Gocator Displacement Sensor User Manual

Gocator Point Profile Sensors
USER MANUAL
Gocator 1300 Series
Firmware version: 4.7.x.xx
Document revision: C
Copyright
Copyright © 2017 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
LMI Technologies, Inc.
9200 Glenlyon Parkway
Burnaby BC V5J 5J8
Canada
Telephone: +1 604-636-1011
Fax: +1 604-516-8368
www.lmi3D.com
Gocator Point Profile Sensors: User Manual
2
Table of Contents
Encoder Quadrature Frequency
Setting the Debounce Period
Copyright
2
Table of Contents
3
Introduction
10
Gocator Overview
11
Safety and Maintenance
12
Laser Safety
12
Laser Classes
13
Precautions and Responsibilities
13
Class 3B Responsibilities
14
Nominal Ocular Hazard Distance (NOHD)
15
Systems Sold or Used in the USA
15
Electrical Safety
15
Handling, Cleaning, and Maintenance
16
Environment and Lighting
16
Getting Started
Hardware Overview
18
19
Side Mount Package
19
Top Mount Package
19
Gocator Cordsets
20
Master 100
21
Master 400 / 800 / 1200 / 2400
21
Master 810 / 2410
23
Calibration Targets
24
System Overview
25
Standalone System
25
Dual-Sensor System
26
Multi-Sensor System
26
Installation
28
36
37
Network Setup
38
Client Setup
38
Gocator Setup
40
Running a Standalone Sensor System
40
Running a Dual-Sensor System
41
Next Steps
How Gocator Works
3D Acquisition
43
45
45
Clearance Distance and Measurement Range
46
Resolution and Accuracy
46
Z Resolution
46
Z Linearity
47
Range Output
Coordinate Systems
48
48
Sensor Coordinates
48
System Coordinates
48
Data Generation and Processing
50
Profile Generation
50
Part Detection
51
Measurement and Anchoring
51
Output and Digital Tracking
51
Gocator Web Interface
Unblocking Flash
53
53
Google Chrome
53
Internet Explorer
54
Firefox
55
Microsoft Edge
56
User Interface Overview
Toolbar
58
59
Mounting: Side Mount Package
28
Mounting - Top Mount Package
29
Orientations
30
Grounding
32
Gocator
32
Recommended Practices for Cordsets
33
Master Network Controllers
33
Metrics Area
66
Grounding When Using a DIN Rail (Master
810/2410)
34
Data Viewer
67
Status Bar
67
Creating, Saving and Loading Jobs (Settings) 60
Recording, Playback, and Measurement
Simulation
Recording Filtering
Downloading, Uploading, and Exporting
Replay Data
61
63
64
Installing DIN Rail Clips: Master 810 or 2410
34
Log
67
Configuring Master 810
35
Frame Information
68
Setting the Divider
36
Interface Language
68
Gocator Point Profile Sensors: User Manual
3
Quick Edit Mode
69
Alignment States
103
70
Alignment Types
103
Manage Page Overview
70
Sensor System
71
Alignment: with and without Encoder
Calibration
104
71
Aligning Sensors
104
Clearing Alignment
107
Management and Maintenance
Dual- and Multi-sensor Systems
Buddy Assignment
71
Filters
107
Over Temperature Protection
72
Sensor Autostart
73
Median
108
Layout
73
Smoothing
109
Networking
76
Decimation
109
77
Slope
110
Motion and Alignment
Alignment Reference
77
Profile Generation
111
Encoder Resolution
78
Part Detection
115
78
Data Viewer
117
Encoder Value and Frequency
78
Data Viewer Controls
117
Jobs
79
Video Mode
118
Security
80
Maintenance
81
Range Mode
119
Sensor Backups and Factory Reset
82
Profile Mode
120
Firmware Upgrade
83
Region Definition
121
84
Intensity Output
122
Travel Speed
Support
Support Files
85
Manual Access
86
Software Development Kit
86
Scan Setup and Alignment
87
Scan Page Overview
87
Scan Modes
88
Triggers
88
Trigger Examples
92
Trigger Settings
93
Maximum Input Trigger Rate
95
Maximum Encoder Rate
Sensor
Active Area
Transformations
Exposure
Single Exposure
Dynamic Exposure
Advanced
95
95
95
97
98
99
100
101
Material
102
Camera Gain and Dynamic Exposure
102
Alignment
103
Spots and Dropouts
Measurement
Measure Page Overview
Data Viewer
Tools Panel
Adding and Configuring a Measurement
Tool
123
123
123
124
124
Source
125
Regions
125
Feature Points
128
Fit Lines
130
Geometric Features
131
Decisions
131
Filters
133
Measurement Anchoring
134
Enabling and Disabling Measurements
136
Editing a Tool or Measurement Name
137
Changing a Measurement ID
138
Duplicating a Tool
138
Removing a Tool
139
Reordering Tools
139
Range Measurement
140
Position
Gocator Point Profile Sensors: User Manual
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140
4
Measurements and Settings
Thickness
Measurements and Settings
Script
Profile Measurement
Area
Measurements, Features, and Settings
Bounding Box
Measurements, Features, and Settings
Circle
Measurements, Features, and Settings
140
Limitations
204
141
Downloading a Support File
205
141
Running the Emulator
206
142
Adding a Scenario to the Emulator
207
143
Running a Scenario
207
143
Removing a Scenario from the Emulator
208
145
Using Replay Protection
209
147
Stopping and Restarting the Emulator
209
Running the Emulator in Default Browser
209
148
149
Working with Jobs and Data
210
150
Creating, Saving, and Loading Jobs
210
Dimension
151
Playback and Measurement Simulation
211
Groove
154
Intersect
158
Downloading, Uploading, and Exporting
Replay Data
212
158
Downloading and Uploading Jobs
214
Measurements, Features, and Settings
Line
Measurements, Features, and Settings
Panel
Position
Measurements, Features, and Settings
160
161
164
167
168
Scan, Model, and Measurement Settings
Calculating Potential Maximum Frame Rate
Protocol Output
Remote Operation
Gocator Accelerator
216
216
217
217
219
Round Corner
169
System Requirements
220
Strip
173
Benefits
220
177
Installation
220
178
Gocator Accelerator Utility
220
Dimension
179
Dashboard and Health Indicators
223
Intersect
180
SDK Application Integration
223
Script
Feature Measurement
Scripts
Built-in Functions
Output
Output Page Overview
182
183
188
188
Gocator Device Files
Live Files
225
225
Log File
225
Job File Structure
226
Ethernet Output
189
Job File Components
Digital Output
193
Accessing Files and Components
227
Analog Output
196
Configuration
227
Serial Output
197
Dashboard
200
Setup
Filters
226
228
229
Dashboard Page Overview
200
XSmoothing
229
State and Health Information
200
YSmoothing
229
Statistics
201
XGapFilling
230
Measurements
202
YGapFilling
230
Performance
202
XMedian
230
204
YMedian
230
204
XDecimation
231
Gocator Emulator
System Requirements
Gocator Point Profile Sensors: User Manual
5
YDecimation
231
XSlope
231
YSlope
231
ProfileRegion2d
Geometric Feature Types
Parameter Types
253
253
253
Trigger
232
RangePosition
255
Layout
233
RangeThickness
256
Alignment
234
ProfileArea
257
Disk
235
ProfileBoundingBox
259
Bar
235
ProfileCircle
260
Plate
236
ProfileDimension
262
236
ProfileGroove
263
Tracking
239
ProfileIntersect
265
Material
239
ProfileLine
267
IndependentExposures
Devices / Device
241
ProfilePanel
269
SurfaceGeneration
242
ProfilePosition
271
FixedLength
242
ProfileRoundCorner
273
VariableLength
242
ProfileStrip
274
Rotational
243
Script
277
SurfaceSections
243
Tool
277
ProfileGeneration
243
Tool
278
FixedLength
244
Custom
280
VariableLength
244
Rotational
244
PartDetection
244
Ascii
283
246
EIP
283
Modbus
284
EdgeFiltering
PartMatching
Output
Ethernet
246
280
281
Edge
246
Digital0 and Digital1
284
BoundingBox
247
Analog
285
Ellipse
247
Serial
286
Replay
RecordingFiltering
248
Selcom
286
248
Ascii
287
Conditions/AnyMeasurement
248
Conditions/AnyData
249
Conditions/Measurement
249
Transform
Device
Protocols
287
288
289
Streams/Stream (Read-only)
249
Gocator Protocol
289
ToolOptions
250
Data Types
290
MeasurementOptions
251
Commands
290
FeatureOptions
251
StreamOptions
252
Get Address
291
252
Set Address
292
252
Get Info
293
Tools
Profile Types
ProfileFeature
252
ProfileLine
253
Gocator Point Profile Sensors: User Manual
Discovery Commands
Control Commands
Protocol Version
291
294
295
6
Get Address
295
Backup
317
Set Address
296
Restore
318
Get System Info V2
296
Restore Factory
318
Get System Info
299
Get Recording Enabled
319
Get States
300
Set Recording Enabled
319
Log In/Out
301
Clear Replay Data
320
Change Password
301
Get Playback Source
320
Assign Buddies
302
Set Playback Source
320
Remove Buddies
303
Simulate
321
Set Buddy
303
Seek Playback
321
List Files
303
Step Playback
322
Copy File
304
Playback Position
322
Read File
304
Clear Measurement Stats
323
Write File
305
Read Live Log
323
Delete File
306
Clear Log
323
User Storage Used
306
Simulate Unaligned
324
User Storage Free
306
Acquire
324
Get Default Job
307
Acquire Unaligned
324
Set Default Job
307
Create Model
325
Get Loaded Job
307
Detect Edges
325
Get Alignment Reference
308
