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Gocator 3100 Series User Manual - Downloads

1. 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 PatternSequenceType used Bool Whether or not the type can be selected PatternSequenceCount 32u Number of frames in the active sequence read only FrontCamera Window Front camera window read only BackCamera Window Back camera window read only BackCamera used Bool Whether or not this field is used ExposureMode 32s Exposure mode 0 Single exposure 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 Devices Device Child Elements Gocator 3100 Series Gocator Device Files Job Files 178 Element Type Description 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
2. 307 310 Time 64s Current time us 311 Job File Name Length 16u Number of characters in the current job file name 312 371 Live Job Name Current Job Name Name of currently loaded job file Does not include the extension Each 16 bit register contains a single character 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 Protocol 258 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 H
3. 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 Gocator 3100 Series Tools and Native Drivers GenTL Driver 290 Rows Details 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 image represent the dimension in the X and the Y axis Together with the pixel value each blue pixe
4. 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 on 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 on 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 Gocator 3100 Series Gocator Web Interface Models and Part Matching 87 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 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
5. To export recorded intensity data to the BMP format 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background turns blue To change the mode Replay Protection must be unchecked Gocator 3100 Series Gocator Emulator Working with Jobs and Data 166 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 for information on playback see To replay data in Playback and Measurement Simulation on page 163 Downloading and Uploading Jobs The Jobs category on the Manage page lets you manage the jobs in the emulator Element Description Name field Used to provide a job name when saving files Jobs list Displays the jobs that are currently saved in the emulator Save button Saves current settings to the job using the name in the Job Name field Changes to job files are not persistent in the emulator To keep changes first save changes in the job file and then download the job file to a client computer See the procedures below for instructions Load button Loads the job that is selected in the job list Reloading the current job discards any unsaved changes Delete button Deletes the job that is selected in the job list Set as Default button Setting a different job as the default is not persistent in the emu
6. 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 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
7. l Only one instance can be run at a time Gocator 3100 Series Gocator Emulator Downloading a Support File 159 For information on saving and loading jobs in the emulator see Creating Saving and Loading Jobs on page 162 For information on uploading and downloading jobs between the emulator and a computer and performing other job file management tasks see Downloading and Uploading Jobs on page 166 Downloading a Support File The emulator is provided with several virtual sensors preinstalled You can also create virtual sensors yourself by downloading a support file from a physical Gocator and then adding it to the emulator Support files can contain jobs letting you configure systems and add measurements They can also contain replay data letting you test measurements and some configurations on real data 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 excluding the extension is used in the Available Scenarios list in the emulator launch screen 4 Save the file Gocator 3100 Series Gocator Emulator Running the Emulator 160 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 c
8. 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 inner 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 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
9. 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 regions 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 th
10. Measurement 247 Alignment Result 248 Exposure Calibration Result 248 Edge Match Result 249 Bounding Box Match Result 249 Ellipse Match Result 249 Health Results 250 Modbus Protocol 254 Concepts 254 Messages 254 Registers 255 Control Registers 256 Output Registers 257 State 257 Stamp 257 Measurement Registers 258 EtherNet IP Protocol 260 Concepts 260 Basic Object 261 Gocator 3100 Series 7 Identity Object Class 0x01 261 TCP IP Object Class 0xF5 261 Ethernet Link Object Class 0xF6 261 Assembly Object Class 0x04 262 Command Assembly 262 Sensor State Assembly 263 Sample State Assembly 264 ASCII Protocol 265 Connection Settings 266 Ethernet Communication 266 Serial Communication 266 Polling Operation Commands Ethernet Only 267 Command and Reply Format 267 Special Characters 267 Control Commands 268 Start 268 Stop 269 Trigger 269 LoadJob 269 Stamp 270 Stationary Alignment 270 Clear Alignment 271 Data Commands 271 Result 271 Value 272 Decision 272 Health Commands 273 Health 273 Standard Result Format 273 Custom Result Format 274 Software Development Kit 276 Setup and Locations 276 Class Reference 276 Examples 276 Sample Project Environment Variable 277 Header Files 277 Class Hierarchy 277 GoSystem 277 GoSensor 278 GoSetup 278 GoLayout
11. 5 Output page Contains settings for configuring output protocols used to communicate measurements to external devices See Output on page 144 6 Dashboard page Provides monitoring of measurement statistics and sensor health See Dashboard on page 155 7 CPU Load and Speed Provides important sensor performance metrics See Metrics Area on page 42 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 on page 158 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 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 on page 41 Toolbar The toolbar is used for performing operations such as managing jobs working with replay data and starting and stopping the sensor Element Description 1 Job controls For saving and loading jobs 2 Replay data controls For downloading uploading and exporting recorded data 3 Sensor operation replay control Use the sensor operation controls
12. 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 284 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_CopyFile Copies a file within the connected sensor The flash write operation does not occur if GoSensor_CopyFile function is used to load an existing job file This is accomplished by specifying _live as the destination file name GoSensor_DeleteFile Deletes a file in the connected sensor GoSensor_Se
13. Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4100 status 32s 6 Reply status For a list of status codes see Commands on page 212 name 64 char 10 The file name null terminated of the job that will be loaded at boot time Reply Set Default Job The Set Default Job command sets the job 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 0x4101 fileName 64 char 6 File name null terminated of the job that will be loaded at boot time Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4101 status 32s 6 Reply status For a list of status codes see Commands on page 212 Reply Get Loaded Job The Get Loaded Job command returns the name and modified status of the currently loaded file 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 For a list of status codes see Commands on page 212 fileName 64 char 10 Name of the currently loaded job chang
14. 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 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 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 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 m 0x80000000 if Sample State Information Gocator 3100 Series Protocols ASCII Protocol 265 Byte Name Type Description invalid 84 Decision 0 8u Measurement decision A bit mask where Bit 0 1 Pass 0 Fail Bit
15. 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 Set Trigger Event to Measurement 4 In Configuration set Assert On to Always 5 Select the measurements The output activa
16. 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 on page 53 for more information on setting up and aligning Gocator See Running a Standalone Sensor System on page 23 for more information on running a system to scan a part Gocator 3100 Series Gocator Web Interface Models and Part Matching 88 l Locate some previously recorded replay data and load it See Recording Playback and Measurement Sim ulation on page 38 and Downloading Uploading and Exporting Replay Data on page 40 for more inform ation on 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 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
17. 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 20 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 21 Network Setup The following sections provide procedures for client PC and Gocator network setup Client Setup Sensors are shipped with the following default network configuration Setting Default DHCP Disabled IP Address 192 168 1 10 Subnet Mask 255 255 255 0 Gateway 0 0 0 0 To connect to a sensor for the first time 1 Connect cables and apply power Sensor cabling is illustrated in System Overview on page 12 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 connectio
18. 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 on page 32 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 60 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 panel 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
19. 278 GoTools 278 GoTransform 278 GoOutput 278 Data Types 278 Value Types 278 Output Types 279 GoDataSet Type 279 Measurement Values and Decisions 280 Operation Workflow 280 Initialize GoSdk API Object 281 Discover Sensors 282 Connect Sensors 282 Configure Sensors 282 Enable Data Channels 282 Perform Operations 282 Limiting Flash Memory Write Operations 284 Tools and Native Drivers 285 Sensor Recovery Tool 285 GenTL Driver 287 16 bit RGB Image 288 16 bit Grey Scale Image 289 Registers 291 XML Settings File 292 CSV Converter Tool 292 Troubleshooting 294 Specifications 296 Gocator 3100 Series 296 Gocator 3109 297 Gocator 3110 300 Gocator Power LAN Connector 303 Grounding Shield 303 Power 304 Safety Input 304 Gocator 3100 I O Connector 305 Grounding Shield 305 Digital Outputs 305 Inverting Outputs 306 Digital Inputs 306 Serial Output 307 Analog Output 307 Master 100 309 Master 100 Dimensions 310 Master 400 800 311 Gocator 3100 Series 8 Master 400 800 Electrical Specifications 312 Master 400 800 Dimensions 313 Master 1200 2400 314 Master 1200 2400 Electrical Specifications 315 Master 1200 2400 Dimensions 316 Parts and Accessories 317 Return Policy 319 Software Licenses 320 Support 326 Contact 327 9 Introduction The Gocator 3100 series of snapshot LED proje
20. 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x2 status 32s 6 Reply status For a list of status codes see Commands on page 212 length 32u 10 Length of the log bytes log length char 14 Log content Reply Results The following sections describe the results data and health that Gocator sends Data Results A client can receive data messages from a Gocator sensor by connecting to the Data TCP channel port 3196 The Data channel and the Health channel port 3194 can be connected at the same time The sensor accepts multiple connections on each port For more information on the Health channel see Health Results on page 250 Messages that are received on the Data and Health channels use a common structure called Gocator Data Protocol GDP Each GDP message consists of a 6 byte header containing size and control fields followed by a variable length message specific content section The structure of the GDP message is defined below Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last Message flag Bits 0 14 Message type identifier See individual data result sections 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 in a group If there is only one message per group this bit will be
21. 64 bit floating point 1 7976931348623157e 308 Point16s Two 16 bit signed integers Data Types Commands The following sections describe the commands available on the Discovery page 213 Control page 215 and Upgrade page 242 channels When a client sends a command over the Control or Upgrade channel the sensor sends a reply whose identifier is the same as the command s identifier The identifiers are listed in the tables of each of the commands Status Codes Each reply on the Discovery Control and Upgrade channels contains a status field containing a status code indicating the result of the command The following status codes are defined 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 Status Codes Gocator 3100 Series Protocols Gocator Protocol 213 Label Value Description Invalid Command 998 Command is not recognized Invalid Parameter 997 One or more command parameters are incorrect Not Supported 996 The operation is not supported Simulation Buffer Empty 992 The simulation buffer is empty Discovery Commands Sensors ship with the following default network configuration Setting Default DHCP 0 disabled IP Address 192 168 1 10 Subnet Mask 255 255 255 0 Gateway 0 0 0 0 disabled Use the Get
22. 997 Invalid parameter Exposure Calibration Result Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier For this message set to 12 Gocator 3100 Series Protocols Gocator Protocol 249 Field Type Offset Description 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 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 For this message set to 16 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 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 For this message set to 17 decision byte 6 Overall match decision xOffset 32s 7 Target x
23. Load Job Load the job Set bytes 1 31 to the file name one character per byte including the extension 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 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 last 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 Sensor State Information Gocator 3100 Series Protocols EtherNet IP Protocol 264 Byte Name Type Description 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
24. 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 Measurement Gocator 3100 Series Protocols Gocator Protocol 248 Field Type Offset Description 0 Fail Bits 1 7 0 Measurement value OK 1 Invalid value 2 Invalid anchor reserved 3 8u 5 Reserved Alignment Result Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier For this message set to 11 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 alignment 3 Invalid target detected Examples include Calibration disk diameter too small Calibration disk touches both sides of the field of view Too few valid data points after outlier rejection 4 Target detected in an unexpected position 5 No reference hole detected in bar alignment 6 No change in encoder value during travel calibration 988 User aborted 993 Timed out
25. 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 on page 277 for information on the different objects used for configuring a sensor Sensors must be connected before they can be configured Refer to the Configure example for details on how to change settings and to switch save or load jobs Refer to the BackupRestore example for details on how to back up and restore settings Enable Data Channels Use GoSystem_EnableData to enable the data channels of all connected sensors Similarly use GoSystem_ EnableHealth to enable the health channels of all connected sensors Perform Operations Operations
26. 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 GoEmulate 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 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 Gocator 3100 Series Gocator Emulator Working with Jobs and Data 162 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 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 clo
27. Sensor panel see on page 60 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 correct 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 a
28. To upload replay data 1 Toggle Replay mode on by setting the slider to the left in the Toolbar The slider s background turns blue and a Replay Mode Enabled message is displayed To change the mode Replay Protection must be unchecked 2 Click the Upload button 3 Select the directory and the file name to upload from the client computer and click OK Replay data can be exported using the CSV format To export replay data in the CSV format 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background turns blue and a Replay Mode Enabled message is displayed Gocator 3100 Series Gocator Web Interface User Interface Overview 41 To change the mode Replay Protection must be unchecked 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 for information on playback see To replay data in Recording Playback and Measurement Simulation on page 38 3 Optionally convert exported data to another format using the CSV Converter Tool For information on this tool see CSV Converter Tool on page 292 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 the BMP form
29. 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 0x4508 status 32s 6 Reply status For a list of status codes see Commands on page 212 progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress Initial Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x5000 status 32s 6 Reply status For a list of status codes see Commands on page 212 Continue Reply Gocator 3100 Series Protocols Gocator Protocol 242 Field Type Offset Description progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress size 32u 18 Size of the chunk in byes data size byte 22 Chunk data Upgrade Commands A client sends firmware upgrade commands over the Upgrade TCP channel port 3192 The Control channel port 3190 and the Upgrade channel can be connected simultaneously 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 For more information on Control commands see Control Commands on page 215 After connecting to a Gocator device you can use the Get
30. per direction Shock Resistance 15 g half sine wave 11 ms positive and negative for X Y and Z directions Differential encoder requires the use of Master 400 800 1200 2400 Gocator 3100 Series Specifications Gocator 3100 Series 297 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 3109 Field of View Measurement Range Gocator 3100 Series Specifications Gocator 3100 Series 298 Dimensions Gocator 3100 Series Specifications Gocator 3100 Series 299 Envelope Gocator 3100 Series Specifications Gocator 3100 Series 300 Gocator 3110 Field of View Measurement Range Gocator 3100 Series Specifications Gocator 3100 Series 301 Dimensions Gocator 3100 Series Specifications Gocator 3100 Series 302 Envelope Gocator 3100 Series Specifications Gocator Power LAN Connector 303 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 L White Orange amp Bla
31. 0x4507 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 0x4507 status 32s 6 Reply status For a list of status codes see Commands on page 212 progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress Initial Reply Gocator 3100 Series Protocols Gocator Protocol 241 Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x5000 status 32s 6 Reply status For a list of status codes see Commands on page 212 progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress size 32u 18 Size of the chunk in byes data size byte 22 Chunk data Continue Reply Only the current surface scan as determined by the playback position is exported to the CSV stream Export Bitmap Progressive The progressive Export Bitmap command exports replay data as a bitmap stream This command returns an initial reply followed by a series of continue replies if the initial reply s status field indicates success The continue replies contain the actual data and have 0x5000 as their identifier Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4508
32. 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4004 status 32s 6 Reply status For a list of status codes see Commands on page 212 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 field in bytes id 16u 4 Reply identifier 0x101A status 32s 6 Reply status For a list of status codes see Commands on page 212 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 a job file a component of a job file or another type of file see Job Files on page 169 To make a job active to load it copy a saved job to _live job To save the active job copy from _ live job to another file Gocator 3100 Series Protocols Gocator Protocol 221 Field Type Offset Description length 64s 0 Command size in bytes id 64s 4 Command identifier 0x101B source 64 char 6
33. Address and Set Address commands to modify a sensor s network configuration These commands are UDP broadcast messages Destination Address Destination Port 255 255 255 255 3220 When a sensor accepts a discovery command it will send a UDP broadcast response Destination Address Destination Port 255 255 255 255 Port of command sender The use of UDP broadcasts for discovery enables a client computer to locate a sensor when the senor and client are configured for different subnets All you need to know is the serial number of the sensor in order to locate it on an IP network Get Address The Get Address command is used to discover Gocator sensors across subnets 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 Gocator 3100 Series Protocols Gocator Protocol 214 Field Type Offset Description length 64u 0 Reply length type 64s 8 Reply type 0x1001 status 64s 16 Operation status For a list of status codes see Commands on page 212 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 t
34. Disabling the overheat protection feature could lead to premature laser failure if the sensor operates outside the specified temperature range To enable disable overheat temperature protection 1 Check uncheck the Over Temperature Protection option 2 Save the job file 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 settings 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 Gocator 3100 Series Gocator Web Interface System Management and Maintenance 46 Motion and Alignment The Motion and Alignment category on the Manage page lets you configure alignment reference encoder resolution and travel speed 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 se
35. 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 Jobs Settings on page 37 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 on the previous page for more information Model names can be renamed Gocator 3100 Series Gocator Web Interface Models and Part Matching 89 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 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 Points 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 e
