demo software described in section 2 1 3 4 4 2 Verifying Operation With the scanner mounted above the target surface or reference surface adjust its height so that the surface is slightly closer than the Range End for the particular sensor model you are operating See the data sheet to verify the Range End for your model With the demo software open and working place an opaque object of known height onto the reference surface Zoom the image if necessary and verify that the measured height of the object is equal to within specification tolerances the known object height 8 e Acuity AP820 Laser Scanners A t Rev 1 0 ACUIT 16 5 Ethernet Interface Operation An Ethernet interface will be used for the transmission of the profile data The recommended procedure for data readout is described in the programming example For a normal operation of the scanner it is not necessary to send initialization data to the scanner The electronics in the head of the scanner will store all settings automatically in orde
50. the Register Address and the second byte will be the Data Value for the Register i e O for off or 1 for on So we might write the following code to turn the laser off Private Function TurnOffLaser As UInteger Dim Buffer 1 As Byte Note VB always adds 1 to the size Dim BytesWritten As UInteger The first byte will set the Register Address to 12 Buffer 0 amp HOC bit 7 is 0 bits 6 to 0 will add to 12 The second byte will set the data value for the register to 0 Buffer 1 amp H80 bit 7 is 1 bit 0 is 0 return EthernetScanner WriteData pScanner Buffer 2 met Function Likewise to turn the laser back on we would set that register to 1 by putting amp H81 in Buffer 1 For another example we will switch the AP820 from continuous sampling into trigger mode in which it will require a software trigger to sample This feature is controlled by Register Address 20 bit 3 in the Register of Functions A 0 in bit 3 puts the laser in continuous mode and a 1 in bit 3 puts it in trigger mode Acuity AP820 Laser Scanners Acuity Rev 1 0 40 Private Function SetLaserMeasurementControlMode ByVal SampleContinuously As Boolean As UInteger Dim Buffer 1 As Byte Buffer 0 amp H14 bit 7 is 0 bits 6 to 0 indicate address 20 If SampleContinuously Then continuous mode Buffer 1 amp H80 bit 7 is 1 bit 3 is 0 Else trigger mode Buffer 1 amp H88 bit 7 is 1 bit 3 is 1 End If
51. ting Sensors should be mounted perpendicular to the target surface that it will be measuring Mount the sensor at the appropriate height above the target surface Consult the product data sheet to determine the sensor s standoff distance It will only measure distance between the Range Beginning and Range End 4 2 Cabling The AP820 sensors have two cable receptacles one for Ethernet and one for Power Interface The sensors can be ordered with cables of desired length or users may choose to manufacture their own cables 4 2 1 Control cable The Control cable uses an M12 A Coded Control and power supply plug Wire Color Pin Number Function White 1 Power 10 30 VDC supply Brown 2 Digital Input 1 Position indicator Green 3 Ground or 0 V Yellow 4 Digital Input 2 Position indicator Gray 5 Sync OUT Orange 6 Sync IN Hardware Trigger Blue 7 TxD Red 8 RxD Screen Tied to connector plug housing The AP820 scanner s OEM multipurpose cable has solder tail wires Connection and termination according to the instructions is essential for correct sensor operation Read the wire descriptions for connection information Refer to section 11 4 for the wiring diagram of the OEM cable on the connection box 8 e Acuity AP820 Laser Scanners A t Rev 1 0 ACUI 14 4 2 1 1 Power Supply The Green wire is the Power Supply Common return also named Ground It carries the return current
52. to0 Switch on counter Bit 16 to 14 This reports the condition of the inputs 1 and 2 Register Bit No Meaning 1574 Input register 1 Byte 0 Input 1 1 Input 2 7 10 Adjusting the laser output This is the value which the laser power adjustment control was on during automatic operation mode To manually adjust this value aim the scanner to the surface to be scanned Continue by reading the value of the laser output control Now switch the laser adjustment control to manual operation mode and write this value Output of the adjustment control 4 into the register Exposure Control The laser output adjustment control is now adjusted on the object to be measured Register Bit No Meaning control Reg 1 Byte 1575 Laser adjustment 7to0 0x00 maximum exposure time and brightness OxFF minimum exposure time and brightness 7 11 Number of Horizontal and Vertical Pixels Half of the number of pixels of the sensor in X direction is indicated as the value Sensor Pixel amount horizontal Register Bit No Meaning Number of Horizontal 6 to 0 Sensor Number of pixels Bit 6 to 0 pixels Reg 1 Byte 2041 Number of Horizontal 6 to 0 Sensor Number of pixels Bit 13 to 7 pixels Reg 2 Byte 2042 Acuity AP820 Laser Scanners Rev 1 0 23 Acuity Register Bit No Meaning Number of Vertical pixels 6 to 0 Sensor Number of p
53. ublic Function GetVersion As String Buffer must be at least 256 bytes long Dim VersionBuffer As New System Text StringBuilder 256 Dim Result As UInteger Result EthernetScanner GetVersion VersionBuffer 256 This function returns the length of the Version String on success or 1 on Error If Result gt 1 Then Return VersionBuffer ToString Else Return Error End If End Function Note The above function should return a string similar to 1 0 2 1 110629 12 3 Establishing Ethernet communication with the AP820 Refer to section 2 1 2 8 e Acuity AP820 Laser Scanners A t Rev 1 0 ACUIT 33 Later once you ve established communications with the laser you can configure the laser s working IP address to be another address if desired 12 4 Calling EthernetScanner_Connect Ethernet_Scanner_Disconnect and EthernetScanner_GetConnectStatus To prove that the AP820 is connected properly and that we are able to talk to it via Ethernet we will have to call EthernetScanner_Connect and then verify that we are connected by calling EthernetScanner_GetConnectStatus The form of the function EthernetScanner_Connect is Private Function EthernetScanner Connect ByVal IPAddr As String ByVal Port As String ByVal Timeout As UInteger As IntPtr Where IPAddr is a string containing the IP Address e g 192 168 123 222 Port as a string containing the TCP Port default value is 3
54. wo conditions 1 This device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation Note This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this device in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense This manual copyright 2013 Schmitt Industries Inc 8 e Acuity AP820 Laser Scanners A t Rev 1 0 ACUIT Table of Contents Procedures for Obtaining Warranty Service Au 1 Table of Contents serai a a aa aE EE 2 Table OF Figu eS snrniecenre ann E R E REER E EE A E 4 er Le TT E 5 11 e e EE 5 2 D finition of Eege eege Eege Eege 6 SH QUICK Start INSIMUIGHONG eebe ee EE 6 2 1 1 Mounting and Power connections sssssseeeseeesseeeetrrrrtrsstrtrtrrnnntsstrtrnrrnnnneserrnnee 6 2 1 2 Ethernet e ale EEN 7 23 ESA 7 3 General DESC ONO a iencrniereadsarcrmiet wnt eaereconcrenmeaennieccrenesenenied e

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