Add Tool
326
Set Alignment Reference
308
Add Measurement
326
Clear Alignment
309
Read File (Progressive)
327
Get Timestamp
309
Export CSV (Progressive)
327
Get Encoder
309
Export Bitmap (Progressive)
328
Reset Encoder
310
Get Runtime Variable Count
329
Start
310
Set Runtime Variables
329
Scheduled Start
311
Get Runtime Variables
330
Stop
311
Get Auto Start Enabled
311
Start Upgrade
331
Set Auto Start Enabled
312
Start Upgrade Extended
331
Get Voltage Settings
312
Get Upgrade Status
331
Set Voltage Settings
313
Get Upgrade Log
332
Get Quick Edit Enabled
313
Set Quick Edit Enabled
313
Data Results
332
Start Alignment
314
Stamp
333
Start Exposure Auto-set
314
Video
334
Software Trigger
315
Range
334
Schedule Digital Output
315
Range Intensity
335
Schedule Analog Output
316
Profile
335
Ping
316
Profile Intensity
336
Reset
317
Resampled Profile Intensity
337
Gocator Point Profile Sensors: User Manual
Upgrade Commands
Results
330
332
7
Measurement
337
Clear Alignment
365
Operation Result
338
Moving Alignment
366
Exposure Calibration Result
338
Stationary Alignment
366
Event
339
Set Runtime Variables
366
Feature Point
339
Get Runtime Variables
367
Feature Line
339
Health Results
340
Result
367
345
Value
368
Decision
369
Modbus Protocol
Concepts
345
Messages
345
Registers
346
Control Registers
347
Output Registers
348
Data Channel
Health Channel
Health
367
369
369
Standard Result Format
370
Custom Result Format
371
State
348
Stamp
349
Serial Communication
372
Measurement Registers
350
Connection Settings
372
Message Format
372
EtherNet/IP Protocol
352
Concepts
352
Basic Object
353
Selcom Protocol
Development Kits
GoSDK
372
374
374
Identity Object (Class 0x01)
353
Setup and Locations
375
TCP/IP Object (Class 0xF5)
353
Class Reference
375
Ethernet Link Object (Class 0xF6)
353
Examples
375
354
Sample Project Environment Variable
375
354
Header Files
375
Runtime Variable Configuration Assembly 355
Assembly Object (Class 0x04)
Command Assembly
Class Hierarchy
375
Sensor State Assembly
356
GoSystem
376
Sample State Assembly
357
GoSensor
376
Implicit Messaging Command Assembly
358
GoSetup
376
Implicit Messaging Output Assembly
359
GoLayout
376
361
GoTools
377
361
GoTransform
377
Ethernet Communication
361
GoOutput
377
Serial Communication
362
ASCII Protocol
Connection Settings
Polling Operation Commands (Ethernet Only) 362
Data Types
377
Value Types
377
Command and Reply Format
363
Output Types
377
Special Characters
363
GoDataSet Type
378
Command Channel
363
Measurement Values and Decisions
379
Start
363
Batching
379
Stop
364
Trigger
364
Initialize GoSdk API Object
381
LoadJob
365
Discover Sensors
381
Stamp
365
Connect Sensors
381
Gocator Point Profile Sensors: User Manual
Operation Workflow
380
8
Configure Sensors
381
Gocator 1340 (Side Mount Package)
407
Enable Data Channels
382
Gocator 1350 (Side Mount Package)
410
Perform Operations
382
Gocator 1350 (Top Mount Package)
413
383
Gocator 1365 (Side Mount Package)
416
Limiting Flash Memory Write Operations
GDK
385
Gocator 1370 (Side Mount Package)
419
Benefits
385
Gocator 1380 (Side Mount Package)
422
Supported Sensors
385
Gocator 1390 (Side Mount Package)
425
Typical Workflow
386
Installation and Class Reference
386
Required Tools
386
Grounding Shield
428
Getting Started with the Example Code
387
Power
429
Building the Sample Code
387
Laser Safety Input
429
Tool Registration
387
Gocator I/O Connector
430
Tool Definitions
388
Grounding Shield
430
Entry Functions
388
Digital Outputs
430
Parameter Configurations
389
Sensor Connectors
Gocator Power/LAN Connector
Inverting Outputs
428
428
431
Graphics Visualization
390
Digital Input
431
Debugging Your Measurement Tools
392
Encoder Input
432
393
Serial Output
433
393
Selcom Serial Output
433
Analog Output
433
Debugging Entry Functions
Tips
Backward Compatibility with Older Versions
of Tools
393
Define new parameters as optional
393
Configuration Versioning
393
Master Network Controllers
Master 100
Master 100 Dimensions
435
435
436
Version
395
Common Programming Operations
395
Master 400/800 Electrical Specifications
438
Input Data Objects
395
Master 400/800 Dimensions
440
Setup and Region Info during Tool
Initialization
396
Master 400/800
Master 810/2410
Electrical Specifications
Computing Region Based on the Offset
from an Anchor Source
396
Part Matching
397
Accessing Sensor Local Storage
397
Print Output
397
Tools
398
Sensor Discovery Tool
398
CSV Converter Tool
399
Troubleshooting
Specifications
Sensors
Gocator 1300 Series
401
403
403
403
Gocator 1320 (Side Mount Package)
405
Gocator 1320 (Top Mount Package)
406
Gocator Point Profile Sensors: User Manual
437
441
443
Encoder
444
Input
446
Master 810 Dimensions
448
Master 2410 Dimensions
449
Master 1200/2400
450
Master 1200/2400 Electrical Specifications
451
Master 1200/2400 Dimensions
452
Accessories
453
Return Policy
455
Software Licenses
456
Support
462
Contact
463
9
Introduction
This documentation describes how to connect, configure, and use a Gocator. It also contains reference
information on the device's protocols and job files, as well as an overview of the development kits you
can use with Gocator. Finally, the documentation describes the Gocator emulator and accelerator
applications.
The documentation applies to the following sensors:
l
Gocator 1300 series
Notational Conventions
This documentation 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.
Gocator Point Profile Sensors: User Manual
10
Gocator Overview
Gocator laser displacement sensors are 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. Gocator sensors can also be configured using the provided development kits.
Gocator Point Profile Sensors: User Manual
11
Safety and Maintenance
The following sections describe the safe use and maintenance of Gocator sensors.
Laser Safety
Gocator sensors contain semiconductor lasers that emit visible or invisible light and are designated as
Class 2M, Class 3R, or Class 3B, depending on the chosen laser option. For more information on the laser
classes used in Gocator sensors, Laser Classes on the next page.
Gocator sensors are referred to as components, indicating that they are sold only to qualified customers
for incorporation into their own equipment. These sensors do not incorporate safety items that the
customer may be required to provide in their own equipment (e.g., remote interlocks, key control; refer
to the references below for detailed information). As such, these sensors do not fully comply with the
standards relating to laser products specified in IEC 60825-1 and FDA CFR Title 21 Part 1040.
Use of controls or adjustments or performance of procedures other than those specified herein
may result in hazardous radiation exposure.
References
1. International standard IEC 60825-1 (2001-08) consolidated edition, Safety of laser products – Part 1:
Equipment classification, requirements and user's guide.
2. Technical report 60825-10, Safety of laser products – Part 10. Application guidelines and explanatory
notes to IEC 60825-1.
3. Laser Notice No. 50, FDA and CDRH (https://www.fda.gov/Radiation-EmittingProducts/ElectronicProductRadiationControlProgram/default.htm)
Gocator Point Profile Sensors: User Manual
12
Laser Classes
Class 2M laser components
Class 2M laser components should not cause
permanent damage to the eye under reasonably
foreseeable conditions of operation, provided that:
l
No optical aids are used (these could focus the
beam).
l
The user’s blink reflex can terminate exposure
(in under 0.25 seconds).
l
Users do not need to look repeatedly at the
beam or reflected light.
l
Exposure is only accidental.
Class 3B laser components
Class 3B components are unsafe for eye exposure.
Usually only eye protection is required. Protective
gloves may also be used. Diffuse reflections are
safe if viewed for less than 10 seconds at a
minimum distance of 13 cm. There is a risk of fire if
the beam encounters flammable materials. The
laser area must be clearly identified. Use a key
switch or other mechanism to prevent
unauthorized use. Use a clearly visible indicator to
show that a laser is in use, such as “Laser in
operation.” Restrict the laser beam to the working
area. Ensure that there are no reflective surfaces in
this area.
Labels reprinted here are examples only. For accurate specifications, refer to the label on your
sensor.
For more information, see Precautions and Responsibilities below.