36. Internal Discovery channel port 2016 at regular intervals during operation to perform peer discovery The Gocator SDK provides open source C language libraries that implement the network commands and data formats defined in this section For more information see Software Development Kit on page 276 For information on configuring the protocol using the Web interface see Ethernet Output on page 145 Gocator 3100 Series Protocols Gocator Protocol 212 For information on job file structures for example if you wish to create job files programmatically see Job Files on page 169 Data Types The table below defines the data types and associated type identifiers used in this section All values except for IP addresses are transmitted in little endian format least significant byte first unless stated otherwise The bytes in an IP address a b c d will always be transmitted in the order a b c d big endian Type Description Null Value char Character 8 bit ASCII encoding byte Byte 8s 8 bit signed integer 128 8u 8 bit unsigned integer 255U 16s 16 bit signed integer 32768 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
37. 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 For a list of status codes see Commands on page 212 Reply Read File Downloads a file from the connected sensor a job file a component of a job file or another type of file for more information see Job Files on page 169 To download the live configuration pass _live job in the name field To read the configuration of the live configuration only pass _live job config xml in the name field 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 For a list of status codes see Commands on page 212 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 a job file a component of a job file or another type of file for more information see Job Files on page 169 To make a job file live write to _live job Except for writing to the live file the file is permanently stored on the sensor Gocator 3100 Series
38. Triggers on page 54 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 153 4 Specify if the output is immediate or scheduled An analog output value becomes active immediately or scheduled Immediate output becomes active as soon as a Scheduled Analog Output command see on page 230 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 on page 265 for the ASCII Protocol parameters and data formats For information on wiring serial output to an external device see Serial Output on page 307 To configure ASCII output 1 Go t
39. Using Replay Protection on page 161 for more information Saving changes to active area causes replay data to be flushed Gocator Device Files This section describes the user accessible device files stored on a Gocator Live Files Various live files stored on a Gocator sensor represent the sensor s active settings and transformations represented together as job files the active replay data if any and the sensor log By changing the live job file you can change how the sensor behaves For example to make settings and transformations active write to or copy to the _live job file You can also save active settings or transformations to a client computer or to a file on the sensor by reading from or copying these files respectively The live files are stored in volatile storage Only user created job files are stored in non volatile storage The following table lists the live files Name Read Write Description _live job Read Write The active job This file contains a Configuration component containing the current settings If Alignment Reference in the active job is set to Dynamic it also contains a Transform component containing transformations For more information on job files live and user created accessing their components and their structure see Job Files on the next page _live cfg Read Write A standalone representation of the Configuration component contained in _ live job Used primaril
40. 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 Website http code google com closure library index html License Gocator 3100 Series Software Licenses 323 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
41. 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 on page 57 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 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
42. and should be applied in order to the format specifiers found in the content Job Files The following sections describe the structure of job files Job files which are stored in a Gocator s internal storage control system behavior when a sensor is running Job files contain the settings and potentially the transformations associated with the job if Alignment Reference is set to Dynamic There are two kinds of job files l A special job file called _live job This job file contains the active settings and potentially the trans formations associated with the job Changing this file or its components changes the active settings or transformations It is stored in volatile storage l Other job files that are stored in non volatile storage Gocator 3100 Series Gocator Device Files Job Files 170 Job File Components A job file contains components that can be loaded and saved as independent files The following table lists the components of a job file Component Path Description Configuration config xml The job s configurations This component is always present Transform transform xml Transformation values Present only if Alignment Reference is set to Dynamic Part model lt name gt mdl One or more part model files Part models are created using models and part matching Job File Components Elements in the components contain three types of values settings constraints and properties Settings
43. 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 19 2 Install a 360 degree ground clamp Grounding Master 400 800 1200 2400 The mounting brackets of all Masters have been designed to provide adequate grounding through the use of star washers Always check grounding with a multi meter by ensuring electrical continuity between the mounting frame and RJ45 connectors on the front The frame or electrical cabinet that 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
44. 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 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 t
45. block contains a 2 dimensional array of indicator data Each row in the array has the following format Field Type Offset Description id 32u 0 Unique indicator identifier see below instance 32u 4 Indicator instance value 64s 8 Value identifier specific meaning 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 Laser safety status 1010 0 if laser is disabled 1 if enabled 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 available bytes CPU Usage 2007 CPU usage percentage of maximum Net Out Capacity 2009 Total available out
46. 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 0 Ready 1 Running For more information on states see Control Commands on page 215 role 32s 48 Sensor role 0 Main Sensor Info Get States The Get States command returns various system states Field Type Offset Description length 32u 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 For a list of status codes see Commands on page 212 count 32u 10 Number of state variables sensorState 32s 14 Sensor state 0 Ready 1 Running For more information on states see Control Commands on page 215 loginState 32s 18 Device login state 0 No user 1 Administrator 2 Technician alignmentReference 32s 22 Alignment reference 0 Fixed Reply Gocator 3100 Series Protocols Gocator Protocol 219 Field Type Offset Description 1 Dynamic alignmentState 32s 26 Alignment state 0 Unaligned 1 Aligned recordingEnabled 32s 30 Whether or not recording is enabled 0 Disabled 1 Enabled playbackSourc
47. control the state of the sensor using a single Write Multiple Register command Control registers are write only and output registers are read only Register 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 on the next page for detailed descriptions 900 999 Stamps RO Return stamps associated with each surface See State on the next page for detailed descriptions 1000 1060 Measurements amp Decisions RO 20 measurement and decision pairs See Measurement Registers on page 258 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
48. 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 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 dat
49. 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 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
50. 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 Jobs Settings on page 37 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 part 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 yo
51. 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 on page 102 Region See Regions on page 101 Output See Filters on page 103 Ellipse The Ellipse tool provides measurements for the major and minor axis lengths of an ellipse fitted to the part s shape in the XY plane and also for the ratio of the major and minor axis lengths and for the orientation angle of the ellipse The measurement value can be compared with minimum and maximum constraints to yield a decision Gocator 3100 Series Gocator Web Interface Mea
52. measurement ValueStart V 1 Start of measurement value Value vn n Measurement value in decimal The unit of the value is measurement specific DecisionStart D 1 Start of measurement 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 Result Placeholders Gocator 3100 Series Protocols ASCII Protocol 275 Format Value Explanation 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 Software Development Kit The Gocator Software Development Kit SDK includes open source software libraries and documentation that can be used to programmatically access and contro
53. 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 MaxLength used Bool Whether or not this field is used Gocator 3100 Series Gocator Device Files Job Files 184 Element Type Description 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 below 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 m
54. 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 Gocator 3100 Series Protocols Gocator Protocol 250 Field Type Offset Description Bits 0 14 Message type identifier For this message set to 18 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 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 health messages from a Gocator sensor by connecting to the Health TCP channel port 3194 The Data channel port 3196 and the Health channel can be connected at the same time The sensor accepts multiple connections on each port For more information on the Data channel see Data Results on page 244 Messages that are received on the Data and Health
55. 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 on page 46 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 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
56. 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 156 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 output has not been completed Digital Output Drop Count of digital output drops because last output has not been completed Ser
57. restarted To load switch jobs l Select an existing file name in the job drop down list The job is activated If there are any unsaved changes in the current job you will be asked whether you want to discard those changes You can perform other job management tasks such as downloading job files from a sensor to a computer uploading job files to a sensor from a computer and so on in the Jobs panel in the Manage page See Jobs on page 46 for more information Recording Playback and Measurement Simulation Gocator sensors can record and replay recorded scan data and also simulate measurement tools on recorded data This feature is most often used for troubleshooting and fine tuning measurements but can also be helpful during setup Recording and playback are controlled by using the toolbar controls Recording and playback controls when replay is off To record live data 1 Toggle Replay mode off by setting the slider to the left in the Toolbar 2 Press the Record button to enable recording When recording is enabled and replay is off the sensor will store the most recent data as it runs Remember to disable recording if you no longer want to record live data Press the Record button again to disable recording 3 Press the Snapshot button or Start button The Snapshot button records a single frame The Start button will run the sensor continuously and all frames will be recorded up to available memory W
58. state at target time or encoder value depending on the trigger mode For more information on states see Control Commands on page 215 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 Gocator 3100 Series Protocols Gocator Protocol 227 Field Type Description length 64s Reply size in bytes id 64s Reply identifier 0x101D status 64s Reply status For a list of status codes see Commands on page 212 Reply Stop The Stop command stops the sensor system system enters the Ready state For more information on states see Control Commands on page 215 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 For a list of status codes see Commands on page 212 Reply Get Auto Start Enabled The Get Auto Start Enabled command returns whether the system automatically starts after booting Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x452C Command Field Type Offset Description leng
59. 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 286 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 287 GenTL Driver GenTL is an industry standard method of controlling and acquiring data from an imaging device Gocator provides a GenTL driver that allows GenTL compliant third party software e g Halcon and Common Vision Blox to acquire and process 3D point clouds and intensity generated from the Gocator s Surface mode in real time You can download the toolset package containing the driver fr
60. 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 24 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 displayed in the Data Viewer see Troubleshooting on page 294 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 25 To configure a multi sensor system 1 Turn off the sensor and unplug the Ethernet net
61. 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 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
62. 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 33 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 on 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 calibration plate see System Coordinates on the 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 u
63. 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 Measurement Panel Gocator 3100 Series Gocator Web Interface Measurement 108 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 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 rotated by the angle of an ellipse fitted to the part data Length Determines the length of the smallest rectangle box that encapsulates the part The length reports the dimension of the box in the direction of the major axis When rotation is enabled the bounding box is rotated by the angle of an ellipse fitted to the part data Measurements Gocator 3100 Series Gocator Web Interface Measurement 109 Measurement Illustration Height Determines the height thick
64. 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 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
65. value for maximum profile length mm VariableLength Child Elements Rotational Element Type Description Circumference 64f Circumference mm Circumference min 64f Minimum circumference mm Circumference max 64f Maximum circumference mm Rotational Child Elements PartDetection Element Type Description Enabled Bool Enables part detection PartDetection Child Elements Gocator 3100 Series Gocator Device Files Job Files 183 Element Type Description Enabled used Bool Whether or not this field is used Enabled value Bool Actual value used if not configurable Threshold 64f Height threshold mm Threshold min 64f Minimum height threshold mm Threshold max 64f Maximum height threshold mm ThresholdDirection 64f Threshold direction 0 Above 1 Below MinArea 64f Minimum area 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 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
66. 00 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 Electrical 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 316 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 3109 No tools 313109A LED B 00 Gocator 3109 Measurement tools 313109A LED B 01 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 senso
67. 00 bytes and the sample state assembly object 380 bytes The data attribute 0x03 of the assembly objects is a byte array containing information about the sensor The data attribute can be accessed with the GetAttribute and SetAttribute commands The PLC sends a command to start a Gocator The PLC then periodically queries the attributes of the assembly objects for its latest measurement results In EtherNet IP terminology the PLC is a scanner and the Gocator is an adapter The Gocator supports unconnected or connected explicit messaging with TCP Implicit 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 Gocator 3100 Series Protocols EtherNet IP Protocol 261 Basic Object Identity Object Class 0x01 Attribute Name Type Value Description Access 1 Vendor ID UINT 1256 ODVA provided vendor ID Get 2 Device Type 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 TCP IP Object Class 0xF5 The TCP IP Object contains read only network configuration attributes such as IP Address TCP I
68. 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 Tool name Source 32s Surface 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 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 1 Enable SurfaceCsHole Child Elements Gocator 3100 Series Gocator Device Files Job Files 190 Element Type Description RegionEnabled Boolean Setting to enable disable region 0 Disable 1 Enable Region Region3D Measurement region
69. 69 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 on 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 55 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 s
70. 8 Measurement 19 Low 1059 Decision 19 Measurement Register Map Gocator 3100 Series Protocols EtherNet IP Protocol 260 EtherNet IP Protocol EtherNet IP is an industrial protocol that allows bidirectional data transfer with PLCs It encapsulates the object oriented Common Industrial Protocol CIP This section describes the EtherNet IP messages and data formats EtherNet IP communication enables the client to l Switch jobs l Align and run sensors l Receive sensor states stamps and measurement results To use the EtherNet IP protocol it must be enabled and configured in the active job The Gocator 4 x firmware uses mm mm2 mm3 and degrees as standard units In all protocols values are scaled by 1000 as values in the protocols are represented as integers This results in effective units of mm 1000 mm2 1000 mm3 1000 and deg 1000 in the protocols For information on configuring the protocol using the Web interface see Ethernet Output on page 145 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 Gocator supports all required objects such as the Identity object TCP IP object and Ethernet Link object In addition assembly objects are used for sending sensor and sample data and receiving commands There are three assembly objects the command assembly 32 bytes the sensor state assembly 1
71. A Command Gocator 3100 Series Protocols Gocator Protocol 238 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 For a list of status codes see Commands on page 212 Reply 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 For a list of status codes see Commands on page 212 Reply The command returns after the scan has been captured and transmitted Acquire Unaligned The Acquire Unaligned command acquires a new scan without performing alignment transformation 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 For a list of status codes see Commands on page 212 Reply The command returns after the scan has been captured and transmitted Create Model The Create Model command creates a new part model from the act
72. A SurfaceStud element defines settings for a surface stud tool and one or more of its measurements Element Type Description Name String Tool name Source 32s Surface 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 SurfaceStud Child Elements Gocator 3100 Series Gocator Device Files Job Files 199 Element Type Description 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 two RefRegion elements of type SurfaceRegion2D AutoTiltEnabled Boolean Setting to enable disable tilt correction 0 Disable 1 Enable TiltXAngle 64f Setting for manual t
73. Firmware Upgrade 51 Scan Setup and Alignment 53 Scan Page Overview 53 Scan Modes 54 Triggers 54 Trigger Examples 55 Trigger Settings 56 Sensor 57 Reduce Occlusion 57 Active Area 58 Transformations 59 Exposure 60 Single Exposure 61 Multiple Exposure 62 Spacing 63 Spacing Interval 64 Alignment 64 Alignment States 64 Alignment Types 65 Aligning Sensors 65 Clearing Alignment 66 Gocator 3100 Series 4 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
74. 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 324 Licensed under the MIT License http www opensource org licenses mit license php jQuery scaling Website http eric garside name License Scaling 1 0 Scale any page element Copyright c 2009 Eric Garside Licensed under the MIT License http www opensource org licenses mit license php jQuery scrollFollow Website http kitchen net perspective com License Copyright c 2008 Net Perspective Licensed under the MIT License http www opensource org licenses mit license php Flex SDK Website http opensource adobe com wiki display flexsdk Flex SDK License Copyright c 2010 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
75. 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 points 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
76. Measurement ID 101 Common Measurement Settings 101 Regions 101 Decisions 102 Filters 103 Measurement Anchoring 104 Surface Measurement 106 Measurement Tools 106 Bounding Box 106 Countersunk Hole 109 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 144 Output Page Overview 144 Ethernet Output 145 Digital Output 148 Analog Output 151 Serial Output 153 Dashboard 155 Dashboard Page Overview 155 System Panel 155 Measurements 156 Gocator Emulator 158 Limitations 158 Downloading a Support File 159 Running the Emulator 160 Adding a Scenario to the Emulator 160 Running a Scenario 161 Removing a Scenario from the Emulator 161 Using Replay Protection 161 Stopping and Restarting the Emulator 162 Working with Jobs and Data 162 Creating Saving and Loading Jobs 162 Playback and Measurement Simulation 163 Downloading Uploading and Exporting Replay Data 164 Gocator 3100 Series 5 Downloading and Uploading Jobs 166 Scan Model and Measurement Settings 167 Calculating Potential Maximum Frame Rate 167 Gocator Device Files 168 Live Files 168 Log File 169 Job Files 169 Job File Components 170 Accessing Files and Compone