Precautions and Responsibilities
Precautions specified in IEC 60825-1 and FDA CFR Title 21 Part 1040 are as follows:
Requirement
Class 2M
Class 3R
Class 3B
Remote interlock
Not required
Not required
Required*
Key control
Not required
Not required
Required – cannot remove
key when in use*
Power-on delays
Not required
Not required
Required*
Beam attenuator
Not required
Not required
Required*
Gocator Point Profile Sensors: User Manual
Safety and Maintenance • 13
Requirement
Class 2M
Class 3R
Class 3B
Emission indicator
Not required
Not required
Required*
Warning signs
Not required
Not required
Required*
Beam path
Not required
Terminate beam at useful
length
Terminate beam at useful
length
Specular reflection
Not required
Prevent unintentional
reflections
Prevent unintentional
reflections
Eye protection
Not required
Not required
Required under special
conditions
Laser safety officer
Not required
Not required
Required
Training
Not required
Required for operator and
maintenance personnel
Required for operator and
maintenance personnel
*LMI Class 3B laser components do not incorporate these laser safety items. These items must be added and completed by customers
in their system design. For more information, see Class 3B Responsibilities below.
Class 3B Responsibilities
LMI Technologies has filed reports with the FDA to assist customers in achieving certification of laser
products. These reports can be referenced by an accession number, provided upon request. Detailed
descriptions of the safety items that must be added to the system design are listed below.
Remote Interlock
A remote interlock connection must be present in Class 3B laser systems. This permits remote switches
to be attached in serial with the keylock switch on the controls. The deactivation of any remote switches
must prevent power from being supplied to any lasers.
Key Control
A key operated master control to the lasers is required that prevents any power from being supplied to
the lasers while in the OFF position. The key can be removed in the OFF position but the switch must not
allow the key to be removed from the lock while in the ON position.
Power-On Delays
A delay circuit is required that illuminates warning indicators for a short period of time before supplying
power to the lasers.
Beam Attenuators
A permanently attached method of preventing human access to laser radiation other than switches,
power connectors or key control must be employed.
Emission Indicator
It is required that the controls that operate the sensors incorporate a visible or audible indicator when
power is applied and the lasers are operating. If the distance between the sensor and controls is more
than 2 meters, or mounting of sensors intervenes with observation of these indicators, then a second
power-on indicator should be mounted at some readily-observable position. When mounting the
Gocator Point Profile Sensors: User Manual
Safety and Maintenance • 14
warning indicators, it is important not to mount them in a location that would require human exposure
to the laser emissions. User must ensure that the emission indicator, if supplied by OEM, is visible when
viewed through protective eyewear.
Warning Signs
Laser warning signs must be located in the vicinity of the sensor such that they will be readily observed.
Examples of laser warning signs are as follows:
FDA warning sign example
IEC warning sign example
Nominal Ocular Hazard Distance (NOHD)
In displacement sensors, the collimated light does not dissipate significantly over distance, so they retain
the same laser class over this distance. For this reason, no NOHD is applicable.
Systems Sold or Used in the USA
Systems that incorporate laser components or laser products manufactured by LMI Technologies
require certification by the FDA.
Customers are responsible for achieving and maintaining this certification.
Customers are advised to obtain the information booklet Regulations for the Administration and
Enforcement of the Radiation Control for Health and Safety Act of 1968: HHS Publication FDA 88-8035.
This publication, containing the full details of laser safety requirements, can be obtained directly from
the FDA, or downloaded from their web site at https://www.fda.gov/RadiationEmittingProducts/ElectronicProductRadiationControlProgram/default.htm.
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.
Gocator Point Profile Sensors: User Manual
Safety and Maintenance • 15
Minimize voltage potential between system ground and sensor ground
Care should be taken to minimize the voltage potential between system ground (ground reference for
I/O signals) and sensor ground. This voltage potential can be determined by measuring the voltage
between Analog_out- and system ground. The maximum permissible voltage potential is 12 V but should
be kept below 10 V to avoid damage to the serial and encoder connections.
For a description of the connector pins, see Gocator I/O Connector on page 430.
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.
Handling, Cleaning, and Maintenance
Dirty or damaged sensor windows (emitter or camera) can affect accuracy. Use caution when
handling the sensor or cleaning the sensor's windows.
Keep sensor windows clean
Use dry, clean air to remove dust or other dirt particles. If dirt remains, clean the windows carefully with
a soft, lint-free cloth and non-streaking glass cleaner or isopropyl alcohol. Ensure that no residue is left
on the windows after cleaning.
Turn off lasers when not in use
LMI Technologies uses semiconductor lasers in Gocator sensors. To maximize the lifespan of the sensor,
turn off the laser when not in use.
Avoid excessive modifications to files stored on the sensor
Settings for Gocator sensors are stored in flash memory inside the sensor. Flash memory has an
expected lifetime of 100,000 writes. To maximize lifetime, avoid frequent or unnecessary file save
operations.
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
l
that are humid, dusty, or poorly ventilated;
l
with a high temperature, such as places exposed to direct sunlight;
Gocator Point Profile Sensors: User Manual
Safety and Maintenance • 16
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 (noncondensing). Measurement error due to temperature is limited to 0.015% of full scale per degree C. The
storage temperature is -30–70° C.
The Master network controllers are similarly rated for operation between 0–50° 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.
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Getting Started
The following sections provide system and hardware overviews, in addition to installation and setup
procedures.
Gocator Point Profile Sensors: User Manual
18
Hardware Overview
The following sections describe Gocator and its associated hardware.
Side Mount Package
Item
Description
Camera
Observes laser light reflected from target surfaces.
Laser Emitter
Emits structured light for laser ranging.
I/O Connector
Accepts input and output signals.
Power / LAN Connector
Accepts power and laser safety signals and connects to 1000 Mbit/s Ethernet network.
Power Indicator
Illuminates when power is applied (blue).
Range Indicator
Illuminates when camera detects laser light and is within the target range (green).
Laser Indicator
Illuminates when laser safety input is active (amber).
Serial Number
Unique sensor serial number.
Top Mount Package
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Getting Started • 19
Item
Description
Camera
Observes laser light reflected from target surfaces.
Laser Emitter
Emits structured light for laser ranging.
I/O Connector
Accepts input and output signals.
Power / LAN Connector
Accepts power and laser safety signals and connects to 1000 Mbit/s Ethernet network.
Power Indicator
Illuminates when power is applied (blue).
Range Indicator
Illuminates when camera detects laser light and is within the target range (green).
Laser Indicator
Illuminates when laser safety input is active (amber).
Serial Number
Unique sensor serial number.
Gocator Cordsets
Gocator 1300 sensors use two types of cordsets.
The Power & Ethernet cordset is used for sensor communication via 1000 Mbit/s Ethernet over a
standard RJ45 connector. The Master version of the Power & Ethernet cordset provides electrical
connection between the sensor and a Master network controller (excluding Master 100).
The Gocator I/O cordset provides power and laser safety interlock to sensors. It also provides digital I/O
connections, an encoder interface, RS-485 serial connection, and an analog output.
See Accessories on page 453 for cordset lengths and part numbers. Contact LMI for information on
creating cordsets with customized lengths and connector orientations.
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Master 100
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.
See Master 100 on page 435 for pinout details.
Master 400 / 800 / 1200 / 2400
The Master 400, 800, 1200, and 2400 network controllers let you connect more than two sensors:
l
l
l
l
Master 400: accepts four sensors
Master 800 accepts eight sensors
Master 1200: accepts twelve sensors
Master 2400: accepts twenty-four sensors
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Master 400 and 800
Master 1200 and 2400
Item
Description
Sensor Ports
Master connection for Gocator sensors (no specific order required).
Gocator Point Profile Sensors: User Manual
Getting Started • 22
Item
Description
Ground Connection
Earth ground connection point.
Power and Safety
Power and laser safety connection.
Encoder
Accepts encoder signal.
Input
Accepts digital input.
For pinout details for Master 400 or 800, see Master 400/800 on page 437.
For pinout details for Master 1200 or 2400, see Master 1200/2400 on page 450.
Master 810 / 2410
The Master 810 and 2410 network controllers let you connect multiple sensors to create a multi-sensor
system:
l
l
Master 810 accepts up to eight sensors
Master 2410 accepts up to twenty-four sensors
Both models let you divide the quadrature frequency of a connected encoder to make the frequency
compatible with the Master, and also set the debounce period to accommodate faster encoders. For
more information, see Configuring Master 810 on page 35. (Earlier revisions of these models lack the
DIP switches.)
Master 810
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Getting Started • 23
Master 2410
Item
Description
Sensor Ports
Master connection for Gocator sensors (no specific order required).
Power and Safety
Power and laser safety connection.
Encoder
Accepts encoder signal.
Input
Accepts digital input.
DIP Switches
Configures the Master (for example, allowing the device to work with faster encoders).
For information on configuring Master 810 and 2410 using the DIP switches, see
Configuring Master 810 on page 35.
For pinout details, see Master 810/2410 on page 441.
Calibration Targets
Targets are used for calibrating encoders.
Gocator Point Profile Sensors: User Manual
Getting Started • 24
See Aligning Sensors on page 104 for more information on alignment.
System Overview
Gocator sensors can be installed and used in a variety of scenarios. Sensors can be connected as
standalone devices, dual-sensor systems, or multi-sensor systems.
Standalone System
Standalone systems are typically used when only a single Gocator sensorscanner is required. The
sensorscanner can be connected to a computer's Ethernet port for setup and can also be connected to
devices such as encoders, photocells, or PLCs.
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Getting Started • 25
Dual-Sensor System
In a dual-sensor system, two Gocator sensors work together to perform ranging and output the
combined results. The controlling sensor is referred to as the Main sensor, and the other sensor is
referred to as the Buddy sensor. Gocator's software recognizes three installation orientations: Opposite,
Wide, and Reverse.