77. P configuration via Ethernet IP is not supported See Volume 2 Chapter 5 3 of the CIP Specification for a complete listing of TCP IP object attributes Attribute Name Type Value Description Access 1 Status UDINT 0 TCP interface status Get 2 Configuration 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 Ethernet Link Object Class 0xF6 The Ethernet Link Object contains read only attributes such as MAC Address Attribute 3 See Volume 2 Chapter 5 4 of the CIP Specification for a complete listing of Ethernet Link object attributes Gocator 3100 Series Protocols EtherNet IP Protocol 262 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 addr
78. 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 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 Th
79. Protocol 270 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 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 Gocator 3100 Series Protocols ASCII Protocol 271 Clear Alignmen
80. 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 is updated when breaking changes are made to the Gocator Protocol Start Upgrade The Start Upgrade command begins a firmware upgrade for the sensors in a system All sensors automatically reset 3 seconds after the upgrade process is complete Field Type Offset Description length 64s 0 Command size in bytes id 64s 4 Command identifier 0x0000 length 32u 6 Length of the upgrade package bytes data length byte 10 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 For a list of status codes see Commands on page 212 Reply Start Upgrade Extended The Start Upgrade Extended command begins a firmware upgrade for the sensors in a system All sensors automatically reset 3 seconds after the upgrade process is complete Gocator 3100 Series Protocols Gocator Protocol 243 Field Type Offset Description length 64s 0 Command size in bytes id 64s 4 Command identifier 0x0003 skipVal
81. Protocols Gocator Protocol 222 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 Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1006 status 32s 6 Reply status For a list of status codes see Commands on page 212 Reply Delete File The Delete File command removes a file from the connected sensor a job file a component of a job file or another type of file for more information see Job Files on page 169 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 For a list of status codes see Commands on page 212 Reply Get Default Job The Get Default Job command gets the name of the job 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 Gocator 3100 Series Protocols Gocator Protocol 223
82. RefRegionsEnabled Boolean Setting to enable disable reference regions 0 Disable 1 Enable RefRegionCount 32s Count of the reference regions which are to be used RefRegions Collection Reference regions Contains 2 SurfaceRegion2D elements AutoTiltEnabled Boolean Setting to enable disable tilt correction 0 Disable 1 Enable TiltXAngle 64f Setting for manual tilt correction angle X TiltYAngle 64f Setting for manual tilt correction angle Y CurveFitEnabled Boolean Setting to enable disable curve fitting 0 Disable 1 Enable CurveOrientation 64f Setting for curve orientation angle Measurements X Countersunk Hole tool measurement X measurement Measurements Y Countersunk Hole tool measurement Y measurement Measurements Z Countersunk Hole tool measurement Z measurement Measurements OuterRadius Countersunk Hole tool measurement Outer Radius measurement Measurements Depth Countersunk Hole tool measurement Depth measurement Measurements BevelRadius Countersunk Hole tool measurement Bevel Radius measurement Measurements BevelAngle Countersunk Hole tool measurement Bevel Angle measurement Measurements XAngle Countersunk Hole tool measurement X Angle measurement Measurements YAngle Countersunk Hole tool measurement Y Angle measurement Measurements Radius Countersunk Hole tool measurement Radius measur
83. 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 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 t
84. 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 on page 60 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 For example if two exposures are selected then the speed will be half of the single exposure frame rate The sensor will perform a complete multi exposure scan for each external input The resulting 3D point cloud is a composite created by combing data collected with different exposures Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 63 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 Se
85. Sensitivity used to generate target edges ImageType 32s Selects type of image used to generate edges 0 Height map 1 Intensity map ImageType options 32s CSV List of available image types Configuration Child Elements 211 Protocols Gocator supports protocols for communicating with sensors over Ethernet TCP IP and serial output For a protocol to output data it must be enabled and configured in the active job Protocols Available over Ethernet l Gocator l Modbus l EtherNet IP l ASCII Protocols Available over Serial l ASCII Gocator Protocol This section describes the TCP and UDP commands and data formats used by a client computer to communicate with Gocator sensors using the Gocator protocol It also describes the connection types Discovery Control Upgrade Data and Health and data types The protocol enables the client to l Send commands to run sensors provide software triggers read write files etc l Receive data health and diagnostic messages l Upgrade firmware The Gocator 4 x firmware uses mm mm2 mm3 and degrees as standard units In all protocols values are scaled by 1000 as values in the protocols are represented as integers This results in effective units of mm 1000 mm2 1000 mm3 1000 and deg 1000 in the protocols To use the Gocator protocol it must be enabled and configured in the active job Gocator sensors send UDP broadcasts over the network over the
86. Surface 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 Position tool measurement X measurement Measurements Y Position tool measurement Y measurement Measurements Z Position tool measurement Z measurement SurfacePosition Child Elements Gocator 3100 Series Gocator Device Files Job Files 198 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 32u Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Position Tool Measurement SurfaceStud
87. Sync RJ45 plug Gocator 3100 Series Getting Started Hardware Overview 15 The maximum cordset length is 60 m See Gocator 3100 I O Connector on page 305 and See Gocator Power LAN Connector on page 303 for pinout details See Parts and Accessories on page 317 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 Power 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 16 See Master 100 on page 309 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 sen
88. USER MANUAL Gocator 3100 Series Firmware version 4 2 x xx Document revision C 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 9 Safety and Maintenance 10 Electrical Safet
89. a 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 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 106 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 t
90. alue 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 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 arou
91. 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 on page 54 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 the 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 on page 97 Gocator 3100 Series Gocator Web Interface Models and Part
92. ant 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 52 If the client computer is not connected to the Internet firmware can be downloaded and transferred to the client computer by using another computer to download the firmware from LMI s website http www 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 53 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 a
93. are input values that can be edited Constraints are read only limits that define the valid values for settings Properties are read only values that provide supplemental information related to sensor setup When a job file is received from a sensor it will contain settings constraints and properties When a job file is sent to a sensor any constraints or properties in the file will be ignored Changing the value of a setting can affect multiple constraints and properties After you upload a job file you can download the job file again to access the updated values of the constraints and properties All Gocator sensors share a common job file structure Accessing Files and Components Job file components can be accessed individually as XML files using path notation For example the configurations in a user created job file called productionRun01 job can be read by passing productionRun01 job config xml to the Read File command In the same way the configurations in the active job could be read using _live job config xml If Alignment Reference is set to Fixed the active job file _live job will not contain transformations To access transformations in this case you must access them via _live tfm The following sections correspond to the XML structure used in job file components Configuration The Configuration component of a job file contains settings that control how a Gocator sensor behaves You can access the Configur
94. 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 283 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 data asynchronously GoSystem_SetDataHandler system onData amp contextPointer Retrieve setup handle setup GoSensor_Setup sensor Reconfigure system to use time based triggering GoSetup_SetTriggerSource setup GO_TRIGGER_TIME Send the system a Start command GoSystem_Start system
95. ase 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 on page 276 for more information on the code samples GoDataSet Type Data are passed to the data handler 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 mo
96. at 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background turns blue and a Replay Mode Enabled message is displayed To change the mode Replay Protection must be unchecked 2 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 for information on playback see To replay data in Recording Playback and Measurement Simulation on page 38 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 Gocator 3100 Series Gocator Web Interface User Interface Overview 42 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 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
97. at 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 on page 307 Gocator 3100 Series Gocator Web Interface Output 152 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 results 6 Specify Current Range and Invalid current values The values specified here determine the minimum and maximum curren
98. ation component of the active job as an XML file either using path notation via _live job _config xml or directly via _live cfg You can access the Configuration component in user created job files in non volatile storage for example productionRun01 job config xml You can only access configurations in user created job files using path notation See the following sections for the elements contained in this component Gocator 3100 Series Gocator Device Files Job Files 171 Element Type Description version 32u Configuration version 101 versionMinor 32u Configuration minor version 3 Setup Section See Setup below for a description of the Setup elements ToolOptions Section List of available tool types and their information See ToolOptions on page 185 for details Tools Collection Collection of sections Each section is an instance of a tool and is named by the type of the tool it describes For more information see the sections for each tool under Tools on page 186 Tools options String CSV List of available tool types Output Section See Output on page 201 for a description of the Output elements Configuration Child Elements Setup The Setup element contains settings related to system and sensor setup Element Type Description TemperatureSafetyEnabled Bool Enables laser temperature safety control TemperatureSafetyEnabled used Bool Whether or not this proper
99. ation 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 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 regio
100. ault 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 48 To save a job 1 Go to the Manage page and click on the Jobs category 2 Provide a name in the Name field To save an existing job under a different name click on it in the Jobs list and then modify it in the Name field 3 Click on the Save button or press Enter Saving a job automatically sets it as the default that is the job loaded when then sensor is restarted To download load or delete a job 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 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 Goca
101. ave multiple job files If there is a job file that is designated as the default it will be loaded automatically when the sensor is reset Alignment Alignment can either be fixed or dynamic as controlled by the Alignment Reference setting in Motion and Alignment in the Manage page Alignment is saved automatically at the end of the alignment procedure when Alignment Reference is set to Fixed When Alignment Reference is set to Dynamic however you must manually save the job to save alignment Network Address Network address changes are saved when you click the Save button in Networking on the Manage page The sensor must be reset before changes take effect The job drop down list in the toolbar shows the jobs stored in the sensor The job that is currently active is listed at the top The job name will be marked with unsaved to indicate any unsaved changes To create a job 1 Choose New in the job drop down list and type a name for the job 2 Click the Save button or press Enter to save the job The job is saved to sensor storage using the name you provided Saving a job automatically sets it as the default that is the job loaded when then sensor is restarted To save a job l Click the Save button Gocator 3100 Series Gocator Web Interface User Interface Overview 38 The job is saved to sensor storage Saving a job automatically sets it as the default that is the job loaded when then sensor is
102. ax 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 The PartMatching element contains settings related to part matching Element Type Description Enabled Bool Enables part matching Enabled used Bool Whether or not this field is used MatchAlgo 32s Match algorithm 0 Edge points 1 Bounding Box 2 Ellipse Edge Section See Edge on the next page BoundingBox Section See BoundingBox on the next page Ellipse Section See Ellipse on the next page PartMatching Child Elements Gocator 3100 Series Gocator Device Files Job Files 185 Edge Element Type Description ModelName String Name of the part model to use Does not include the mdl extension Acceptance Quality Min 64f Minimum quality value for a match 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 Ellipse Element Type Description ZAngle 64f Z rotation to apply to ellipse degrees Acceptance Major Min 64f Minimum major length
103. ber the exposure will be increased DynamicThreshold used Bool Determines if the setting s value is currently used DynamicThreshold value 32s Value in use by the sensor useful for determining value when used is false DynamicThreshold min 32s Minimum value DynamicThreshold max 32s Maximum value GammaType 32s Gamma type GammaType used Bool Value in use by the sensor useful for determining value when used is false GammaType value 32s Determines if the setting s value is currently used SurfaceGeneration The SurfaceGeneration element contains settings related to surface generation This element is used by Gocator 2300 and 2880 series sensors Element Type Description Type 32s Surface generation type SurfaceGeneration Child Elements Gocator 3100 Series Gocator Device Files Job Files 181 Element Type Description 0 Continuous 1 Fixed length 2 Variable length 3 Rotational FixedLength Section See FixedLength below VariableLength Section See VariableLength below Rotational Section See Rotational below FixedLength Element Type Description StartTrigger 32s Start trigger condition 0 Sequential 1 Digital input Length 64f Surface length mm Length min 64f Minimum surface length mm Length max 64f Maximum surface length mm FixedLength Child Elements VariableLength Element Type Description MaxL
104. bound network throughput bytes s Net Out Link Status 2034 Current Ethernet link status Sync Source 2043 Gocator synchronization source Health Indicators Gocator 3100 Series Protocols Gocator Protocol 252 Indicator Id Instance Value 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 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 20021 The length of time in which the laser overheating state occurred Only available on certain 3B laser devices P
105. cate in the log that the setting can t be changed because the change would clear the buffer For more information on Replay Protection see Using Replay Protection on page 161 Other settings on the Scan page related to the post processing of data can be modified to test their influence on scan data without modifying or clearing the data for example edge filtering page 72 and filters on the X axis page 67 Note that modifying the Y filters causes the buffer to be cleared For information on creating models and setting up part matching see Models and Part Matching on page 82 For information on adding and configuring measurement tools see Measurement on page 97 Calculating Potential Maximum Frame Rate You can use the emulator to calculate the potential maximum frame rate you can achieve with different settings For example when you reduce the active area in the Active Area tab on the Sensor panel the maximum frame rate displayed on the Trigger panel is updated to reflect the increased speed that would be available in a physical Gocator sensor See Active Area on page 58 for more information on active area Gocator 3100 Series Gocator Device Files Live Files 168 Similarly you can adjust exposure on the Exposure tab on the Sensor panel to see how this affects the maximum frame rate See Exposure on page 60 for more information on exposure To adjust active area in the emulator Replay Protection must be turned off See
106. cess 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 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 vali
107. channels use a common structure called Gocator Data Protocol GDP Each GDP message consists of a 6 byte header containing size and control fields followed by a variable length message specific content section The structure of the GDP message is defined below Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last Message flag Bits 0 14 Message type identifier See individual data result sections 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 in a group If there is only one message per group this bit will be set in each message A Health Result contains a single data block for health indicators Each indicator reports the current status of some aspect of the sensor system such as CPU usage or 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 Always 0 count C 32u 6 Count of indicators in this message Health Result Header Gocator 3100 Series Protocols Gocator Protocol 251 Field Type Offset Description source 8u 10 Source 0 Main 1 Buddy reserved 3 8u 11 Reserved indicators C Indicator 14 Array of indicators see format below The health indicators
108. ching on page 184 Used by Gocator 2300 2880 and 3100 series sensors Custom Custom Used by specialized sensors Filters The Filters element contains settings related to post processing profiles before they are output or used by measurement tools This element is used by Gocator 2300 2880 and 3100 series sensors XSmoothing Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm XSmoothing Child Elements YSmoothing Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm YSmoothing Child Elements XGapFilling Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm XGapFilling Child Elements Gocator 3100 Series Gocator Device Files Job Files 173 YGapFilling Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm YGapFilling Child Elements XMedian Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size
109. ck View Looking into the connector on the sensor GND_24 48V L Orange Black DC_24 48V A White Green amp Black DC_24 48V A Green Black Safety G White Blue amp Black Safety J Blue Black Sync E White Brown amp Black Sync C Brown Black Ethernet MX1 M White Orange Ethernet MX1 N Orange Ethernet MX2 O White Green Ethernet MX2 P Green Ethernet MX3 S White Blue Ethernet MX3 R Blue Ethernet MX4 T White Brown Ethernet MX4 U 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 304 Power Apply positive voltage to DC_24 48V See Gocator 3100 Series on page 296 for the sensor s power requirement Apply ground to GND_24 48VDC Function Pins Min Max DC_24 48V A 24 V 48 V GND_24 48VDC L 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 J 24 V 48 V Safety_in G 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 senso
110. 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 12 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 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 13 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 sync
111. 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 on page 59 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 on page 59 have been manually edited Auto Sensor is aligned 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
112. cting external input to Gocator sensors 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 on page 60 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 4 Configure the settings See the trigger parameters above for more information 5 Save the job in the Toolbar by clicking 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 Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 58 When this option is enabled default each camera independently tr
113. ction 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 10 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 ground through their housing All sensors should be mounted on an earth grounded frame using electrically conductive hardware to ensure the housing of the sensor is connected to earth ground Use a multi meter to check the continuity between the sensor connector and earth ground to ensure a proper connection Minimize voltage potential between system ground and sensor ground Care should be taken to minimize the voltage potential between system ground ground reference for I O signals and sensor ground This voltage potential can be determined by measuring the voltag