A Master network controller (excluding Master 100) must be used to connect two sensors in a dualsensor system. Gocator Master cordsets are used to connect sensors to the Master.
Multi-Sensor System
A Master network controller (excluding Master 100) can be used to connect two or more sensors into a
multi-sensor system. Gocator Master cordsets are used to connect the sensors to a Master. The Master
provides a single point of connection for power, safety, encoder, and digital inputs. A Master
400/800/1200/2400 can be used to ensure that the scan timing is precisely synchronized across
sensors. Sensors and client computers communicate via an Ethernet switch (1 Gigabit/s recommended).
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Installation
The following sections provide grounding, mounting, and orientation information.
Mounting: Side Mount Package
Single point sensors are often mounted with the triangulation base perpendicular to the travel
direction to avoid occlusions.
Sensors should be mounted using M6 x 1.0 pitch screws of suitable length. The recommended thread
engagement into the housing is 8-10 mm. Proper care should be taken in order to ensure that the
internal threads are not damaged from cross-threading or improper insertion of screws.
Sensors should not be installed near objects that might occlude a camera's view of the laser.
Sensors should not be installed near surfaces that might create unanticipated laser reflections.
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The sensor must be heat sunk through the frame it is mounted to. When a sensor is properly heat
sunk, the difference between ambient temperature and the temperature reported in the sensor's
health channel is less than 15° C.
Gocator sensors are high-accuracy devices. The temperature of all of its components must be in
equilibrium. When the sensor is powered up, a warm-up time of at least one hour is required to
reach a consistent spread of temperature within the sensor.
Mounting - Top Mount Package
Single point sensors are often mounted with the triangulation base perpendicular to the travel
direction to avoid occlusions.
Sensors should be mounted using four M5 x 0.8 pitch screws of suitable length. The recommended
thread engagement into the housing is 8-10 mm. Proper care should be taken in order to ensure that
the internal threads are not damaged from cross-threading or improper insertion of screws.
Sensors should not be installed near objects that might occlude a camera's view of the laser.
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Sensors should not be installed near surfaces that might create unanticipated laser reflections.
The sensor must be heat sunk through the frame it is mounted to. When a sensor is properly heat
sunk, the difference between ambient temperature and the temperature reported in the sensor's
health channel is less than 15° C.
Gocator sensors are high-accuracy devices. The temperature of all of its components must be in
equilibrium. When the sensor is powered up, a warm-up time of at least one hour is required to
reach a consistent spread of temperature within the sensor.
Orientations
The examples below illustrate the possible mounting orientations for standalone and dual-sensor
systems.
See Layout on page 73 for more information on orientations.
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Standalone Orientations
Single sensor above conveyor
Single sensor on robot arm
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Dual-Sensor System Orientations:
Main must be on the left side (when
looking into the connector)
of the Buddy (Wide)
Side-by-side for wide-area measurement (Wide)
Above/below for two-sided measurement (Opposite)
Main must be on the top with
Buddy at the bottom (Opposite)
Grounding
Components of a Gocator system should be properly grounded.
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 M6 x 1.0 pitch mounting screws. Always check grounding with a multi-meter to
ensure electrical continuity between the mounting frame and the Gocator's connectors.
The frame or electrical cabinet that the Gocator is mounted to must be connected to earth ground.
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Recommended Practices for Cordsets
If you need to minimize interference with other equipment, you can ground the Power & Ethernet or the
Power & 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.
2.
Install a 360-degree ground clamp.
Master Network Controllers
The rack mount brackets provided with all Masters are 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.
When using the rack mount brackets, you must connect the frame or electrical cabinet to which
the Master is mounted to earth ground.
You must check electrical continuity between the mounting frame and RJ45 connectors on the
front using a multi-meter.
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If you are mounting Master 810 or 2410 using the provided DIN rail mount adapters, you must ground
the Master directly; for more information, see Grounding When Using a DIN Rail (Master 810/2410)
below.
Grounding When Using a DIN Rail (Master 810/2410)
If you are using DIN rail adapters instead of the rack mount brackets, you must ensure that the Master is
properly grounded by connecting a ground cable to one of the holes indicated below. The holes accept
M4x5 screws.
Installing DIN Rail Clips: Master 810 or 2410
You can mount the Master 810 and 2410 using the included DIN rail mounting clips with M4x8 flat
socket cap screws. The following DIN rail clips (DINM12-RC) are included:
To install the DIN rail clips:
1.
Remove the 1U rack mount brackets.
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Getting Started • 34
2.
Locate the DIN rail mounting holes on the back of the Master (see below).
Master 810:
Master 2410:
3.
Attach each of the two DIN rail mount clips to the back of the Master using an M4x8 flat socket cap screw for
each one.
The following illustration shows the installation of clips on a Master 810 for horizontal mounting:
Ensure that there is enough clearance around the Master for cabling.
Configuring Master 810
If you are using Master 810 with an encoder that runs at a quadrature frequency higher than 300 kHz,
you must use the device's divider DIP switches to limit the incoming frequency to 300 kHz.
Master 810 supports up to a maximum incoming encoder quadrature frequency of 6.5 MHz.
The DIP switches are located on the rear of the device.
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Switches 5 to 8 are reserved for future use.
This section describes how to set the DIP switches on Master 810 to do the following:
l
Set the divider so that the quadrature frequency of the connected encoder is compatible with the
Master.
l
Set the debounce period to accommodate faster encoders.
Setting the Divider
To set the divider, you use switches 1 to 3. To determine which divider to use, use the following formula:
Output Quadrature Frequency = Input Quadrature Frequency / Divider
In the formula, use the quadrature frequency of the encoder (for more information, see Encoder
Quadrature Frequency below) and a divider from the following table so that the Output Quadrature
Frequency is no more than 300 kHz.
Divider
Switch 1
Switch 2
Switch 3
1
OFF
OFF
OFF
2
ON
OFF
OFF
4
OFF
ON
OFF
8
ON
ON
OFF
16
OFF
OFF
ON
32
ON
OFF
ON
64
OFF
ON
ON
128
ON
ON
ON
The divider works on debounced encoder signals. For more information, see Setting the
Debounce Period on the next page.
Encoder Quadrature Frequency
Encoder quadrature frequency is defined as illustrated in the following diagram. It is the frequency of
encoder ticks. This may also be referred as the native encoder rate.
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You must use a quadrature frequency when determining which divider to use (see Setting the Divider on
the previous page). Consult the datasheet of the encoder you are using to determine its quadrature
frequency.
Some encoders may be specified in terms of encoder signal frequency (or period). In this case,
convert the signal frequency to quadrature frequency by multiplying the signal frequency by 4.
Setting the Debounce Period
If the quadrature frequency of the encoder you are using is greater than 3 MHz, you must set the
debounce period to “short.” Otherwise, set the debounce period to “long.”
You use switch 4 to set the debounce period.
Debounce period
Switch 4
short debounce
ON
long debounce
OFF
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Network Setup
The following sections provide procedures for client PC and Gocator network setup.
DHCP is not recommended for Gocator sensors. If you choose to use DHCP, the DHCP server
should try to preserve IP addresses. Ideally, you should use static IP address assignment (by
MAC address) to do this.
Client Setup
To connect to a sensor from a client PC, you must ensure the client's network card is properly
configured.
Sensors are shipped with the following default network configuration:
Setting
Default
DHCP
Disabled
IP Address
192.168.1.10
Subnet Mask 255.255.255.0
Gateway
0.0.0.0
All Gocator sensors are configured to 192.168.1.10 as the default IP address. For a dual-sensor
system, the Main and Buddy sensors must be assigned unique addresses before they can be used
on the same network. Before proceeding, connect the Main and Buddy sensors one at a time (to
avoid an address conflict) and use the steps in See Running a Dual-Sensor System on page 41 to
assign each sensor a unique address.
To connect to a sensor for the first time:
1.
Connect cables and apply power.
Sensor cabling is illustrated in System Overview on
page 25.
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Getting Started • 38
2.
Change the client PC's network settings.
Windows 7
a. Open the Control Panel, select Network and
Sharing Center, and then click Change
Adapter Settings.
b. Right-click the network connection you want to
modify, and then click Properties.
c. On the Networking tab, click Internet Protocol
Version 4 (TCP/IPv4), and then click
Properties.
d. Select the Use the following IP address
option.
e. Enter IP Address "192.168.1.5" and Subnet Mask
"255.255.255.0", then click OK.
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 401 if you experience any problems while attempting to establish a
connection to the sensor.
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Gocator Setup
The Gocator is shipped with a default configuration that will produce laser ranges for most targets.
The following sections describe how to set up a standalone sensor system and a dual-sensor system for
operations. After you have completed the setup, you can perform laser ranging to verify basic 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.
The Gocator interface loads.
If a password has been set, you will be prompted to
provide it and then log in.
3.
Go to the Manage page.
4.
Ensure that Replay mode is off (the slider is set to the left).
Replay mode disables measurements.
5.
Ensure that the Laser Safety Switch is enabled or the
Laser Safety input is high.
6.
Go to the Scan page.
7.
Observe the profile in the data viewer
8.
Press the Start button or the Snapshot on the Toolbar to
start the sensor.
Master 400/800/1200/2400
The Start button is used to run sensors continuously.
The Snapshot button is used to trigger the capture of a
single range.
Master 810/2410
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9.
Move a target into the laser plane.