114. ctions up to a total of 16 connections for all ports Serial Communication Over serial Gocator ASCII communication uses the following connection settings Parameter Value Start Bits 1 Stop Bits 1 Parity None Data Bits 8 Baud Rate b s 115200 Format ASCII Delimiter CR Serial Connection Settings for ASCII Gocator 3100 Series Protocols ASCII Protocol 267 Up to 16 users can connect to the sensor for ASCII interfacing at a time Any additional connections will remove the oldest connected user Polling Operation Commands Ethernet Only On the Ethernet output the Data channel can operate asynchronously or by polling Under asynchronous operation measurement results are automatically sent on the Data channel when the sensor is in the running state and results become available The result is sent on all connected data channels Under polling operation a client can l Switch to a different job l Align run and trigger sensors l Receive sensor states health indicators stamps and measurement results Gocator sends Control Data and Health messages over separate channels The Control channel is used for commands such as starting and stopping the sensor loading jobs and performing alignment see Control Commands on the next page The Data channel is used to receive and poll for measurement results When the sensor receives a Result command it will send the latest measurement results
115. culate 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 Gocator 3100 Series Gocator Web Interface Measurement 143 Output_Set Distance 0 Gocator 3100 Series Gocator Web Interface Output 144 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 sources that will transmit data via Ethernet See Ethernet Output on the next page 2 Digital Output 1 Used to select the data sources that will be combined to
116. d 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 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 sett
117. d 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 Gocator 3100 Series Gocator Web Interface Measurement 140 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 To output an invalid value the constant INVALID_VALUE can be used e g Output_SetAt 0 INVALID_VALUE 0 Parameters value value output by the scr
118. d 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 Gocator 3100 Series Protocols Gocator Protocol 240 Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4529 status 32s 6 Reply status For a list of status codes see Commands on page 212 progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress Initial Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x5000 status 32s 6 Reply status For a list of status codes see Commands on page 212 progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress size 32u 18 Size of the chunk in byes data size byte 22 Chunk data Continue Reply Export CSV Progressive The progressive Export CSV command exports replay data as a CSV stream This command returns an initial reply followed by a series of continue replies if the initial reply s status field indicates success The continue replies contain the actual data and have 0x5000 as their identifier Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier
119. d Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x100E status 32s 6 Reply status For a list of status codes see Commands on page 212 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 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 For a list of status codes see Commands on page 212 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 Gocator 3100 Series Protocols Gocator Protocol 232 Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0
120. d surface output as well as range profile and surface intensity outputs correspond to the sensor that provides the data For example in the XML below the options attribute of the Surfaces element shows that only two sources are available see the table below for the meanings of these values The value in this element 0 indicates that only data from that source will be sent to output lt Output gt lt Ethernet gt lt Ranges options gt lt Profiles options gt lt Surfaces options 0 1 gt 0 lt Surfaces gt Element Type Description Protocol 32s Ethernet protocol 0 Gocator 1 Modbus 2 EtherNet IP 3 ASCII Ascii Section See Ascii on the next page EIP Section See EIP on page 204 Modbus Section See Modbus on page 204 Videos 32s CSV Selected video sources 0 Top 1 Bottom 2 Top left 3 Top right Videos options 32s CSV List of available video sources see above Ranges 32s CSV Selected range sources 0 Top 1 Bottom 2 Top left 3 Top right Ranges options 32s CSV List of available range sources see above Profiles 32s CSV Selected profile sources 0 Top 1 Bottom 2 Top left Ethernet Child Elements Gocator 3100 Series Gocator Device Files Job Files 203 Element Type Description 3 Top right Profiles options 32s CSV List of available p
121. dding 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 on the next page 2 Trigger panel Contains trigger source and trigger related settings See Triggers on the next page 3 Sensor panel Contains settings for an individual sensor such as active area or exposure See Sensor on page 57 4 Alignment panel Used to perform alignment See Alignment on page 64 5 Part Detection panel Used to set the part detection logic for sorting data into discrete objects See Part Detection on 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 on page 74 Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 54 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 page 54 Ensure that camera exposure is appropriate for 3D data acquisition Exposure page 60 Find the right balance between data quality speed and CPU utilization Active Area page 58 Exposure page 60 Job Files page 1
122. ddress 216 Set Address 216 Get System Info 217 Get States 218 Log In Out 219 Change Password 219 List Files 220 Copy File 220 Read File 221 Write File 221 Delete File 222 Get Default Job 222 Set Default Job 223 Get Loaded Job 223 Get Alignment Reference 224 Set Alignment Reference 224 Clear Alignment 224 Get Timestamp 225 Get Encoder 225 Reset Encoder 225 Start 226 Scheduled Start 226 Stop 227 Get Auto Start Enabled 227 Set Auto Start Enabled 227 Start Alignment 228 Start Exposure Auto set 228 Software Trigger 229 Schedule Digital Output 229 Schedule Analog Output 230 Ping 230 Reset 231 Backup 231 Restore 232 Restore Factory 232 Get Recording Enabled 233 Set Recording Enabled 233 Clear Replay Data 234 Get Playback Source 234 Set Playback Source 234 Simulate 235 Seek Playback 235 Step Playback 236 Playback Position 236 Clear Measurement Stats 237 Clear Log 237 Simulate Unaligned 237 Acquire 238 Acquire Unaligned 238 Create Model 238 Detect Edges 239 Read File Progressive 239 Export CSV Progressive 240 Export Bitmap Progressive 241 Upgrade Commands 242 Start Upgrade 242 Start Upgrade Extended 242 Get Upgrade Status 243 Get Upgrade Log 243 Results 244 Data Results 244 Stamp 244 Video 245 Surface 246 Surface Intensity 247
123. de setup with two measurements Gocator 3100 Series Software Development Kit 280 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 on page 278 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 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 c
124. des 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 279 Type Description k32u 32 bit unsigned integer k32s 32 bit signed integer k64s 64 bit signed 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 b
125. dge 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 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
126. ding this field in bytes id 16u 4 Reply identifier 0x3012 status 32s 6 Reply status For a list of status codes see Commands on page 212 dhcpEnabled byte 10 0 DHCP not used 1 DHCP used address 4 byte 11 IP address most significant byte first subnetMask 4 byte 15 Subnet mask gateway 4 byte 19 Gateway address Reply 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 Command Gocator 3100 Series Protocols Gocator Protocol 217 Field Type Offset Description subnetMask 4 byte 11 Subnet mask gateway 4 byte 15 Gateway address 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 For a list of status codes see Commands on page 212 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
127. e 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 Analog Child Elements Gocator 3100 Series Gocator Device Files Job Files 206 Element Type Description CurrentInvalidEnabled Bool Enables special current value for invalid measurement value CurrentInvalid 64f Current value for invalid measurement value mA CurrentInvalid min 64f Minimum value for invalid current mA CurrentInvalid max 64f Maxi
128. e 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 the 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 For a list of status codes see Commands on page 212 Reply Change Password The Change Password command is used to change log in credentials for a user Gocator 3100 Series Protocols Gocator Protocol 220 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
129. e 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 on page 305 for a description of connector pins Use a suitable power supply The 24 to 48 VDC power supply used with Gocator sensors should be an isolated supply with inrush current protection or be able to handle a high capacitive load Use care when handling powered devices Wires connecting to the sensor should not be handled while the sensor is powered Doing so may cause electrical shock to the user or damage to the equipment Environment and Lighting Avoid strong ambient light sources The imager used in this product is highly sensitive to ambient light hence stray light may have adverse effects on measurement Do not operate this device near windows or lighting fixtures that could influence measurement If the unit must be installed in an environment with high ambient light levels a lighting shield or similar device may need to be installed to prevent light from affecting measurement Avoid installing sensors in hazardous environments To ensure reliable operation and to prevent damage to Gocator sensors avoid installing the sensor in locations Gocator 3100 Series Safety and Maintenance Sensor Maintenance 11 l that are humid dusty or poorly ventilated l with a high temperature such as places exposed to direct sunl
130. e 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 Measure icon 4 In the measurement list select a measurement To select a measurement it must be enabled See Enabling and Disabling Measurements on 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
131. e 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 on page 264 is read 5 Choose the byte order in the Byte Order dropdown Gocator 3100 Series Gocator Web Interface Output 148 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 available In polling mode users send commands on the data channel to request the latest result See Polling Operation Commands Ethernet Only o
132. e 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 on page 102 Region See Regions on page 101 Output See Filters on 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 on 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 the height at the 2D centroid in the XY plane or the height at the 3D centroid in XYZ space Decision See Decisions on page 102 Region See Regions on page 101 Output See Filters on page 103 Parameters Script A Script measu
133. e 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 on page 285 for more information When attempting to log in the password is not accepted l See Sensor Recovery Tool on page 285 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 on page 296 for more information l The exposure setting may be too low See Exposure on page 60 for more information on configuring expos ure 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 on page 54 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 on page 54 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 294 Gocator 3100 Series Troubleshooting 295 l Consider reducing th
134. e data values from the sensor 6 Write Single Register 16 Send a command or parameter to the sensor 16 Write Multiple Registers 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 Protocol 256 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
135. e 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 on page 144 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 measurement To select a measurement it must be enabled See Enabling and Disabling Measurements on 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 appli
136. e included in addition to the indicators defined above Gocator 3100 Series Protocols Modbus Protocol 254 Modbus Protocol Modbus is designed to allow industrial equipment such as Programmable Logic Controllers PLCs sensors and physical input output devices to communicate over an Ethernet network Modbus embeds a Modbus frame into a TCP frame in a simple manner This is a connection oriented transaction and every query expects a response This section describes the Modbus TCP commands and data formats Modbus TCP communication lets the client l Switch jobs l Align and run sensors l Receive measurement results sensor states and stamps To use the Modbus protocol it must be enabled and configured in the active job The Gocator 4 x firmware uses mm mm2 mm3 and degrees as standard units In all protocols values are scaled by 1000 as values in the protocols are represented as integers This results in effective units of mm 1000 mm2 1000 mm3 1000 and deg 1000 in the protocols If buffering is enabled with the Modbus protocol the PLC must read the Buffer Advance output register see on page 257 to advance the queue before reading the measurement results For information on configuring the protocol using the Web interface see Ethernet Output on page 145 Concepts A PLC sends a command to start each Gocator The PLC then periodically queries each Gocator for its latest measurement results In Modbus termino
137. e resolution See Spacing on page 63 for more information on configuring resolution l Review the measurements that you have programmed and eliminate any unnecessary measurements 296 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 3109 3110 Clearance Distance CD mm 157 150 Measurement Range MR mm 70 100 Field of View mm 67 x 86 93 x 88 60 x 105 90 x 160 Linearity Z of MR 0 038 0 050 Resolution Z mm 0 023 0 044 0 035 0 108 Resolution XY mm 0 065 x 0 071 0 091 x 0 092 0 090 x 0 100 0 150 x 0 160 Dimensions mm 49 x 100 x 155 49 x 74 4 x 276 Weight kg 1 04 1 35 Linearity Z values and Resolution Z are typical values Field of View and Resolution XY are specified as X x Y near to far ALL 3100 SERIES MODELS Scan Rate Up to 5 Hz Light Source Blue LED 465 nm 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
138. e right in the Toolbar The slider s background turns blue To change the mode Replay Protection must be unchecked 2 Click the Download button Gocator 3100 Series Gocator Emulator Working with Jobs and Data 165 To upload replay data 1 Toggle Replay mode on by setting the slider to the left in the Toolbar The slider s background turns blue To change the mode Replay Protection must be unchecked 2 Click the Upload button 3 Select the directory and the file name to upload from the client computer and click OK Replay data can be exported using the CSV format To export replay data in the CSV format 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background turns blue To change the mode Replay Protection must be unchecked 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 for information on playback see To replay data in Playback and Measurement Simulation on page 163 3 Optionally convert exported data to another format using the CSV Converter Tool For information on this tool see CSV Converter Tool on page 292 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
139. eans 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 Master 400 800 312 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 400 800 313 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 attach
140. easurement region Measurements Major Ellipse tool measurement Major measurement Measurements Minor Ellipse tool measurement Minor measurement Measurements Ratio Ellipse tool Ratio measurement SurfaceEllipse Child Elements Gocator 3100 Series Gocator Device Files Job Files 192 Element Type Description measurement Measurements ZAngle Ellipse tool measurement ZAngle measurement Element Type Description id 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Ellipse Tool Measurement SurfaceHole A SurfaceHole element defines settings for a surface hole tool and one or more of its measurements Element Type Description Name String Tool name Source 32s Surface 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 f
141. ed 8u 74 Whether or not the currently loaded job has been changed 1 yes 0 no Reply Gocator 3100 Series Protocols Gocator Protocol 224 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 For a list of status codes see Commands on page 212 reference 32s 10 Alignment reference 0 Fixed 1 Dynamic Reply Set Alignment Reference The Set Alignment Reference command is used to set the sensor s alignment reference Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4103 reference 32s 6 Alignment reference 0 Fixed 1 Dynamic Command 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 For a list of status codes see Commands on page 212 Reply Clear Alignment The Clear Alignment command clears sensor alignment Field Type Offset Description length 32u 0 Command size including this field in bytes
142. ed 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 314 Master 1200 2400 The Master 1200 2400 provides sensor power and safety interlock and broadcasts system wide synchronization information i e time encoder count encoder index and digital 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 315 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 24
143. ed 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 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 on page 99 for instructions on how to enab
144. efined 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 Control Commands Optional parameters are shown in italic The placeholder for data is surrounded by brackets lt gt In the examples the delimiter is set to Start The Start command starts the sensor system causes it to enter the Running state This command is only valid when the system is in the Ready state If a start target is specified the sensor starts at the target time or encoder depending on the trigger mode 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 Gocator 3100 Series Protocols ASCII Protocol 269 Stop The stop command stops the sensor system causes it to enter the Ready state This command is
145. egion Region3D Measurement region Measurements X Bounding Box tool measurement X measurement Measurements Y Bounding Box tool measurement Y measurement Measurements Z Bounding Box tool measurement Z measurement Measurements Width Bounding Box tool measurement Width measurement Measurements Height Bounding Box tool measurement Height measurement Measurements ZAngle Bounding Box tool measurement ZAngle measurement Measurements GlobalX Bounding Box tool measurement Global X measurement Measurements GlobalY Bounding Box tool measurement Global Y measurement Measurements GlobalZAngle Bounding Box tool measurement Global Z Angle measurement SurfaceBoundingBox 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 Bounding Box Tool Measurement Gocator 3100 Series Gocator Device Files Job Files 189 Element Type Description 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax
146. ement Gocator 3100 Series Gocator Device Files Job Files 191 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 32u Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Countersunk Hole Tool Measurement SurfaceEllipse A SurfaceEllipse element defines settings for a surface ellipse tool and one or more of its measurements Element Type Description Name String Tool name Source 32s Surface 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 RegionEnabled Boolean Setting to enable disable region Region Region3D M
147. ength 64f Maximum surface length mm MaxLength min 64f Minimum value for maximum surface length mm MaxLength max 64f Maximum value for maximum surface length mm VariableLength Child Elements Rotational Element Type Description Circumference 64f Circumference mm Circumference min 64f Minimum circumference mm Circumference max 64f Maximum circumference mm Rotational Child Elements ProfileGeneration The ProfileGeneration element contains settings related to profile generation This element is used by Gocator 1300 series sensors Gocator 3100 Series Gocator Device Files Job Files 182 Element Type Description Type 32s Profile generation type 0 Continuous 1 Fixed length 2 Variable length 3 Rotational FixedLength Section See FixedLength below VariableLength Section See VariableLength below Rotational Section See Rotational below ProfileGeneration Child Elements FixedLength Element Type Description StartTrigger 32s Start trigger condition 0 Sequential 1 Digital input Length 64f Profile length mm Length min 64f Minimum profile length mm Length max 64f Maximum profile length mm FixedLength Child Elements VariableLength Element Type Description MaxLength 64f Maximum surface length mm MaxLength min 64f Minimum value for maximum profile length mm MaxLength max 64f Maximum
148. ensor 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 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 on page 211 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 on page 33 for the estimated acquisition speeds under different settings For examples of typical real world scenarios see below For information on the settings used with each trigger source see on the 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 externa
149. eplay 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 For a list of status codes see Commands on page 212 Reply Get Playback Source The Get Playback Source command gets the data source for data playback 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 For a list of status codes see Commands on page 212 source 32s 10 Source 0 Live 1 Replay buffer Reply Set Playback Source The Set Playback Source command sets the data source for data playback Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4523 source 32s 6 Source 0 Live 1 Replay buffer Command Gocator 3100 Series Protocols Gocator Protocol 235 Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply iden
150. er 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 measurement value output type The Overflow health indicator increments Additional undocumented indicator values may b
151. escription 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 the following formats l ASCII XYZI l 16 bit BMP l 16 bit PNG l GenTL You can get the tool package 14405 x x x x_SOFTWARE_GO_Tools zip from the LMI Technologies website at http lmi3d com support downloads Click on the link for your sensor click on Product User Area and log in Gocator 3100 Series Tools and Native Drivers CSV Converter Tool 293 For more information on exporting recorded data see see Downloading Uploading and Exporting Replay Data on page 40 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 on page 287 You can load the exp
152. esired For information on adding and configuring measurements see Measurement on page 97 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 for more information on the dashboard see Dashboard on page 155 To clear replay data 1 Stop the sensor if it is running by clicking the Stop button 2 Click the Clear Replay Data button Gocator 3100 Series Gocator Web Interface User Interface Overview 40 Downloading Uploading and Exporting Replay Data Replay data recorded scan data can be downloaded from a Gocator to a client computer or uploaded from a client computer to a Gocator Data can also be exported from a Gocator to a client computer in order to process the data using third party tools You can only upload replay data to the same sensor model that was used to create the data Replay data is not loaded or saved when you load or save jobs To download replay data 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background turns blue and a Replay Mode Enabled message is displayed To change the mode Replay Protection must be unchecked 2 Click the Download button
153. ess 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 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 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 Command Definitions Gocator 3100 Series Protocols EtherNet IP Protocol 263 Value Name Description 1 Start Running Start the sensor No action if the sensor is already started 2 Stationary Alignment Start the stationary alignment process Byte 1 of the sensor state assembly will be set to 1 busy until the alignment process is complete then back to zero 4 Clear Alignment Clear the alignment 5
154. ew 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 on 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 scaling 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
155. 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 Bool 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 See Tracking on the next page Material Section See Material on the next page Custom Custom Used by specialized sensors Element Type Description X 64f X start mm Y 64f Y start mm Z 64f Z start mm Width 64f X extent mm Length 64f Y extent mm Height 64f Z extent mm Region3D Child Elements Element Type Description X 32u X start pixels Y 32u Y start pixels Window Child Elements Gocator 3100 Series Gocator Device Files Job Files 179 Element Type Description Width 32u X extent pixels Height 32u Y extent pixels Tracking Element Type Description Enabled Bool Enables tracking Enabled used Bool Whether or not this field is use
156. fset 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 247 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 For this message set to 9 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 Bottom 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 For this message set to 10 count C 32u 6 Count of measurements in this message reserved 2 8u 10 Reserved id 16u 12
157. g 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 Collection Measurement regions Contains one or two Region elements of type Region3D Measurements XAngle Plane tool measurement XAngle measurement Measurements YAngle Plane tool measurement YAngle measurement Measurements ZOffset Plane tool measurement ZOffset measurement SurfacePlane Child Elements Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Plane Tool Measurement Gocator 3100 Series Gocator Device Files Job Files 197 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 32u 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 Tool name Source 32s
158. g on page 45 3 Motion and Alignment Contains settings to configure the encoder See Motion and Alignment on page 46 4 Jobs Lets you manage jobs stored on the sensor See Jobs on Gocator 3100 Series Gocator Web Interface System Management and Maintenance 44 Element Description page 46 5 Security Lets you change passwords See Security on page 48 6 Maintenance Lets you upgrade firmware create restore backups and reset sensors See Maintenance on page 49 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 45 Over Temperature Protection Sensors equipped with a 3B N laser by default will turn off the laser if the temperature exceeds the safe operating range You can override the setting by disabling the overheat protection Disabling the setting is not recommended
159. governing rights and limitations under the License Gocator 3100 Series Software Licenses 325 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 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 326 Contact Americas EMEAR ASIA PACIFIC LMI Technologies Head Office Vancouver Canada 1 604 636 1011 LMI Technologies GmbH Berlin Germany 49 0 3328 9360 0 LMI Shanghai Trading Co Ltd Shanghai China 86 21 5441 0711 LMI Technologies has sales offices and distributors worldwide All contact information is listed at lmi3D com contact locations Gocator 3100 Series 327
160. he 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 Gocator 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
161. he 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 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 th
162. he 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 angle 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 orient
163. he command reply on the Command channel with the correct Alignment Result message on the Data channel A unique ID is returned each time the client uses this command 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 Gocator 3100 Series Protocols Gocator Protocol 229 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 For a list of status codes see Commands on page 212 opId 32s 10 Operation ID Use this ID to correlate the command reply on the Command channel with the correct Exposure Calibration Result message on the Data channel A unique ID is returned each time the client uses this command 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 Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Re
164. he 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 value 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 acro
165. hen 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 39 Playback controls when replay is on To replay data 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background turns blue and a Replay Mode Enabled message is displayed To change the mode Replay Protection must be unchecked 2 Use the Replay slider or the Step Forward Step Back or Play buttons to review data The Step Forward and Step Back buttons move and the current replay location backward and forward by a single frame respectively The Play button advances the replay location continuously animating the playback until the end of the replay data The Stop button replaces the Play button while playing can be used to pause the replay at a particular location The Replay slider or Replay Position box can be used to go to a specific replay frame To simulate measurements on replay data 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background turns blue and a Replay Mode Enabled message is displayed To change the mode Replay Protection must be unchecked 2 Go to the Measure page Modify settings for existing measurements add new measurement tools or delete measurement tools as d
166. hing 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 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 o
167. his 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 Edge 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 t
168. hronized across sensors Sensors and client computers communicate via an Ethernet switch 1 Gigabit s recommended Gocator 3100 Series Getting Started Hardware Overview 14 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 used for sensor communication via 1000 Mbit s Ethernet with a standard RJ45 connector The Master version of the Power amp Ethernet cordset provides direct connection between the sensor and a Master 400 800 1200 2400 The Gocator 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
169. ial 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 157 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 collected since the sensor was started Std The standard deviation of all measurement results collected since the sensor was sta
170. iangulates 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 on page 29 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 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 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 ad
171. id 16u 4 Command identifier 0x4102 Command Gocator 3100 Series Protocols Gocator Protocol 225 Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4102 status 32s 6 Reply status For a list of status codes see Commands on page 212 Reply Get Timestamp The Get Timestamp command retrieves the sensor s timestamp in clock ticks All devices in a system are synchronized with the system clock this value can be used for diagnostic purposes or used to synchronize the start time of the system 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 For a list of status codes see Commands on page 212 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 For a list of status codes see Commands on
172. idation 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 0x0003 status 32s 6 Reply status For a list of status codes see Commands on page 212 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 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 For a list of status codes see Commands on page 212 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 Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x2 Command Gocator 3100 Series Protocols Gocator Protocol 244 Field Type Offset Description length
173. idth 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 SurfaceOpening Child Elements Gocator 3100 Series Gocator Device Files Job Files 195 Element Type Description 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 two RefRegion elements of type SurfaceRegion2D 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 Opening tool measurement X measurement Measurements Y Opening tool measurement Y measurement Measurements Z Opening tool measurement Z measurement Measurements Width Opening tool measurement Width measurement Measurement
174. igh 64s Encoder position 989 Position 990 Position 991 Position Low 992 Time Low 64u Timestamp us 993 Time 994 Time 995 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 Protocol 259 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 m 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 105
175. ight 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 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
176. ilt correction angle X TiltYAngle 64f Setting for manual tilt correction angle Y Measurements BaseX Stud tool measurement BaseX measurement Measurements BaseY Stud tool measurement BaseY measurement Measurements BaseZ Stud tool measurement BaseZ measurement Measurements TipX Stud tool measurement TipX measurement Measurements TipY Stud tool measurement TipY measurement Measurements TipZ Stud tool measurement TipZ measurement Measurements Radius Stud tool measurement 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 Stud Tool Measurement Gocator 3100 Series Gocator Device Files Job Files 200 Element Type Description 1 Enable SmoothingWindow 32u Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold RadiusOffset Radius measurement only 64f Radius offset of the stud SurfaceVolume A SurfaceVolume element defines settings for a surface volume tool and one or more of
177. including the file extension job Control Register Map The values used for the Command Register are described below Value Name Description 0 Stop running Stop the sensor No effect if sensor is already stopped 1 Start Running Start the sensor No effect if sensor is already started 2 Align stationary target Start the alignment process State register 301 will be set to 1 busy until the alignment process is complete Command Register Values Gocator 3100 Series Protocols Modbus Protocol 257 Value Name Description 3 Align moving target Start alignment process and also calibrate encoder resolution State register 301 will be set to 1 busy until the motion calibration process is complete 4 Clear Alignment Clear the alignment 5 Load Job Activate a job file Registers 1 21 specify the filename Output Registers 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
178. ing s value is currently used SpotSelectionType value 32s Value in use by the sensor useful for determining value when used is Material Child Elements Gocator 3100 Series Gocator Device Files Job Files 180 Element Type Description false CameraGainAnalog 64f Analog camera gain factor CameraGainAnalog used Bool Determines if the setting s value is currently used CameraGainAnalog value 64f Value in use by the sensor useful for determining value when used is false CameraGainAnalog min 64f Minimum value CameraGainAnalog max 64f Maximum value CameraGainDigital 64f Digital camera gain factor CameraGainDigital used Bool Determines if the setting s value is currently used CameraGainDigital value 64f Value in use by the sensor useful for determining value when used is false CameraGainDigital min 64f Minimum value CameraGainDigital max 64f Maximum value DynamicSensitivity 64f Dynamic exposure control sensitivity factor This can be 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 num
179. ing 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 29 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 viewing 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 30 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 o
180. ion 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 278 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 exposure 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 provi
181. ipt 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 Output Functions 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 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
182. its measurements Element Type Description Name String Tool name Source 32s Surface 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 RegionEnabled Boolean Setting to enable disable region Region Region3D Measurement region Measurements Volume Volume tool measurement Volume measurement Measurements Area Volume tool measurement Area measurement Measurements Thickness Volume tool measurement Thickness measurement SurfaceVolume 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 Volume Tool Measurement Gocator 3100 Series Gocator Device Files Job Files 201 Element Type Description HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing
183. ity 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 D H 3 3 V 24 V 3 mA 40 mA 20 us Serial Output Serial RS 485 output is connected to Serial_out as shown below Function Pins Serial_out B C Analog Output The Sensor I O Connector defines one analog output interface Analog_out Function Pins Current Range Analog_out P F 4 20 mA Gocator 3100 Series Specifications Gocator 3100 I O Connector 308 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 100 309 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 Mas
184. ive simulation scan Gocator 3100 Series Protocols Gocator Protocol 239 Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4602 modelName 64 char 6 Name of the new model without mdl extension Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4602 status 32s 6 Reply status For a list of status codes see Commands on page 212 Reply Detect Edges The Detect Edges command detects and updates the edge points of a part model Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4604 modelName 64 char 6 Name of the model without mdl extension sensitivity 16s 70 Sensitivity in thousandths Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4604 status 32s 6 Reply status For a list of status codes see Commands on page 212 Reply Read File Progressive The progressive Read File command reads the content of a file as a stream This command returns an initial reply followed by a series of continue replies if the initial reply s status field indicates success The continue replies contain the actual data and have 0x5000 as their identifier Fiel
185. just 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 on 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 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 axis With Normal orientation a positive value shifts the data to the Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 60 Parameter Description 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 axi
186. ks 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 146 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 Interface Output 147 To receive commands and send results using EtherNet IP messages 1 Go to the Output page 2 Click on Ethernet in th
187. kus Kuhn Colin Watson and CORE SDI S A Permission is hereby granted free of charge to any person obtaining a copy of this software and associated documentation files the Software to deal in the Software without restriction including without limitation the rights to use copy modify merge publish distribute sublicense and or sell copies of the Software and to permit persons to whom the Software is furnished to do so subject to the following conditions The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software THE SOFTWARE IS PROVIDED AS IS WITHOUT WARRANTY OF ANY KIND EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY FITNESS 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
188. l 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 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 infor
189. l input can also be used to gate the trigger signals when time or encoder triggering is used For example a photocell could generate a series of trigger pulses as long as there is a target in position Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 56 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 Encoder External Input or Software Frame Rate Time Controls the frame rate Select Max Speed from the drop down to lock to the maximum frame rate Fractional values are supported For example 0 1 can be entered to run at 1 frame every 10 seconds Gate on External Input Time Encoder External input can be used to enable or disable 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 See Digital Inputs on page 306 for more information on conne
190. l 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 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 on page 244 for an explanation of the stamp information The following table shows how the stamp information is packed into the last row A stamp is a 64 bit value packed into four consecutive 16 bit pixels with the first byte position storing the most significant byte Stamp 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 tick
191. laceholder for data is surrounded by brackets lt gt In the examples the delimiter is set to Health The Health command retrieves health indicators See Health Results on page 250 for details on health indicators Message Format Command Health health indicator ID Optional health indicator instance More than one health indicator can be specified Note that the health indicator instance is optionally attached to the indicator ID with a If the health indicator instance field is used the delimiter cannot be set to Reply OK lt health indicator of first ID gt lt health indicator of second ID gt ERROR lt Error Message gt Formats Examples health 2002 2017 OK 46 1674 Health ERROR Insufficient parameters Standard Result Format Gocator can send measurement results either in the standard format or in a custom format In the standard format you select in the web interface which measurement values and decisions to send For Gocator 3100 Series Protocols ASCII Protocol 274 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 on page 244 Id in n Decimal value that represents the unique identifier of the
192. late measurements on replay data 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background turns blue To change the mode Replay Protection must be unchecked 2 Go to the Measure page Modify settings for existing measurements add new measurement tools or delete measurement tools as desired For information on adding and configuring measurements see Measurement on page 97 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 for more information on the dashboard see Dashboard on page 155 To clear replay data l Click the Clear Replay Data button Downloading Uploading and Exporting Replay Data Replay data recorded scan data can be downloaded from the emulator to a client computer or uploaded from a client computer to the emulator Data can also be exported from the emulator to a client computer in order to process the data using third party tools You can only upload replay data to the same sensor model that was used to create the data Replay data is not loaded or saved when you load or save jobs To download replay data 1 Toggle Replay mode on by setting the slider to th
193. late 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 on page 101 For instructions on how to set up measurement regions graphically see on 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 on 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 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
194. lator The job set as default when the support file used to create a virtual sensor was downloaded is used as the default whenever the emulator is started Download button Downloads the selected job to the client computer Upload button Uploads a job from the client computer Unsaved jobs are indicated by unsaved Gocator 3100 Series Gocator Emulator Scan Model and Measurement Settings 167 Changes to job files in the emulator are not persistent they are lost when you close or restart the emulator However you can keep modified jobs by first saving them and then downloading them to a client computer To save a job 1 Go to the Manage page and click on the Jobs category 2 Provide a name in the Name field To save an existing job under a different name click on it in the Jobs list and then modify it in the Name field 3 Click on the Save button or press Enter To download load or delete a job or to set one as a default or clear a default 1 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 Scan Model and Measurement Settings The settings on the Scan page related to actual scanning will clear the buffer of any scan data that is uploaded from a client computer or is part of a support file used to create a virtual sensor If Replay Protection is checked the emulator will indi
195. layback 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 Gocator 3100 Series Protocols Gocator Protocol 253 Indicator Id Instance Value 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 and ASCII server Host Server Drops 21012 The number of bytes dropped by the host data server Not currently emitted ASCII Server Drops 21013 The numb