If a target object is within the sensor's measurement
range, the data viewer will display the distance to the
target, and the sensor's range indicator will illuminate.
If you cannot see the laser, or if a range is not displayed in
the Data Viewer, see Troubleshooting on page 401.
10. Press the Stop button.
The laser should turn off.
Running a Dual-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.
To configure a dual-sensor system:
1.
Turn off the sensors and unplug the Ethernet network
connection of the Main sensor.
All sensors are shipped with a default IP address of
192.168.1.10. Ethernet networks require a unique IP
address for each device. Skip step 1 to 3 if the Buddy
sensor's IP address is already set up with an unique
address.
2.
Power up the Buddy sensor.
The power LED (blue) of the Buddy sensor should turn on
immediately.
3.
Enter the sensor's IP address 192.168.1.10 in a web
browser.
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Getting Started • 41
The Gocator interface loads.
4.
Go to the Manage Page.
5.
Modify the IP address to 192.168.1.11 in the Networking
category and click the Save button.
When you click the Save button, you will be prompted to
confirm your selection.
6.
Turn off the sensors, re-connect the Main sensor's
Ethernet connection and power-cycle the sensors.
After changing network configuration, the sensors must
be reset or power-cycled before the change will take
effect.
7.
Enter the sensor's IP address 192.168.1.10 in a web
browser.
The Gocator interface loads.
8.
Select the Manage page.
9.
Go to Manage page, Sensor System panel, and select the
Visible Sensors panel.
The serial number of the Buddy sensor is listed in the
Available Sensors panel.
10. Select the Buddy sensor and click the Assign button.
The Buddy sensor will be assigned to the Main sensor and
its status will be updated in the System panel.
The firmware on Main and Buddy sensors must be the
same for Buddy assignment to be successful. If the
firmware is different, connect the Main and Buddy sensor
one at a time and follow the steps in Firmware Upgrade on
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page 83 to upgrade the sensors.
11. Ensure that the Laser Safety Switch is enabled or the
Laser Safety input is high.
Master 400/800/1200/2400
Master 810/2410
12. Ensure that Replay mode is off (the slider is set to the
left).
13. Go to the the Scan page.
14. Press the Start or the Snapshot button on the Toolbarto
start the sensors.
The Start button is used to run sensors continuously,
while the Snapshot button is used to trigger a single
measurement.
15. Move a target into the laser plane.
If a target object is within the sensor's measurement
range, the data viewer will display the distance to the
target, and the sensor's range indicator will illuminate.
If you cannot see the laser, or if a range is not displayed in
the Data Viewer, see Troubleshooting on page 401.
16. Press the Stop button if you used the Start button to start
the sensors.
The laser should turn off.
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:
Management and Maintenance (page 70)
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Getting Started • 43
Contains settings for sensor system layout, network, motion and alignment, handling jobs, and sensor
maintenance.
Scan Setup and Alignment (page 87)
Contains settings for scan mode, trigger source, detailed sensor configuration, and performing
alignment. Measurement (page 123)
Contains built-in measurement tools and their settings.
Output (page 188)
Contains settings for configuring output protocols used to communicate measurements to external
devices.
Dashboard (page 200)
Provides monitoring of measurement statistics and sensor health.
Toolbar (page 59)
Controls sensor operation, manages jobs, and replays recorded measurement data.
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How Gocator Works
The following sections provide an overview of how Gocator acquires and produces data, detects and
measures parts, and controls devices such as PLCs. Some of these concepts are important for
understanding how you should mount sensors and configure settings such as active area.
You can use the Gocator Accelerator to speed up processing of data. For more information, see
Gocator Accelerator on page 219.
3D Acquisition
After a Gocator system has been set up and is running, it is ready to start capturing 3D data.
Gocator laser displacement sensors project a laser point onto the target.
The sensor's camera views the laser line on the target from an angle and captures the reflection of the
laser light off the target. The camera captures a single 3D range for each camera exposure. The reflected
Gocator Point Profile Sensors: User Manual
45
laser light falls on the camera at different positions, depending on the distance of the target from the
sensor. The sensor’s laser emitter, its camera, and the target form a triangle. Gocator uses the known
distance between the laser emitter and the camera, and two known angles—one of which depends on
the position of the laser light on the camera—to calculate the distance from the sensor to the target.
This translates to the height of the target. This method of calculating distance is called laser
triangulation.
Gocator sensors are always pre-calibrated to deliver 3D data in engineering units throughout
their measurement range.
Clearance Distance and Measurement Range
Clearance distance (CD) and measurement range (MR) are important concepts for understanding the
setup of a Gocator sensor and for understanding results.
Clearance distance – The minimum distance from the sensor that a target can be scanned and
measured. A target closer than this distance will result in invalid data.
Measurement range – The vertical distance, starting at the end of the clearance distance, in which
targets can be scanned and measured. Targets beyond the measurement range will result in invalid data.
Resolution and Accuracy
The following sections describe Z Resolution and Z Linearity. These terms are used in the Gocator
datasheets to describe the measurement capabilities of the sensors.
Z Resolution
Z Resolution gives an indication of the smallest detectable height difference at each point, or how
accurately height on a target can be measured. Variability of height measurements at any given moment,
in each individual 3D point, with the target at a fixed position, limits Z resolution. This variability is
caused by camera and sensor electronics.
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Z resolution is better closer to the sensor. This is reflected in the Gocator data sheet as the two numbers
quoted for Z resolution.
Z Linearity
Z linearity is the difference between the actual distance to the target and the measured distance to the
target, throughout the measurement range. Z linearity gives an indication of the sensor's ability to
measure absolute distance.
Z linearity is expressed in the Gocator data sheet as a percentage of the total measurement range.
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Range Output
Gocator measures the height of the object calculated from laser triangulation. The measurement is
referred to as a range and is reported as the distance from the sensor origin.
Coordinate Systems
Range data is reported in one of three coordinate systems, which generally depends on the alignment
state of the sensor. Sensor coordinates are used for unaligned sensors, whereas system coordinates are
used for aligned sensors. Part data can optionally be reported using a coordinate system relative to the
part itself. These systems are described below.
Sensor Coordinates
Unaligned sensors use the coordinate system shown below.
The measurement range (MR) is along the Z axis. Values increase toward the sensor. The origin is at the
center of the MR.
System Coordinates
Aligning sensors adjusts the coordinate system in relation to sensor coordinates using transformations
(offsets along the axes and rotations around the axes).
Alignment is used with a single sensor to compensate for mounting misalignment and to set a zero
reference, such as a conveyor belt surface.
Alignment is also used to set a common coordinate system for multi-sensor systems. That is, scan data
and measurements from the sensors are expressed in a unified coordinate system.
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Y angle is positive when rotating from positive X to positive Z axis.
X angle is positive when rotating from positive Y to positive Z. Z angle is positive when rotating from
positive X to positive Y.
When applying the transformations, angular rotation is applied before the Z offset.
The adjustments resulting from alignment are called transformations and are displayed in Sensor panel
on the Scan page. For more information on transformations in the web interface, see Transformations
on page 97.
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For more information on aligning sensors, see Alignment on page 103.
Data Generation and Processing
After scanning a target, Gocator can process the scan data to allow the use of more sophisticated
measurement tools. This section describes the following concepts:
l
l
Profile generation
Part detection
Profile Generation
Gocator 1300 series, which are displacement sensors and only return a single range value, can combine a
series of range values gathered as a target moves under the sensor to generate a profile.
You can then use all the standard profile measurement tools on the resulting profile:
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Part Detection
After Gocator has generated a profile by combining single exposures into larger pieces of data, the
firmware can isolate discrete parts in a generated profile into separate profiles representing parts.
Gocator can then perform measurements on these isolated parts.
For more information on part detection, see Part Detection on page 115.
Measurement and Anchoring
After Gocator scans a target and, optionally, further processes the data, the sensor is ready to take
measurements on the scan data.
Gocator provides several measurement tools, each of which provides a set of individual measurements,
giving you dozens of measurements ideal for a wide variety of applications to choose from. The
configured measurements start returning pass/fail decisions, as well as the actual measured values,
which are then sent over the enabled output channels to control devices such as PLCs, which can in turn
control ejection or sorting mechanisms. (For more information on measurements and configuring
measurements, see Measurement on page 123.)
You can create custom measurement tools that run your own algorithms. For more information,
see GDK on page 385.
A part's position can vary on a transport system. To compensate for this variation, Gocator can anchor a
measurement to the positional measurement (X or Z) of an easily detectable feature. The calculated
offset between the two ensures that the anchored measurement will always be properly positioned on
different parts.
For more information on anchoring, see Measurement Anchoring on page 134.
Output and Digital Tracking
After Gocator has scanned and measured parts, the last step in the operation flow is to output the
results and/or measurements.
One of the main functions of Gocator sensors is to produce pass/fail decisions, and then control
something based on that decision. Typically, this involves rejecting a part through an eject gate, but it can
also involve making decisions on good, but different, parts. This is described as “output” in Gocator.
Gocator supports the following output types:
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Ethernet (which provides industry-standard protocols such as Modbus, EtherNet/IP, and ASCII, in
addition to the Gocator protocol)
Digital
Analog
Serial interfaces
An important concept is digital output tracking. Production lines can place an ejection or sorting
mechanism at different distances from where the sensor scans the target. For this reason, Gocator lets
you schedule a delayed decision over the digital interfaces. Because the conveyor system on a typical
production line will use an encoder or have a known, constant speed, targets can effectively be “tracked”
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or "tagged." Gocator will know when a defective part has traveled far enough and trigger a PLC to
activate an ejection/sorting mechanism at the correct moment. For more information on digital output
tracking, see Digital Output on page 193.
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Gocator Web Interface
The following sections describe the Gocator web interface.
Unblocking Flash
The current version of the Gocator web interface uses the Adobe Flash software platform. Many
browsers currently block Adobe Flash by default due to new web standards and security concerns.
If you have issues running the Gocator web interface in your browser, the instructions provided below
should help you get up and running. If you continue to have issues, try using a different browser or
contact LMI.
LMI is currently working to move the Gocator web interface off Adobe Flash to a WebGL-based
interface in an upcoming release.
Google Chrome
Recent versions of Google Chrome aggressively block Flash, even ignoring site exceptions. Use the
following instructions to unblock Flash in Chrome 61 and later.
To unblock Flash in Google Chrome:
1.
In the Google Chrome browser address bar, type chrome://settings/content/flash and press Enter.
2.
In the settings page that displays, enable Allow sites to run Flash and disable Ask first.
3.
Restart Chrome by clicking Relaunch Now.
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4.
As the Gocator interface is loading, click the Plugins Blocked icon (
click "Allow Flash content this time."
) to the right of the address bar and
You must perform this step each time you launch the Gocator interface in Google Chrome.
Internet Explorer
Use the following steps to unblock Flash in Internet Explorer 11.
To unblock Flash in Internet Explorer:
1.
In Internet Explorer, click the settings icon (
) and choose the Manage add-ons item from the drop-down
menu.
2.
In the Manage add-ons dialog, scrolll down to the Shockwave Flash Object extension and click on it.
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If you don't see Shockwave Flash Object in the list, you may need to choose All add-ons in the Show dropdown.
3.
In the dialog, click Enable.
Firefox
Use the following steps to unblock Flash in Firefox.
To unblock Flash in Firefox:
1.
In Firefox, click the menu icon (
) and then click the Add-ons icon from the drop-down menu.
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2.
In the Add-ons Manager, click the Plugins category to the left and choose Always Activate next to
Shockwave Flash.
Microsoft Edge
Use the following steps to unblock Flash in Microsoft Edge.
To unblock Flash in Microsoft Edge:
1.
In Microsoft Edge, click the menu icon (
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2.
In the Settings drop-down, scroll down and click View advanced settings.
3.
Under Advanced settings, set Use Adobe Flash Player to On.
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User Interface Overview
Gocator sensors are configured by connecting to the Main sensor with a web browser. The Gocator web
interface is shown below.
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1
Element
Description
Manage page
Contains settings for sensor system layout, network, motion and
alignment, handling jobs, and sensor maintenance. See Management and
Maintenance on page 70.
2
Scan page
Contains settings for scan mode, trigger source, detailed sensor
configuration, and performing alignment. See Scan Setup and Alignment on
page 87.
3
Measure page
Contains built-in measurement tools and their settings. See Measurement
on page 123.
4
Output page
Contains settings for configuring output protocols used to communicate
measurements to external devices. See Output on page 188.
5
Dashboard page
Provides monitoring of measurement statistics and sensor health. See
Dashboard on page 200.
6
CPU Load and Speed
Provides important sensor performance metrics. See Metrics Area on page
66.
7
Toolbar
Controls sensor operation, manages jobs, and filters and replays
recorded measurement data. See Toolbar below.
8
Configuration area
Provides controls to configure scan and measurement tool settings.
9
Data viewer
Displays sensor data, tool setup controls, and measurements. See Data
Viewer on page 117 for its use when the Scan page is active and on page
123 for its use when the Measure page is active.
10
Status bar
Displays log messages from the sensor (errors, warnings, and other
information) and frame information, and lets you switch the interface
language. For more information,
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 to start sensors, enable and
filter recording, and control recorded data.
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Creating, 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 interface in the emulator, some changes are
saved automatically, while other changes are temporary until you save them manually. The following
table lists the types of information that can be saved in a sensor.
Setting Type
Behavior
Job
Most of the settings that can be changed in the Gocator's web interface, such as the ones
in the Manage, Measure, and Output pages, are temporary until saved in a job file.
Each sensor can have multiple job files. If there is a job file that is designated as the
default, it will be loaded automatically when the sensor is reset.
Alignment
Alignment can either be fixed or dynamic, as controlled by the Alignment Reference
setting in Motion and Alignment in the Manage page.
Alignment is saved automatically at the end of the alignment procedure when
Alignment Reference is set to 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:
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Click the Save button
.
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The job is saved to sensor storage. Saving a job automatically sets it as the default, that is, the job
loaded when then sensor is restarted.
To load (switch) jobs:
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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 79 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 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.
Replay mode disables measurements.
2.
(Optional) Configure recording filtering.
For more information on recording filtering, see Recording Filtering on page 63.
3.
Click the Record button to enable recording.
The center of the Record button turns red.
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
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again to disable recording).
4.
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. When the memory limit is reached, the oldest data
will be discarded.
Newly recorded data is appended to existing replay data unless the sensor job has been modified.
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.
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 desired. For information on adding and configuring measurements, see Measurement on page 123.
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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 200.
To clear replay data:
1.
Stop the sensor if it is running by clicking the Stop button.
2.
Click the Clear Replay Data button
.
Recording Filtering
Replay data is often used for troubleshooting. But replay data can contain thousands of frames, which
makes finding a specific frame to troubleshoot difficult. Recording filtering lets you choose which frames
Gocator records, based on one or more conditions, which makes it easier to find problems.
How Gocator treats conditions
Setting
Description
Any Condition
Gocator records a frame when any condition is true.
All Conditions
Gocator only records a frame if all conditions are true.
Conditions
Setting
Description
Any Measurement
Gocator records a frame when any measurement is in the state you select.
The following states are supported:
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Single Measurement
pass
fail or invalid
fail and valid
valid
invalid
Gocator records a frame if the measurement with the ID you specify in ID is in the state
you select. This setting supports the same states as the Any Measurement setting (see
above).
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Setting
Description
Any Data
At/Above Threshold : Gocator records a frame if the number of valid points in the
frame is above the value you specify in Range Count Threshold .
Below Threshold : Gocator records a frame if the number of valid points is below the
threshold you specify.
To set recording filtering:
1.
Make sure recording is enabled by clicking the Record button.
2.
Click the Recording Filtering button
3.
In the Recording Filtering dialog, choose how Gocator treats conditions:
.
For information on the available settings, see How Gocator treats conditions on the previous page.
4.
Configure the conditions that will cause Gocator to record a frame:
For information on the available settings, see Conditions on the previous page.
5.
Click the "x" button or outside of the Recording Filtering dialog to close the dialog.
The recording filter icon turns green to show that recording filters have been set.
When you run the sensor, Gocator only records the frames that satisfy the conditions you have set.
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 thirdparty 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.
Click the Download button
2.
In the File Download dialog, click Save.
.
3.
In the Save As... dialog, choose a location, optionally change the name (keeping the .rec extension), and click
Save.
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To upload replay data:
1.
Click the Upload button
.
The Upload menu appears.
2.
In the Upload menu, choose one of the following:
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Upload: Unloads the current job and creates a new unsaved and untitled job from the content of the
replay data file.
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Upload and merge: Uploads the replay data and merges the data's associated job with the current
job. Specifically, the settings on the Scan page are overwritten, but all other settings of the current
job are preserved, including any measurements.
If you have unsaved changes in the current job, the firmware asks whether you want to discard the
changes.
3.
4.
Do one of the following:
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Click Discard to discard any unsaved changes.
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Click Cancel to return to the main window to save your changes.
If you clicked Discard, navigate to the replay data to upload from the client computer and click OK.
The replay data is loaded, and a new unsaved, untitled job is created.
Replay data can be exported using the CSV format. If you have enabled Acquire Intensity in the Scan
Mode panel on the Scan page, the exported CSV file includes intensity data.
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To export replay data in the CSV format:
1.
In the Scan Mode panel, switch to Range or Profile.
2.
Click the Export button
and select All Data as CSV.
In Profile mode, all data in the record buffer is exported. 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 61.
3.
(Optional) Convert exported data to another format using the CSV Converter Tool. For information on
this tool, see CSV Converter Tool on page 399.
The decision values in the exported data depend on the current state of the job, not the state
during recording. For example, if you record data when a measurment returns a pass decision,
change the measurement's settings so that a fail decision is returned, and then export to CSV,
you will see a fail decision in the exported data.
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 format:
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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 61.
To export video data to a BMP file:
1.
In the Scan Mode panel, switch to Video mode.
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 61.
2.
Click the Export button
and select Video data as BMP.
Metrics Area
The Metrics area displays two important sensor performance metrics: CPU load and speed (current
frame rate).
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The CPU bar in the Metrics panel (at the top of the interface) displays how much of the CPU is being
utilized. A warning symbol ( ) will appear next to the CPU bar if the sensor drops rangesbecause the
CPU is over-loaded.
CPU at 100%
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.
Open the log for details on the warning. For more information on logs, see Log below.
When a sensor is accelerated a "rocket" icon appears in the metrics area.
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 the active
area and other settings. Depending on the selected operation mode (page 88), the data viewer can
display video images, ranges, or profiles. For details, see Data Viewer on page 117.
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
123.