196. le 64f Rotation around the Y axis degrees ZAngle 64f Rotation around the Z axis degrees Device Child Elements The rotation counter clockwise in the X Z plane is performed before the translation Part Models Part models represent models created using the part matching feature Gocator 3100 Series Gocator Device Files Job Files 209 You can access a model in the active job using path notation For example to access a model called scan mdl use _live job scan mdl You can access part models in user created job files in non volatile storage for example productionRun01 job model1 mdl You can only access part models in user created job files using path notation See the following sections for the elements contained in a model Part models contain the following subcomponents You can access the subcomponents using path notation for example productionRun01 job myModel mdl config xml Element Type Description Configuration config xml Model configuration XML It is always present See Configuration on the next page Edge Points edge height top Edge points for the top heightmap See Edge Points below Edge Points edge height bottom Edge points for the bottom heightmap Edge Points edge intensity top Edge points for the top intensity map Edge Points edge intensity bottom Edge points for the bottom intensity map Part Model Child Elements The edge poin
197. le 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 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
198. lect 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 on page 60 for details Spacing The Spacing tab lets you configure the spacing interval Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 64 Spacing Interval Spacing interval is the spacing between data points in resampled data A larger interval 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 on page 33 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
199. lectance 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 Gocator 3100 Series Gocator Web Interface Scan Setup and Alignment 61 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 all 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
200. led Bool Enables maximum frame rate ignores FrameRate EncoderSpacing 64f Encoder spacing for encoder trigger mm EncoderSpacing min 64f Minimum encoder spacing mm EncoderSpacing max 64f Maximum encoder spacing mm EncoderSpacing minSource 32s Source of minimum encoder spacing 0 Resolution 1 Surface generation EncoderTriggerMode 32s Encoder triggering mode 0 Tracking backward 1 Bidirectional 2 Ignore backward Delay 64f Trigger delay 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 Trigger Child Elements Gocator 3100 Series Gocator Device Files Job Files 175 Layout Element Type Description DataSource 32s Data source of the layout output read only 0 Top 1 Bottom 2 Top left 3 Top right XSpacingCount 32u Number of points along X when data is resampled YSpacingCount 32u Number of points along Y when data is resampled TransformedDataRegion Region3D Transformed 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 Orien
201. 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 you 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 Matc
202. logy the PLC is a Modbus Client Each Gocator is a Modbus Server which serves the results to the PLC The Modbus protocol uses TCP for connection and messaging The PLC makes a TCP connection to the Gocator on port 502 Control and data messages are communicated on this TCP connection Up to eight clients can be connected to the Gocator simultaneously A connection closes after 10 minutes of inactivity Messages All Modbus TCP messages consist of an MBAP header Modbus Application Protocol a function code and a data payload The MBAP header contains the following fields Gocator 3100 Series Protocols Modbus Protocol 255 Field Length Bytes Description Transaction ID 2 Used for transaction pairing The Modbus Client sets the value and the Server Gocator copies the value into its responses Protocol ID 1 Always set to 0 Length 1 Byte count of the rest of the message including the Unit identifier 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 Header 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 multipl
203. mation 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 276 Gocator 3100 Series Software Development Kit 277 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 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 sect
204. ment Element Type Description id 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state Hole Tool Measurement Gocator 3100 Series Gocator Device Files Job Files 194 Element Type Description 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold SurfaceOpening A SurfaceOpening element defines settings for a surface opening tool and one or more of its measurements Element Type Description Name String Tool name Source 32s Surface 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 NominalW
205. 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 ToolOptions The ToolOptions element contains a list of available tool types their measurements and settings for related information Element Type Description lt Tool Names gt Collection A collection of tool name elements An element for each tool type is present ToolOptions Child Elements Element Type Description displayName String Display name of the tool isCustom Bool Reserved for future use MeasurementOptions Collection See MeasurementOptions on the next page Tool Name Child Elements Gocator 3100 Series Gocator Device Files Job Files 186 MeasurementOptions Element Type Description lt Measurement Names gt Collection A collection of measurement name 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 Measurement Name Child Elements 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 c
206. mm Window max 64f Maximum window size mm XMedian Child Elements YMedian Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm YMedian Child Elements XDecimation Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm XDecimation Child Elements YDecimation Element Type Description Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm YDecimation Child Elements Gocator 3100 Series Gocator Device Files Job Files 174 Trigger The Trigger element contains settings related to 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 Frame rate for time trigger Hz FrameRate min 64f Minimum frame rate Hz FrameRate max 64f Maximum frame rate Hz FrameRate maxSource 32s Source of maximum frame rate limit 0 Imager 1 Surface generation MaxFrameRateEnab
207. mmands on page 212 signature 64u 24 Message signature 0x0000504455494D4C deviceId 64u 32 Serial number Reply Control Commands A client sends control commands for most operations over the Control TCP channel port 3190 The Control channel and the Upgrade channel port 3192 can be connected simultaneously 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 For more information on Upgrade commands see Upgrade Commands on page 242 States A Gocator system can be in one of two states Ready or Running The client sends the Start and Stop control commands to change the system s current state to Running and Ready respectively The sensor can also be configured to boot in either the Ready or Running state by enabling or disabling autostart respectively using the Set Auto Start Enabled command In the Ready state a sensor can be configured In the Running state a sensor responds to input signals performs measurements drives its outputs and sends data messages to the client Disconnecting the command channel changes the sensor from the Running state to the Ready state The state of the sensor can be retrieved using the Get States or Get System Info command Progressive Reply Some commands send replies progressively as multiple messages This allows
208. more information on polling commands see The protocol communicates using ASCII strings The output result format from the sensor is user configurable Gocator 3100 Series Protocols ASCII Protocol 266 To use the ASCII protocol it must be enabled and configured in the active job The Gocator 4 x firmware uses mm mm2 mm3 and degrees as standard units In all protocols values are scaled by 1000 as values in the protocols are represented as integers This results in effective units of mm 1000 mm2 1000 mm3 1000 and deg 1000 in the protocols For information on configuring the protocol with the Web interface when using the protocol over Ethernet see Ethernet Output on page 145 For information on configuring the protocol with the Web interface when using the protocol over Serial see Serial Output on page 153 Connection Settings Ethernet Communication With Ethernet ASCII output you can set the connection port numbers of the three channels used for communication Control Data and Health Name Description Default Port Control To send commands to control the sensor 8190 Data To retrieve measurement output 8190 Health To retrieve specific health indicator values 8190 Ethernet Ports for ASCII Channels can share the same port or operate on individual ports The following port numbers are reserved for Gocator internal use 2016 2017 2018 and 2019 Each port can accept multiple conne
209. mum value for invalid current mA DataScaleMin 64f Measurement value corresponding to minimum current DataScaleMax 64f Measurement value corresponding to maximum current Delay 64f Output delay 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 See Selcom below Ascii Section See Ascii on the next page Measurements 32u CSV Selected measurement sources Measurements options 32u CSV List of available measurement sources 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 with search 2 14 bit Selcom Child Elements Gocator 3100 Series Gocator Device Files Job Files 207 Element Type Description 3 14 bit with search Format o
210. n 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 on page 102 Region See Regions on page 101 Output See Filters on 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 measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools on 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 Pla
211. n page 267 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 on page 273 for an explanation of the standard result mode Select Custom to enable the custom format editor and then use the replacement patterns listed in Replacement Patterns to create a custom format in the editor 6 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 149 ejectors A digital output can act as a measurement valid signal to allow external devices to synchronize to the timing at which measurement results are output In this mode the sensor outputs a digital pulse when a measuremen
212. n 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 on page 57 for more details Gocator 3100 Series Theory of Operation 3D Data Output 31 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 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
213. n 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 22 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 on page 294 if you experience any problems while attempting to establish a connection to the sensor Gocator 3100 Series Getting Started Network Setup 23 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 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
214. nator InvalidValue String String for invalid output CustomDataFormat String Custom data format CustomFormatEnabled Bool Enables custom data format EIP Element Type Description BufferEnabled Bool Enables EtherNet IP output buffering EndianOutputType 32s Endian output type 0 Big endian 1 Little endian ImplicitOutputEnabled Bool Enables Implict I O Messaging ImplicitTriggerOverride 32s Override requested trigger type by client 0 No override 1 Cyclic 2 Change of State EIP Child Elements Modbus Element Type Description BufferEnabled Bool Enables Modbus output buffering Modbus Child Elements Digital0 and Digital1 The Digital0 and Digital1 elements define 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 4 Exposure SignalType 32s Signal type Digital0 and Digital1 Child Elements Gocator 3100 Series Gocator Device Files Job Files 205 Element Type Description 0 Pulse 1 Continuous ScheduleEnabled Bool Enables scheduling PulseWidth 64f Pulse width s PulseWidth min 64f Minimum pulse width s PulseWidth max 64f Maximum pulse width s PassMode 32s Measurement pass condition 0 AND of measurements is true 1 AND of measurements is fals
215. nd 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 Option 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 vi
216. nd 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 on page 102 Region See Regions on page 101 Output See Filters on 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 Removing Tools on 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 t
217. nder 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 34 35 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 handling jobs and sensor maintenance See System Management and Maintenance on page 43 2 Scan page Contains settings for scan mode trigger source detailed sensor configuration and performing alignment See Scan Setup and Alignment on page 53 3 Model page Lets you set up part matching See Models and Part Matching on page 82 Gocator 3100 Series Gocator Web Interface User Interface Overview 36 Element Description 4 Measure page Contains built in measurement tools and their settings See Measurement on page 97
218. ne 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 on page 102 Region See Regions on page 101 Output See Filters on 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 maximum constraints to yield a decision See Adding and Removing Tools on 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 De
219. ness 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 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 on page 102 Region See Regions on page 101 Output See Filters on page 103 Parameters Countersunk Hole The Countersunk Hole tool locates a countersunk circular opening within a region of interest on the surface and provides measurements to evaluate characteristics of countersunk holes including the Gocator 3100 Series Gocator Web Interface Measurement 110 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 on page 98 for instructions on how to add measurement
220. non warranty a Return Material Authorization RMA number must be obtained from LMI Please call LMI to obtain this RMA number Carefully package the sensor in its original shipping materials or equivalent and ship the sensor prepaid to your designated LMI location Please ensure that the RMA number is clearly written on the outside of the package Inside the return shipment include the address you wish the shipment returned to the name email and telephone number of a technical contact should we need to discuss this repair and details of the nature of the malfunction For non warranty repairs a purchase order for the repair charges must accompany the returning sensor LMI Technologies Inc is not responsible for damages to a sensor that are the result of improper packaging or damage during transit by the courier Gocator 3100 Series 319 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 lis
221. nsor 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 a sensor Gocator 3100 Series Gocator Web Interface System Management and Maintenance 47 Element Description Name field Used to provide a job name when saving files Jobs list Displays the jobs that are currently saved in the sensor s flash storage Save button Saves current settings to the job using the name in the Job Name field Load button Loads the job that is selected in the job list Reloading the current job discards any unsaved changes Delete button Deletes the job that is selected in the job list Set as Default button Sets the selected job as the default to be loaded when the sensor starts When the default job is selected this button is used to clear the default Download button Downloads the selected job to the client computer Upload button Uploads a job from the client computer Jobs can be loaded currently activated in sensor memory and set as default independently For example Job1 could be loaded while Job2 is set as the default Def
222. nt The analog output must be configured to accept software scheduled commands and be in the Running state See Analog Output on page 151 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 index 16u 6 Index of the output Must be 0 target 64s 8 Specifies the time clock ticks or position encoder ticks of when the event should happen The target value is ignored if ScheduleEnabled is set to false Scheduled is unchecked in Analog in the Output panel The output will be triggered immediately value 32s 16 Output current micro amperes Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4519 status 32s 6 Reply status For a list of status codes see Commands on page 212 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 Gocator 3100 Series Protocols Gocator Protocol 231 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 Fiel
223. ntains settings for sensor system layout network motion and alignment handling jobs and sensor maintenance Scan Setup and Alignment page 53 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 144 Contains settings for configuring output protocols used to communicate measurements to external devices Dashboard page 155 Provides monitoring of measurement statistics and sensor health Gocator 3100 Series Getting Started Next Steps 27 Toolbar page 36 Controls sensor operation manages jobs and replays recorded measurement data 28 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 meaning 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 us
224. nts 170 Configuration 170 Setup 171 Filters 172 XSmoothing 172 YSmoothing 172 XGapFilling 172 YGapFilling 173 XMedian 173 YMedian 173 XDecimation 173 YDecimation 173 Trigger 174 Layout 175 Alignment 175 Disk 176 Bar 176 Plate 177 Devices Device 177 Tracking 179 Material 179 SurfaceGeneration 180 FixedLength 181 VariableLength 181 Rotational 181 ProfileGeneration 181 FixedLength 182 VariableLength 182 Rotational 182 PartDetection 182 EdgeFiltering 184 PartMatching 184 Edge 185 BoundingBox 185 Ellipse 185 ToolOptions 185 MeasurementOptions 186 Tools 186 Surface Types 186 Region3D 186 SurfaceFeature 186 SurfaceRegion2d 187 Script 187 SurfaceBoundingBox 188 SurfaceCsHole 189 SurfaceEllipse 191 SurfaceHole 192 SurfaceOpening 194 SurfacePlane 196 SurfacePosition 197 SurfaceStud 198 SurfaceVolume 200 Output 201 Ethernet 201 Ascii 203 EIP 204 Modbus 204 Digital0 and Digital1 204 Analog 205 Serial 206 Selcom 206 Ascii 207 Transform 207 Device 208 Part Models 208 Edge Points 209 Configuration 210 Protocols 211 Gocator Protocol 211 Data Types 212 Commands 212 Discovery Commands 213 Get Address 213 Set Address 214 Control Commands 215 Protocol Version 215 Gocator 3100 Series 6 Get A
225. o right order reserved 4 byte 56 Reserved subnetMask 4 byte 60 The subnet mask in left to right order reserved 4 byte 64 Reserved gateway 4 byte 68 The gateway address in left to right order reserved 4 byte 72 Reserved reserved 4 byte 76 Reserved Reply 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 64u 0 Command length type 64s 8 Command type 0x2 signature 64u 16 Message signature 0x0000504455494D4C deviceId 64u 24 Serial number of the device whose address information is queried 0 selects all devices dhcpEnabled 64u 32 0 Disabled 1 Enabled reserved 4 byte 40 Reserved address 4 byte 44 The IP address in left to right order reserved 4 byte 48 Reserved subnetMask 4 byte 52 The subnet mask in left to right order reserved 4 byte 56 Reserved gateway 4 byte 60 The gateway address in left to right order reserved 4 byte 64 Reserved reserved 4 byte 68 Reserved Command Gocator 3100 Series Protocols Gocator Protocol 215 Field Type Offset Description length 64u 0 Reply length type 64s 8 Reply type 0x1002 status 64s 16 Operation status For a list of status codes see Co
226. o 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 on page 273 for an explanation of the standard result mode Select Custom to customize the output result A data format box will appear in which you can type the Gocator 3100 Series Gocator Web Interface Output 154 format string See Custom Result Format on page 274 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 155 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 Measurements on the next page System Panel The following state and health information is available in the System panel on the Dashboard
227. oder 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 Register Map Overview Gocator 3100 Series Tools and Native Drivers CSV Converter Tool 292 Register Address Name Read Write Length bytes Description 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 XML Settings File The settings file Go2GenTL xml resides in the same directory as the Gocator GenTL driver Users can set the resample mode and output format by changing the setting in this file Element Type D
228. om support downloads selecting a product type and clicking on the Product User Area link To run the emulator unzip the package and double click on Emulator bin win32 GoEmulator exe Emulator launch screen You can change the language of the emulator s interface from the launch screen To change the language choose a language option from the top drop down Selecting the emulator interface language Adding a Scenario to the Emulator If you have downloaded a support file from a physical sensor you must add it as a scenario in the emulator Gocator 3100 Series Gocator Emulator Running the Emulator 161 You can add support files downloaded from any series of Gocator sensors to the emulator To add a scenario 1 Launch the emulator if it isn t running already 2 Click the Add button and choose a previously saved support file gs extension in the Choose File to Upload dialog Running a Scenario After you have added a virtual sensor by uploading a support file to the emulator you can run it from the Available Scenarios list on the emulator launch screen You can also run any of the scenarios included in the installation 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
229. om the LMI Technologies website at http lmi3d com support downloads Click on the link for your sensor click on Product User Area and log in 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 the appropriate output enabled in the Ethernet panel in the Output page Check Acquire Intensity in the Gocator 3100 Series Tools and Native Drivers GenTL Driver 288 Scan Mode panel on the Scan page and enable intensity output in the Ethernet panel if intensity data is required Refer to the documentations in the GenTL directory for instructions on how to interface to various third party software Gocator GenTL driver packs
230. on each individual sensor The client can upgrade the Gocator s firmware by sending the Start Upgrade command see on page 242 Firmware upgrade files are available from the downloads section under the support tab on the LMI web site For more information on getting the latest firmware see Firmware Upgrade on page 51 Every Gocator sensor contains factory backup firmware If a firmware upgrade command fails e g power is interrupted the factory backup firmware will be loaded when the sensor is reset or power cycled In this case the sensors will fall back to the factory default IP address To avoid IP address conflicts in a multi sensor system connect to one sensor at a time and re attempt the firmware upgrade Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4002 Command 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 For a list of status codes see Commands on page 212 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 Gocator 3100 Series Protocols Gocator Protocol 218 Field Type Offset Description deviceId 32u 0 Serial number of the device address 4