Status Bar
The status bar lets you do the following:
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See sensor messages in the log.
See frame information.
Change the interface language.
Switch to Quick Edit mode.
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.
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A number indicates the number of unread messages:
To use the log:
1.
Click on the Log open button
at the bottom of the web interface.
2.
Click on the appropriate tab for the information you need.
Frame Information
The area to the right of the status bar displays useful frame information, both when the sensor is
running and when viewing recorded data.
This information is especially useful when you have enabled recording filtering. If you look at a recording
playback, when you have enabled recording filtering, some frames can be excluded, resulting in variable
"gaps" in the data.
The following information is available:
Frame Index: Displays the index in the data buffer of the current frame. The value resets to 0 when the
sensor is restarted or when recording is enabled.
Master Time: Displays the recording time of the current frame, with respect to when the sensor was
started.
Encoder Index: Displays the encoder index of the current frame.
Timestamp: Displays the timestamp the current frame, in microseconds from when the sensor was
started.
To switch between types of frame information:
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Click the frame information area to switch to the next available type of information.
Interface Language
The language button on the right side of the status bar lets you change the language of the Gocator
interface.
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To use the log:
1.
Click the language button at the bottom of the web interface.
2.
Choose a language from the list.
The Gocator interface reloads on the page you were working in, displaying the page using the language you
chose. The sensor state is preserved.
Quick Edit Mode
When working with a very large number of measurement tools (for example, a few dozen) or a very
complex user-created GDK tool, you can switch to a "Quick Edit" mode to make configuration faster.
When this mode is enabled, the data viewer and measurement results are not refreshed after each
setting change. Also, when Quick Edit is enabled, in Replay mode, stepping through frames or playing
back scan data does not change the displayed frame.
When a sensor is running, Quick Edit mode is ignored: all changes to settings are reflected
immediately in the data viewer.
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Management and Maintenance
The following sections describe how to set up the sensor connections and networking, how to calibrate
encoders and choose the alignment reference, and how to perform maintenance tasks.
Manage Page Overview
Gocator's system and maintenance tasks are performed on the Manage page.
1
Element
Description
Sensor System
Contains sensor information, buddy assignment, and the
autostart setting. See Sensor System on the next page.
2
Layout
Contains settings for configuring dual-sensor system layouts.
3
Networking
Contains settings for configuring the network. See Networking on
page 76.
4
Motion and Alignment
Contains settings to configure the encoder. See Motion and
Alignment on page 77.
5
Jobs
Lets you manage jobs stored on the sensor. See Jobs on page 79.
6
Security
Lets you change passwords. See Security on page 80.
7
Maintenance
Lets you upgrade firmware, create/restore backups, and reset
sensors. See Maintenance on page 81.
8
Support
Lets you open an HTML version or download a PDF version of the
manual, download the SDK, or save a support file. Also provides
device information. See Support on page 84
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Sensor System
The following sections describe the Sensor System category on the Manage page. This category
provides sensor information and the autostart setting. It also lets you choose which sensors to add to a
dual-sensor system.
Dual- and Multi-sensor Systems
Gocator supports dual-sensor systems. In these systems, data from each sensor is combined into a
single range or profile. Any measurements you configure work on the combined data.
Gocator lets you easily and quickly set up dual-sensor systems from the web interface. Setting up these
systems involves two steps:
1. Assigning an additional sensor, called the Buddy sensor, to the Main sensor. For more information,
see Buddy Assignment below.
2. Choosing the layout of the dual-sensor system. For more information, see Layout on page 73.
Buddy Assignment
In a dual-sensor system, the Main sensor controls a second sensor, called the Buddy sensor, after the
Buddy sensor is assigned to the Main sensor. You configure both sensors through the Main sensor's
interface.
Main and Buddy sensors must be assigned unique IP addresses before they can be used on the
same network. Before proceeding, connect the Main and Buddy sensors one at a time (to avoid an
address conflict) and use the steps described in Running a Dual-Sensor System (page 30) to assign
each sensor a unique address.
When a sensor is acting as a Buddy, it is not discoverable and its web interface is not accessible.
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A sensor can only be assigned as a Buddy if its firmware and model number match the
firmware and model number of the Main sensor.
To assign a Buddy sensor:
1.
Go to the Manage page and click on the Sensor System category.
2.
In the Visible Sensors list, click the "plus" icon next to the sensor you want to add as a Buddy.
The sensor you added to the system appears in a Buddies list.
3.
Repeat the previous step to add more sensors to the system.
To remove a Buddy, click the "minus" icon next to the sensor you want to remove. To remove all
Buddies, click Remove All Buddies.
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. 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.
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2.
Save the job file.
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.
Layout
The following sections describe the Layout category on the Manage page. This category lets you
configure dual-sensor systems.
Mounting orientations must be specified for a dual- or multi-sensor system. This information allows the
alignment procedure to determine the correct system-wide coordinates for laser ranging and
measurements. For more information on sensor and system coordinates, see Coordinate Systems on
page 48.
Dual layouts are only displayed when a Buddy sensor has been assigned.
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Supported Layouts
Layout Type
Example
Normal
The sensor operates as an isolated device.
Reverse
The sensor operates as an isolated device, but in
a reverse orientation. You can use this layout to
change the handedness of the data.
Wide
Sensors are mounted in Left (Main) and Right
(Buddy) positions. This allows for measuring the
height of the object at multiple points.
Reverse
Sensors are mounted in a left-right layout as
with the Wide layout, but the Buddy sensor is
mounted such that it is rotated 180 degrees
around the Z axis to prevent occlusion along the
Y axis.
Sensors should be shifted along the Y axis so that
the laser lines align.
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Layout Type
Example
Opposite
Sensors are mounted in Top (Main) and Bottom
(Buddy) positions for measuring thickness .
To specify a standalone layout:
1.
Go to the Manage page and click on the Layout category.
2.
Under Layout Types, choose Normal or Reverse layout by clicking one of the layout buttons.
See the table above for information on layouts.
Before you can select a dual-sensor layout, you must assign a second sensor as the Buddy
sensor. For more information, see Dual- and Multi-sensor Systems on page 71.
To specify a dual-sensor layout:
1.
Go to the Manage page and click on the Layout category.
2.
Under Layout Types, choose a layout by clicking one of the layout buttons.
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See the table above for information on layouts.
Before you can select a multi-sensor layout, you must assign two or more additional sensors as
Buddy sensors. For more information, see Dual- and Multi-sensor Systems on page 71.
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.
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Motion and Alignment
The Motion and Alignment category on the Manage page lets you configure alignment reference,
encoder resolution, and travel speed, and confirm that encoder signals are being received by the sensor.
Alignment Reference
The Alignment Reference setting can have one of two values: Fixed or Dynamic.
Setting
Description
Fixed
A single, global alignment is used for all jobs. This is typically used when the sensor
mounting is constant over time and between scans, for example, when the sensor is
mounted in a permanent position over a conveyor belt.
Dynamic
A separate alignment is used for each job. This is typically used when the sensor’s position
relative to the object scanned is always changing, for example, when the sensor is mounted
on a robot arm moving to different scanning locations.
To configure alignment reference:
1.
Go to the Manage page and click on the Motion and Alignment category.
2.
In the Alignment section, choose Fixed or Dynamic in the Alignment Reference drop-down.
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Encoder Resolution
You can manually enter the encoder resolution in the Resolution setting , or it can be automatically set
by performing an alignment with Type set to Moving. Establishing the correct encoder resolution is
required for correct scaling of the scan of the target object in the direction of travel.
Encoder resolution is expressed in millimeters per tick, where one tick corresponds to one of the four
encoder quadrature signals (A+ / A- / B+ / B-).
Encoders are normally specified in pulses per revolution, where each pulse is made up of the
four quadrature signals (A+ / A- / B+ / B-). Because Gocator reads each of the four quadrature
signals, you should choose an encoder accordingly, given the resolution required for your
application.
To configure encoder resolution:
1.
Go to the Manage page and click on the Motion and Alignment category.
2.
In the Encoder section, enter a value in the Resolution field.
Encoder Value and Frequency
The encoder value and frequency are used to confirm the encoder is correctly wired to the Gocator and
to manually calibrate encoder resolution (that is, by moving the conveyor system a known distance and
making a note of the encoder value at the start and end of movement).
Travel Speed
The Travel Speed setting is used to correctly scale scans in the direction of travel in systems that lack an
encoder but have a conveyor system that is controlled to move at constant speed. Establishing the
correct travel speed is required for correct scaling of the scan in the direction of travel.
Travel speed is expressed in millimeters per second.
To manually configure travel speed:
1.
Go to the Manage page and click on the Motion and Alignment category.
2.
In the Speed section, enter a value in the Travel Speed field.
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Travel speed can also be set automatically by performing an alignment with Type set to Moving (see
Aligning Sensors on page 104).
Jobs
The Jobs category on the Manage page lets you manage the jobs stored on a sensor.
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 Name field.
Load button
Loads the job that is selected in the job list. Reloading the current job discards any unsaved changes.
Delete button
Deletes the job that is selected in the job list.
Set as Default
Sets the selected job as the default to be loaded when the sensor starts. When the default job is
button
selected, this button is used to clear the default.
Download...
Downloads the selected job to the client computer.
button
Upload...
Uploads a job from the client computer.
button
Jobs can be loaded (currently activated in sensor memory) and set as default independently. For
example, Job1 could be loaded, while Job2 is set as the default. Default jobs load automatically when a
sensor is power cycled or reset.