231. on the same data channel that the request is received on See Data Commands on page 271 for more information The Health channel is used to receive health indicators see Health Commands on page 273 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 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 Gocator 3100 Series Protocols ASCII Protocol 268 Special Character Explanation Delimiter Separates input arguments in commands and replies or data items in results Default value is Terminator Terminates both commands and result output Default value is r n Invalid Represents invalid measurement results Default value is INVALID Special Characters The values of the special characters are d
232. onary alignment targets MovingTarget 32s Moving alignment target 0 None 1 Disk 2 Bar 3 Plate MovingTarget options 32s CSV List of available moving alignment targets EncoderCalibrateEnabled Bool Enables encoder resolution calibration Disk Section See Disk below Bar Section See Bar below Plate Section See Plate on the next page 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 Gocator 3100 Series Gocator Device Files Job Files 177 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 XSpacingCount 32u Number of resampled points along X read only YSpacingCount 32u Number of resampled points along Y read only ActiveArea Region3D Active area Contains min and max attributes for each element
233. onfigure 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 on page 53 for more information on setting up and aligning Gocator See Running a Standalone Sensor System on page 23 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 on page 38 and Downloading Uploading and Exporting Replay Data on page 40 for more inform ation on 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
234. or anchoring Anchor Y options String CSV The Y measurements IDs available for anchoring Anchor Z String CSV The Z measurements IDs used for anchoring SurfaceHole Child Elements Gocator 3100 Series Gocator Device Files Job Files 193 Element Type Description 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 two RefRegion elements of type SurfaceRegion2D 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 Hole tool measurement X measurement Measurements Y Hole tool measurement Y measurement Measurements Z Hole tool measurement Z measurement Measurements Radius Hole tool measurement Radius measure
235. orted data into image processing software to provide simulation data for developing applications using the GenTL driver 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 on page 319 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 that th
236. os float x Calculates cos x x in radians float tan float x Calculates tan x x in radians Math Functions Gocator 3100 Series Gocator Web Interface Measurement 142 Function Description float asin float x Calculates asin x x in radians float acos float x Calculates acos x x in radians float atan float x Calculates atan x x in radians float pow float x float y Calculates the exponential value x is the base y is the exponent float fabs float x Calculates the absolute value of x Example 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 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 StudBase 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 Cal
237. osition mm Width 64f Setting for region width mm Length 64f Setting for region length mm SurfaceRegion2d Child Elements Script A Script element defines settings for a script measurement Element Type Description Name String Tool name Code String Script code Measurements Output Collection Dynamic list of Output elements Script Child Elements Element Type Description id 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled 32u Measurement enabled Output Gocator 3100 Series Gocator Device Files Job Files 188 SurfaceBoundingBox A SurfaceBoundingBox element defines settings for a surface bounding box tool and one or more of its measurements Element Type Description Name String Tool name Source 32s Surface 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 RegionEnabled Boolean Setting to enable disable region R
238. page 212 encoder 64s 10 Current encoder position in ticks Reply Reset Encoder The Reset Encoder command is used to reset the current encoder value Gocator 3100 Series Protocols Gocator Protocol 226 The encoder value can be reset only when the encoder is connected directly to a sensor When the encoder is connected to the master the value cannot be reset via this command 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 For a list of status codes see Commands on page 212 Reply Start The Start command starts the sensor system system enters the Running state For more information on states see Control Commands on page 215 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 For a list of status codes see Commands on page 212 Reply Scheduled Start The scheduled start command starts the sensor system system enters the Running
239. pe identifier For this message set to 2 attributesSize 16u 6 Size of attributes in bytes min 20 current 20 height H 32u 8 Image height in pixels width W 32u 12 Image width in pixels pixelSize 8u 16 Pixel size in bytes pixelFormat 8u 17 Pixel format 1 8 bit greyscale 2 8 bit color filter 3 8 bits per channel color B G R X colorFilter 8u 18 Color filter array alignment 0 None 1 Bayer BG GR 2 Bayer GB RG Gocator 3100 Series Protocols Gocator Protocol 246 Field Type Offset Description 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 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 For this message set to 8 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 of
240. ply identifier 0x4510 status 32s 6 Reply status For a list of status codes see Commands on page 212 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 on page 148 for more information on setting up 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 when or position m at which the digital output event should happen The target value is ignored if ScheduleEnabled is set to false Scheduled is unchecked in Digital in the Output panel The output will be triggered immediately value 8u 16 Specifies the target state Command Gocator 3100 Series Protocols Gocator Protocol 230 Field Type Offset Description 0 Set to low continuous 1 Set to high continuous Ignored if output type is pulsed Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4518 status 32s 6 Reply status For a list of status codes see Commands on page 212 Reply Schedule Analog Output The Schedule Analog Output command schedules an analog output eve
241. produce a digital output pulse on Output 1 See Digital Output on page 148 3 Digital Output 2 Used to select the data sources that will be combined to produce a digital output pulse on Output 2 See Digital Output on page 148 4 Analog Panel Used to convert a measurement value or decision into an analog output signal See Analog Output on page 151 5 Serial Panel Used to select the measurements that will be transmitted via RS 485 serial output See Serial Output on page 153 Gocator 3100 Series Gocator Web Interface Output 145 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 on page 211 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 measurement items to send Measurements shown here correspond to measurements that have been added using the Measure page see on page 97 All of the tas
242. ptions 32s CSV List of available formats DataScaleMin 64f Measurement value corresponding to minimum word value DataScaleMax 64f Measurement value corresponding to maximum word value Ascii 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 Transform The transformation component 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 You can access the Transform component of the active job as an XML file either using path notation via _live job transform xml or directly via _live tfm You can access the Transform component in user created job files in non volatile storage for example productionRun01 job transform xml You can only access transformations in user created job files using path notation See the following sections for the elements contained in this component Transformation Example lt xml version 1 0 encoding UTF 8 gt lt Transform version 100 gt lt EncoderResolution gt 1 lt EncoderResolution gt lt Speed g
243. r Gocator 3100 Series Specifications Gocator 3100 I O Connector 305 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 used This section defines the electrical specifications for Gocator I O connector pins organized by function Function Pin Lead Color on Cordset Trigger_in D Grey View Looking into the connector on the sensor Trigger_in H Pink Out_1 Digital Output 0 N Red Out_1 Digital Output 0 O Blue Out_2 Digital Output 1 S Tan Out_2 Digital Output 1 T Orange Encoder_A M White Brown amp Black Encoder_A U Brown Black Encoder_B I Black Encoder_B K Violet Encoder_Z A White Green amp Black Encoder_Z L Green Black Serial_out B White Serial_out C Brown Reserved E Blue Black Reserved G White Blue amp Black Analog_out P Green Analog_out F Yellow amp Maroon White Reserved R Maroon Gocator I O Connector Pins Grounding Shield The grounding shield should be mounted to the earth ground Digital Outputs Each Gocator sensor has two optically isolated outputs Both outputs are open collector and open emitter this allows a variety of power sources to be connected and a variet
244. reated using the SDK typically use the following programming sequence Gocator 3100 Series Software Development Kit 281 See Setup and Locations on page 276 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 282 Discover Sensors Sensors are discovered when GoSystem is created using GoSystem_Construct You can use GoSystem_ SensorCount and GoSystem_SensorAt to iterate all the sensors that are on the network GoSystem_SensorCount returns the number of sensors physically in the network Alternatively use GoSystem_FindSensorById or GoSystem_FindSensorByIpAddress to get the sensor by ID or by IP address
245. rement can be used to program a custom measurement using a simplified C based syntax A script measurement can produce multiple measurement values and decisions for the output See Adding and Removing Tools on page 98 for instructions on how to add measurement tools See Script Measurement on the next page for more information on scripts See Script Measurement on the 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 function and output the result using the output function Stamp information such as time and encoder stamps are available in the script whereas the actual 3D point cloud data is not The script engine is not powerful enough to pro
246. 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 32 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 on 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 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
247. rofile sources see above Surfaces 32s CSV Selected surface sources 0 Top 1 Bottom 2 Top left 3 Top right Surfaces options 32s CSV List of available surface sources see above RangeIntensities 32s CSV Selected range intensity sources 0 Top 1 Bottom 2 Top left 3 Top right RangeIntensities options 32s CSV List of available range intensity sources see above ProfileIntensities 32s CSV Selected profile intensity sources 0 Top 1 Bottom 2 Top left 3 Top right ProfileIntensities options 32s CSV List of available profile intensity sources see above SurfaceIntensities 32s CSV Selected surface intensity sources 0 Top 1 Bottom 2 Top left 3 Top right 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 Ascii Element Type Description Operation 32s Operation mode 0 Asynchronous 1 Polled ControlPort 32u Control service port number Ascii Child Elements Gocator 3100 Series Gocator Device Files Job Files 204 Element Type Description HealthPort 32u Health service port number DataPort 32u Data service port number Delimiter String Field delimiter Terminator String Line termi
248. rs 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 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 Cordsets Gocator 3100 Series 317 Gocator 3100 Series Parts and Accessories 318 Description Part Number 15m Power and Ethernet to Master cordset 2x RJ45 ends 30858 15m 20m Power and Ethernet to Master cordset 2x RJ45 ends 30858 20m 25m Power and Ethernet to Master cordset 2x RJ45 ends 30858 25m Contact LMI for information on creating cordsets with custom length or connector orientation The maximum cordset length is 60 m Return Policy Return Policy Before returning the product for repair warranty or
249. rted 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 158 Gocator Emulator The Gocator emulator is a stand alone application that lets you run a virtual sensor In a virtual sensor you can test jobs evaluate data and even learn more about new features rather than take a physical device off the production line to do this You can also use a virtual sensor to familiarize yourself with the overall interface if you are new to Gocator 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 Limitations In most ways the emulator behaves like a real sensor especially when visualizing data setting up models and part matching and adding and configuring measurement tools The following are some of the limitations of the emulator l Changes to job files in the emulator are not persistent they are lost when you close or restart the emulator However you can keep modified jobs by first saving them and then downloading them from the Jobs list on the Manage page to a client computer The job files can then be loaded into the emulator at a later time or even onto a physical sensor for final testing l Output is not supported l Performing alignment in the emulator has no effect and will never complete
250. s 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 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 decreases the maximum speed Different target surfaces may require different exposures for optimal results Gocator sensors provide two exposure modes for the flexibility needed to scan different types of target surfaces Exposure Mode Description Single Uses a single exposure for all objects Used when the surface is uniform and is the same for all targets Multiple Uses multiple exposures to create a single scan Used when the target surface has a varying ref
251. s 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 Stamp Information from GenTL driver Gocator 3100 Series Tools and Native Drivers GenTL Driver 291 Stamp Index Column Position Details 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 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 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 driver 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 enc
252. s Protocols Gocator Protocol 236 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 For a list of status codes see Commands on page 212 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 For a list of status codes see Commands on page 212 Reply When the system is running in the Replay mode this command advances replay data playback by one frame This command returns an error if no live playback data set is loaded You can use the Copy File command to load a replay data set to _live rec Playback Position The Playback Position command retrieves the current playback position 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 s
253. s 1 7 0 Measurement value OK 1 Invalid value 2 Invalid anchor 375 378 Measurement 59 32s Measurement value in m 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 Measurement results are reported in pairs of values and decisions Measurement values are 32 bits wide and decisions are 8 bits wide The measurement ID defines the byte position of each pair within the state information The position of the first word can be calculated as 80 5 ID For example a measurement with ID set to 4 can be read from byte 100 high word to 103 low word and the decision at 104 In Surface mode the measurement results are updated after each discrete part has been processed If buffering is enabled in the Ethernet Output panel reading the Extended Sample State Assembly Object automatically advances the buffer See See Ethernet Output on page 145 for information on the Output panel ASCII Protocol This section describes the ASCII protocol The ASCII protocol is available over either serial output or Ethernet output Over serial output communication is asynchronous measurement results are automatically sent on the Data channel when the sensor is in the running state and results become available Over Ethernet communication can be asynchronous or use polling For
254. s Length Opening tool measurement Length measurement Measurements Angle Opening tool measurement 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 Opening Tool Measurement Gocator 3100 Series Gocator Device Files Job Files 196 Element Type Description SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold SurfacePlane A SurfacePlane element defines settings for a surface plane tool and one or more of its measurements Element Type Description Name String Tool name Source 32s Surface 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 Strin
255. se 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 Working with Jobs and Data The following topics describe how to work with jobs and replay data data recorded from a physical sensor in the emulator Creating Saving and Loading Jobs Changes saved to job files in the emulator are not persistent they are lost when you close or restart the emulator To keep jobs permanently you must first save the job in the emulator and then download the job file to a client computer See below for more information on creating saving and switching jobs For information on downloading and uploading jobs between the emulator and a computer see Downloading and Uploading Jobs on page 166 The job drop down list in the toolbar shows the jobs available in the emulator The job that is currently active is listed at the top The job name will be marked with unsaved to indicate any unsaved changes To create a job Gocator 3100 Series Gocator Emulator Working with Jobs and Data 163 1 Choose New in the job drop down list and type a name for the job 2 Click the Save button or press Enter to save the job The job is saved to the emulator using the name you provided To save a job l Click the Save button The job is saved to the emulator To load swi
256. 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 322 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software THE SOFTWARE IS PROVIDED AS IS WITHOUT WARRANTY OF ANY KIND EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANT ABILITY FITNESS 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
257. set in each message Stamp Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier For this message set to 1 count C 32u 6 Count of stamps in this message size 16u 10 Stamp size in bytes min 56 current 56 Gocator 3100 Series Protocols Gocator Protocol 245 Field Type Offset Description 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 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 ty
258. sors 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 on page 311 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 17 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 on page 314 for pinout details Gocator 3100 Series Getting Started Installation 18 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
259. ss 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 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
260. surement 116 See Adding and Removing Tools on 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 on page 102 Region See Regions on page 101 Output See Filters on 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 on page 98 for instructions on how to add measurement tools The hole can be on a surface at an angle to the sensor The tool uses a complex feature locating algorithm to find a hold and then return measurements See Hole Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel The measurement v
261. t 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 Result The Result command retrieves measurement values and decisions Message Format Command Result measurement ID measurement ID Reply If no arguments are specified the custom format data string is used OK lt custom data string gt ERROR lt Error Message gt If arguments are specified OK lt data string in standard format gt ERROR lt Error Message gt 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 Gocator 3100 Series Protocols ASCII Protocol 272 OK 1420266101 151290 0 Value The 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 cus
262. t 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 Gocator 3100 Series Gocator Device Files Job Files 208 lt YAngle gt 3 7078302555 lt XAngle gt lt ZAngle gt 2 7078302556 lt XAngle 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 Device gt lt Devices gt lt Transform gt The Transform element contains the alignment record for the sensor Element Type Description version 32u Transform version 100 EncoderResolution 64f Encoder Resolution mm tick Speed 64f Travel Speed mm s Devices Collection Contains two Device elements Transform Child Elements Device A Device element defines the transformation for a sensor There is one entry element per sensor identified by a unique role attribute 0 for main and 1 for buddy Element Type Description role 32s Role of device described by this section 0 Main 1 Buddy X 64f Translation on the X axis mm Y 64f Translation on the Y axis mm Z 64f Translation on the Z axis mm XAngle 64f Rotation around the X axis degrees YAng
263. t of conditions and the following disclaimer in the documentation and or other materials provided with the distribution Neither the name of the Zik Saleeba nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE Gocator 3100 Series 320 Gocator 3100 Series Software Licenses 321 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 Mar
264. t result is ready A digital output can also act as a strobe signal to allow external devices to synchronize to the timing at which the sensor exposes In this mode the sensor outputs a digital pulse when the sensor exposes Each sensor supports two digital output channels See Digital Outputs on page 305 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 150 6 Specify a pulse width using the slider The pulse width is the duration of the digital output pulse in microseconds 7
265. t 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 processing latency reported in the dashboard and in the health messages The unit of the delay is configured in the trigger panel See
266. tDefaultJob 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 285 Tools and Native Drivers The following sections describe the tools and native drivers you can use with a Gocator Sensor Recovery Tool If a sensor s network address or administrator password is forgotten the sensor can be discovered on the network and or restored to factory defaults by using a special software tool called the Sensor Discovery tool This software tool can be obtained from the downloads area of
267. tation value 32s Actual value used if not configurable 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 64f Delay in s Currently gets rounded up when read by the sensor MultiplexSinglePeriod 64f Period in s Currently gets rounded up when read by the sensor MultiplexSinglePeriod min 64f Minimum period in s Layout Child Elements Element Type Description X 64f X start mm Y 64f Y start mm Z 64f Z start mm Width 64f X extent mm Length 64f Y extent mm Height 64f Z extent mm Region3D Child Elements Alignment The Alignment element contains settings related to alignment and encoder calibration Element Type Description InputTriggerEnabled Bool Enables digital input triggered alignment operation Type 32s Type of alignment operation Alignment Child Elements Gocator 3100 Series Gocator Device Files Job Files 176 Element Type Description 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 stati
268. tatus For a list of status codes see Commands on page 212 Reply Gocator 3100 Series Protocols Gocator Protocol 237 Field Type Offset Description Frame Index 32u 10 Current frame index starts from 0 Frame Count 32u 14 Total number of available frames objects Clear Measurement Stats The Clear Measurement Stats command clears the sensor s measurement statistics 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 For a list of status codes see Commands on page 212 Reply Clear Log The Clear Log command clears the sensor s log Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x101D Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x101D status 32s 6 Reply status For a list of status codes see Commands on page 212 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 identifier 0x452
269. tch jobs l Select an existing file name in the job drop down list The job is activated If there are any unsaved changes in the current job you will be asked whether you want to discard those changes Playback and Measurement Simulation The emulator can replay scan data previously recorded by a physical sensor and also simulate measurement tools on recorded data This feature is most often used for troubleshooting and fine tuning measurements but can also be helpful during setup Playback is controlled by using the toolbar controls Recording is not functional in the emulator Playback controls when replay is on To replay data 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background turns blue To change the mode Replay Protection must be unchecked 2 Use the Replay slider or the Step Forward Step Back or Play buttons to review data The Step Forward and Step Back buttons move and the current replay location backward and forward by a single frame respectively The Play button advances the replay location continuously animating the playback until the end of the Gocator 3100 Series Gocator Emulator Working with Jobs and Data 164 replay data The Stop button replaces the Play button while playing can be used to pause the replay at a particular location The Replay slider or Replay Position box can be used to go to a specific replay frame To simu
270. temporarily displayed in the lower right corner of the web interface Click on the warning symbol to redisplay the warning message Open the log for details on the warning See Log on the previous page for more information 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 54 the data viewer can display video images or 3D surfaces For details see Data Viewer on 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 on page 98 Gocator 3100 Series Gocator Web Interface System Management and Maintenance 43 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 on the next page 2 Networking Contains settings for configuring the network See Networkin
271. ter 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 Encoder_Z 3 White Green amp Black Encoder_Z 4 Green Black Trigger_in 5 Grey Trigger_in 6 Pink Out_1 7 Blue Out_1 8 Red Encoder_B 11 Black Encoder_B 12 Violet Sensor I O Port Pins The rest of the wires in the Gocator I O cordset are not used Gocator 3100 Series Specifications Master 100 310 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 400 800 311 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 m
272. termines 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 on page 102 Region See Regions on page 101 Output See Filters on page 103 Parameters Stud The Stud tool measures the location and radius of a stud See Adding and Removing Tools on 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 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
273. tes 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 151 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 on page 229 is received Scheduled output becomes active at a specific target time or position given by the Scheduled Digital Output command Commands that schedule event in the past will be ignored An encoder value is in the future if the value will be reached by moving in the forward direction the direction th
274. th 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x452C status 32s 6 Reply status For a list of status codes see Commands on page 212 enable 8u 10 0 disabled 1 enabled Reply Set Auto Start Enabled The Set Auto Start Enabled command sets whether the system automatically starts after booting enters Running state for more information on states see Control Commands on page 215 Gocator 3100 Series Protocols Gocator Protocol 228 Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x452B 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 0x452B status 32s 6 Reply status For a list of status codes see Commands on page 212 Reply 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 For a list of status codes see Commands on page 212 opId 32s 10 Operation ID Use this ID to correlate t
275. that will be measured later a Start the sensor scan the target and then stop the sensor 2 On the Scan page in the Scan Mode panel choose Surface mode If this mode is not selected tools will not be available in the Measure panel 3 On the Measure page add a suitable tool to act as an anchor A suitable tool is one that returns an X Y or Z position as a measurement value 4 Adjust the anchor tool s settings and measurement region and choose a feature type if applicable You can adjust the measurement region graphically in the data viewer or manually by expanding the Regions area The position and size of the anchor tool s measurement regions define the zone within which movement will be tracked 5 Add the tool that will be anchored Gocator 3100 Series Gocator Web Interface Measurement 106 Any tool can be anchored 6 Adjust the tool and measurement settings as well as the measurement regions 7 Click on the tool s Anchoring tab 8 Choose an anchor from the X Y or Z drop down box When you choose an anchor a white bulls eye indicator shows the position of the anchor in the data viewer If the sensor is running the anchored tool s measurement regions are shown in white to indicate the regions are locked to the anchor The measurement regions of anchored tools cannot be adjusted The anchored tool s measurement regions are now tracked and will move with the target s posi
276. the sensor to stream data without buffering it first and allows the client to obtain progress information on the stream A progressive reply begins with an initial standard reply message If the status field of the reply indicates success the reply is followed by a series of continue reply messages A continue reply message contains a block of data of variable size as well as status and progress information The series of continue messages is ended by either an error or a continue message containing 0 bytes of data Protocol Version The Protocol Version command returns the 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 Gocator 3100 Series Protocols Gocator Protocol 216 Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4511 status 32s 6 Reply status For a list of status codes see Commands on page 212 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 inclu
277. the value Memory Functions Gocator 3100 Series Gocator Web Interface Measurement 141 Function Description 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 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 current 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 c
278. tifier 0x4523 status 32s 6 Reply status For a list of status codes see Commands on page 212 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 For a list of status codes see Commands on page 212 bufferValid 8u 10 Whether or not the buffer is valid Reply A reply status of 996 means that the current configuration mode sensor type etc does not support simulation A reply status of 992 means that the simulation buffer is empty Note that the buffer can be valid even if the simulation buffer is actually empty due to optimization choices This scenario means that the simulation buffer would be valid if data were recorded Seek Playback The Seek Playback command seeks to any position in the current playback dataset The frame is then sent 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 Gocator 3100 Serie
279. tion 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 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 Gocator 3100 Series Gocator Web Interface Measurement 107 The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools on page 98 for instructions on how
280. 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 37 Saving and Loading Jobs Settings A Gocator can store several hundred jobs Being able to switch between jobs is useful when a Gocator is used with different constraints during separate production runs For example width decision minimum and maximum values might allow greater variation during one production run of a part but might allow less variation during another production run depending on the desired grade of the part Most of the settings that can be changed in the Gocator s web interface such as the ones in the Manage Measure and Output pages are temporary until saved in a job file Each sensor can have multiple job files If there is a job file that is designated as the default it will be loaded automatically when the sensor is reset When you change sensor settings using the Gocator web interfacein the emulator some changes are saved automatically while other changes are temporary until you save them manually The following table lists the types of information that can be saved in a sensor Setting Type Behavior Job Most of the settings that can be changed in the Gocator s web interface such as the ones in the Manage Measure and Output pages are temporary until saved in a job file Each sensor can h
281. tom 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 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 Decision The Decision command retrieves measurement decisions Message Format Command Decision measurement ID measurement ID Reply If no arguments are specified the custom format data string is used OK lt custom data string gt ERROR lt Error Message gt If arguments are specified OK lt data string in standard format except that the values are not sent gt ERROR lt Error Message gt Formats Gocator 3100 Series Protocols ASCII Protocol 273 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 Health Commands Optional parameters are shown in italic The p
282. tor 3100 Series Gocator Web Interface System Management and Maintenance 49 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 page 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 on page 285 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 50 Sensor Backups and Factory Reset Yo
283. ts file exists only when the model contains the source data for the edge points Edge Points Field Type Offset Description id 16s 0 Sender ID 1 Part matching source 8s 2 Source 0 Model 1 Target imageType 8s 3 Image type 0 Height map 1 Intensity map imageSource 8s 4 Image source 0 Top 1 Bottom width 32u 5 Width of model space in units of xScale Edge Points Data Gocator 3100 Series Gocator Device Files Job Files 210 Field Type Offset Description length 32u 9 Length of model space un units of yScale xScale 32u 13 X scale nm yScale 32u 17 Y scale nm xOffset 32s 21 X offset m yOffset 32s 25 Y offset m zAngle 32s 29 Z rotation microdegrees pointCount 32u 33 Number of edge points points pointCount 32u 32u 37 Edge points collection Each point is a tuple of x and y values in units of xScale and yScale respectively Configuration Delete this text and replace it with your own content Element Type Description version 32u Major version 1 versionMinor 32u Minor version 0 Edges Collection Collection of Edge items described below EdgeSensitivity 64f Sensitivity recorded during model edges generation read only TransformedDataRegion Region3d Data region of the model ZAngle 64f Additional rotation applied to the model degrees TargetEdgeSensitivity 64f
284. ty is used ScanMode 32s The default scan mode ScanMode options String CSV List of available scan modes 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 Filters Section See Filters on the next page Used by Gocator 2300 2880 and 3100 series sensors Trigger Section See Trigger on page 174 Layout Section See Layout on page 175 Alignment Section See Alignment on page 175 Devices Collection A collection of two Device sections with roles main and buddy See Devices Device on page 177 Setup Child Elements Gocator 3100 Series Gocator Device Files Job Files 172 Element Type Description SurfaceGeneration Section See SurfaceGeneration on page 180 Used by Gocator 2300 and 2880 series sensors ProfileGeneration Section See ProfileGeneration on page 181 Used by Gocator 1300 series sensors PartDetection Section See PartDetection on page 182 PartMatching Section See PartMat
285. u 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 contains all of the files from the sensor Gocator 3100 Series Gocator Web Interface System Management and Maintenance 51 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 w
286. u 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 on the next page and to choose anchors see on page 104 2 Data Viewer Displays surface data sets up tools and displays result calipers related to the selected measurement Parts are displayed using a height map which is a top down view of the XY plane where color represents height See Data Viewer on the next page 3 Feature Area Configurable region of interest from which feature points are detected These feature points are used to calcu
287. urrently 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 An element of type Region3D defines a rectangular area of interest in 3D Element Type Description X 64f Volume X position mm Y 64f Volume Y position mm Z 64f Volume Z position mm Width 64f Volume width mm Length 64f Volume length mm Height 64f Volume height mm Region3D Child Elements SurfaceFeature An element of type SurfaceFeature 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 SurfaceFeature Child Elements Gocator 3100 Series Gocator Device Files Job Files 187 Element Type Description 0 Average formerly Centroid 2d 1 Centroid formerly Centroid 3d 2 X Min 3 X Max 4 Y Min 5 Y Max 6 Z Min 7 Z Max 8 Median RegionEnabled Boolean Setting to enable disable region 0 Disable 1 Enable Region Region3D Element for feature detection volume SurfaceRegion2d An element of type SurfaceRegion2d defines a rectangular area of interest on the X Y plane Element Type Description X 64f Setting for surface region X position mm Y 64f Setting for surface region Y p
288. 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 Gocator 3100 Series Tools and Native Drivers GenTL Driver 289 Channel Details pixel channel See Data Results on page 244 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 Stamp Index Blue Pixel Position Details 0 0 3 Version 1 4 7 Frame Count 2 8 11 Timestamp us 3 12 15 Encoder value ticks 4 16 19 Encoder index ticks This is the encoder value when the last index is triggered 5 20 23 Digital input states 6 24 27 X offset nm 7 28 31 X resolution nm 8 32 35 Y offset nm
289. utline 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 acceptable 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 c
290. 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 on page 54 Message Format Command Trigger start target The start target optional is the time or encoder position at which the sensor will be started The time and encoder target value should be set by adding a delay to the time or encoder position returned by the Stamp command The delay should be set such that it covers the command response time of the Start command Reply OK or ERROR lt Error Message gt Formats Examples Command Trigger Reply OK Command Trigger 1000000 Reply OK LoadJob 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 no job is loaded job is appended if the filename does not have an extension Reply OK or ERROR lt Error Message gt Formats Gocator 3100 Series Protocols ASCII
291. whether IP address should be restored to default 0 Do not reset IP 1 Reset IP Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4301 status 32s 6 Reply status For a list of status codes see Commands on page 212 Reply 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 For a list of status codes see Commands on page 212 enable 8u 10 0 disabled 1 enabled Reply Set Recording Enabled The Set Recording Enabled command enables recording for replay later Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4516 enable 8u 6 0 disabled 1 enabled 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 For a list of status codes see Commands on page 212 Reply Gocator 3100 Series Protocols Gocator Protocol 234 Clear Replay Data The Clear R
292. 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 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 and 3 are the identifiers of measurements that are enabled and available for output The value of the Measurements element that is 2 means that only the measurement with id 2 Surface Hole X will be sent to output 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 Gocator 3100 Series Gocator Device Files Job Files 202 In the Ethernet element the source identifiers used for video range profile an
293. work 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 26 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 the 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 43 Co
294. x1013 status 32s 6 Reply status For a list of status codes see Commands on page 212 length 32u 10 Data length data length byte 14 Data content Reply Restore The Restore command uploads a backup 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 Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1014 status 32s 6 Reply status For a list of status codes see Commands on page 212 Reply Restore Factory The Restore Factory command restores the connected sensor to factory default settings The command erases the non volatile memory of the main device This command has no effect on connected Buddy sensors Note that the sensor must be reset or power cycled before the factory restore operation can be completed Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4301 Command Gocator 3100 Series Protocols Gocator Protocol 233 Field Type Offset Description resetAddress 8u 6 Specifies
295. y 10 Environment and Lighting 10 Sensor Maintenance 11 Getting Started 12 System Overview 12 Standalone System 12 Multi Sensor System 13 Hardware Overview 14 Gocator 3110 Sensor 14 Gocator 3100 Cordsets 14 Master 100 15 Master 400 800 16 Master 1200 2400 16 Installation 18 Grounding Gocator 18 Recommended Grounding Practices Cordsets 18 Grounding Master 400 800 1200 2400 19 Mounting 19 Network Setup 21 Client Setup 21 Gocator Setup 23 Running a Standalone Sensor System 23 Running a Multi Sensor System 24 Next Steps 26 Theory of Operation 28 3D Acquisition 28 Principle of 3D Acquisition 28 Stereo Correlation vs Independent Triangulation 29 3D Data Output 31 Coordinate Systems 31 Sensor Coordinates 31 System Coordinates 32 Resampling 33 Acquisition Speed 33 Gocator Web Interface 35 User Interface Overview 35 Toolbar 36 Saving and Loading Jobs Settings 37 Recording Playback and Measurement Simulation 38 Downloading Uploading and Exporting Replay Data 40 Log 41 Metrics Area 42 Data Viewer 42 System Management and Maintenance 43 Manage Page Overview 43 Sensor System 44 Sensor Autostart 44 Over Temperature Protection 45 Networking 45 Motion and Alignment 46 Alignment Reference 46 Jobs 46 Security 48 Maintenance 49 Sensor Backups and Factory Reset 50
296. y for backwards compatibility _live tfm Read Write If Alignment Reference of the active job is set to Dynamic A copy of the Transform component in _live job Used primarily for backwards compatibility If Alignment Reference of the active job is set to Fixed The transformations that are used for all jobs whose Alignment Reference Live Files Gocator 3100 Series Gocator Device Files Job Files 169 Name Read Write Description setting is set to Fixed _live log Read A sensor log containing various messages For more information on the log file see Log File below _live rec Read Write The active replay simulation data ExtendedId xml Read Sensor identification Log File The log file contains log messages generated by the sensor The root element is Log To access the log file use the Read File command passing _live log to the command The log file is read only Element Type Description List of Info Warning Error List An ordered list of log entries Log Child Elements Element Type Description time 64u Log time in uptime s value String Log content may contain printf style format specifiers e g u List of IntArg FloatArg Arg List An ordered list of arguments IntArg Integer argument FloatArg Floating point argument Arg Generic argument Log Info Log Warning Log Error Elements The arguments are all sent as strings
297. y of signal configurations Out_1 Collector Pin N and Emitter Pin O and Out_2 Collector Pin S and Emitter Pin T are independent and therefore V and GND are not required to be the same Gocator 3100 Series Specifications Gocator 3100 I O Connector 306 Function Pins Max Collector Current Max Collector Emitter Voltage Min Pulse Width Out_1 N O 40 mA 70 V 20 us Out_2 S T 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 D and GND to Pin H Active High If the supplied voltage is greater than 24 V connect an external resistor in series to Pin D The resistor value should be R Vin 1 2V 10mA 680 Gocator 3100 Series Specifications Gocator 3100 I O Connector 307 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 sensitiv

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