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Unsaved jobs are indicated by "[unsaved]".
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
You can prevent unauthorized access to a Gocator sensor by setting passwords. Each sensor has two
accounts: Administrator and Technician.
By default, no passwords are set. When you start a sensor, you are prompted for a password only if a
password has been set.
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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.
The Administrator and Technician accounts can be assigned unique passwords.
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 lost, the sensor can be recovered using a special software
tool. See Sensor Discovery Tool on page 398 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.
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Sensor Backups and Factory Reset
You can create sensor backups, restore from a backup, and restore to factory defaults in the
Maintenance category.
Backup files contain all of the information stored on a sensor, including jobs and alignment.
An Administrator should create a backup file in the unlikely event that a sensor fails and a
replacement sensor is needed. If this happens, the new sensor can be restored with the backup
file.
To create a backup:
1.
Go to the Manage page and click on the Maintenance category.
2.
Click the Backup... button under Backup and Restore.
3.
When you are prompted, save the backup.
Backups are saved as a single archive that contains all of the files from the sensor.
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To restore from a backup:
1.
Go to the Manage page and click on the Maintenance category.
2.
Click the Restore... button under Backup and Restore.
3.
When you are prompted, select a backup file to restore.
The backup file is uploaded and then used to restore the sensor. Any files that were on the sensor
before the restore operation will be lost.
To restore a sensor to its factory default settings:
1.
Go to the Manage page and click on Maintenance.
2.
Consider making a backup.
Before proceeding, you should perform a backup. Restoring to factory defaults cannot be undone.
3.
Click the Factory Restore... button under Factory Restore.
You will be prompted whether you want to proceed.
Firmware Upgrade
LMI recommends routinely updating firmware to ensure that Gocator sensors always have the latest
features and fixes.
In order for the Main and Buddy sensors to work together, they must be use the same firmware
version. This can be achieved by upgrading through the Main sensor or by upgrading each sensor
individually.
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.
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If a new version of the firmware is available, follow the instructions to download it to the client
computer.
If the client computer is not connected to the Internet, firmware can be downloaded and transferred to
the client computer by using another computer to download the firmware from LMI's website:
http://www.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.
Locate the firmware file in the File dialog and then click open.
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.
Support
The Support category in the Manage page is used to do the following:
l
open an HTML version or download a PDF version of the manual
l
download the SDK
l
save a support file
l
get device information
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Support Files
You can download a support file from a sensor and save it on your computer. You can then use the
support file to create a scenario in the Gocator emulator (for more information on the emulator, see
Gocator Emulator on page 204). LMI's support staff may also request a support file to help in
troubleshooting.
To download a support file:
1.
Go to the Manage page and click on the Support category.
2.
In Filename, type the name you want to use for the support file.
When you create a scenario from a support file in the emulator, the filename you provide here is displayed
in the emulator's scenario list.
Support files end with the .gs extension, but you do not need to type the extension in Filename.
3.
(Optional) In Description, type a description of the support file.
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When you create a scenario from a support file in the emulator, the description is displayed below the
emulator's scenario list.
4.
Click Download, and then when prompted, click Save.
Downloading a support file stops the sensor.
Manual Access
You can access the Gocator manuals from within the Web interface.
You may need to configure your browser to allow pop-ups to open or download the manual.
To access the manuals:
1.
Go to the Manage page and click on the Support category
2.
Next to User Manual, click one of the following:
l
Open HTML: Opens the HTML version of the manual in your default browser.
l
Download PDF: Downloads the PDF version of the manual to the client computer.
Software Development Kit
You can download the Gocator SDK from within the Web interface.
To download the SDK:
1.
Go to the Manage page and click on the Support category
2.
Next to Software Development Kit (SDK), click Download
3.
Choose the location for the SDK on the client computer.
For more information on the SDK, see GoSDK on page 374.
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Scan Setup and Alignment
The following sections describe the steps to configure Gocator sensors for laser ranging using the Scan
page. Setup and alignment should be performed before adding and configuring measurements or
outputs.
Scan Page Overview
The Scan page lets you configure sensors and perform alignment.
1
Element
Description
Scan Mode panel
Contains settings for the current scan mode 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 95.
4
Alignment panel
Used to perform alignment. See Alignment on page 103.
5
Data Viewer
Displays sensor data and adjusts regions of interest. Depending on the current operation
mode, the data viewer can display video images or scan data. See Data Viewer on page
117.
The following table provides quick references for specific goals that you can achieve from the panels in
the Scan page.
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Goal
Reference
Select a trigger source that is appropriate for the application.
Triggers (page 88)
Ensure that camera exposure is appropriate for scan data acquisition.
Exposure (page 98)
Find the right balance between data quality, speed, and CPU utilization.
Active Area (page 95)
Exposure (page 98)
Job File Structure (page 226)
Calibrate the system so that scan data can be aligned to a common reference and Aligning Sensors (page 104)
values can be correctly scaled in the axis of motion.
Scan Modes
The Gocator web interface supports a video mode and one or more data acquisition modes. 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.
Range
Outputs ranges and performs measurements. Video images are processed internally to
produce laser ranges and measurements.
Profile
Outputs profiles and performs profile measurements. The sensor uses various
methods to generate a profile (see Profile Generation on page 111). Part detection can
be enabled on a profile to identify discrete parts (see Part Detection on page 115).
Video images are processed internally to produce laser profiles and cross-sectional
measurements.
Acquire Intensity
When this option is enabled, an intensity value will be produced for each data point.
Triggers
A trigger is an event that causes a Gocator sensor to take a single image. Triggers are configured in the
Trigger panel on the Scan page.
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When a trigger is processed, the laser is strobed and the camera exposes to produce an image. The
resulting image is processed inside the sensor to yield a laser range (distance information), which can
then be used for measurement.
The sensor can be triggered by one of the sources described in the table below.
If the sensor is connected to a Master 400 or higher, encoder and digital (external) input signals
over the IO cordset are ignored. The sensor instead receives these signals from the Master; for
encoder and digital input pinouts on Masters, see the section corresponding to your Master in
Master Network Controllers on page 435.
If the sensor is connected to a Master 100 (or no Master is used), the sensor receives signals
over the IO cordset. For information on connecting encoder and digital input signals to a sensor
in these cases, see Encoder Input on page 432Digital Input on page 431Encoder Input on page
432
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.
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Trigger Source
Description
Encoder
An encoder can be connected to provide triggers in response to motion. Three encoder triggering
behaviors are supported. These behaviors are set using the Behavior setting.
Track Backward
A scan is triggered when the target object moves forward. If the target object moves backward, it
must move forward by at least the distance that the target travelled backward (this distance
backward is "tracked"), plus one encoder spacing, to trigger the next scan.
Ignore Backward
A scan is triggered only when the target object moves forward. If the target object moves backward, it
must move forward by at least the distance of one encoder spacing to trigger the next scan.
Bi-directional
A scan is triggered when the target object moves forward or backward.
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Trigger Source
Description
When triggers are received at a frequency higher than the maximum frame rate, some triggers may
not be accepted. The Trigger Drops Indicator in the Dashboard can be used to check for this
condition.
The external input can be used to enable or disable the encoder triggers.
For information on the maximum encoder rate, see Maximum Encoder Rate on page 95.
To verify that the sensor is receiving encoder signals, check whether Encoder Value
is changing in the Motion and Alignment category on the Manage page, or in the
dashboard.
External Input
A digital input can provide triggers in response to external events (e.g., photocell). The external input
triggers on the rising edge of the signal.
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.
For information on the maximum input trigger rate, see Maximum Input Trigger Rate on page 95.
Software
A network command can be used to send a software trigger. See Protocols on page 289 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.
For examples of typical real-world scenarios, see Trigger Examples on the next page. For information on
the settings used with each trigger source, see Trigger Settings on page 93
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Trigger Examples
Example: Encoder + Conveyor
Encoder triggering is used to perform range
measurements at a uniform spacing.
The speed of the conveyor can vary while the
object is being measured; an encoder ensures
that the measurement spacing is consistent,
independent of conveyor speed.
Example: Time + Conveyor
Time triggering can be used instead of encoder
triggering to perform range measurements at
a fixed frequency.
Measurement spacing will be non-uniform if
the speed of the conveyor varies while the
object is being measured.
It is strongly recommended to use an encoder
with transport-based systems due to the
difficulty in maintaining constant transport
velocity.
Example: External Input + Conveyor
External input triggering can be used to
produce a snapshot for range measurement.
For example, a photocell can be connected as
an external input to generate a trigger pulse
when a target object has moved into position.
An external input can also be used to gate the
trigger signals when time or encoder triggering
is used. For example, a photocell could
generate a series of trigger pulses as long as
there is a target in position.
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Example: Software Trigger + Robot Arm
Software triggering can be used to produce a
snapshot for range measurement.
A software trigger can be used in systems that
use external software to control the activities
of system components.
Trigger Settings
The trigger source is selected using the Trigger panel in the Scan page.
After specifying a trigger source, the Trigger panel shows the parameters that can be configured. Gocator 1300 series sensors are limited to sending data at 10 kHz over the analog output
channel.
Therefore, if you configure a sensor so that it runs at a speed higher than 10 kHz in the Trigger
panel on the Scan page, and configure a measurement to be sent on the analog channel under
Analog on the Output page, you will get analog data drops.
To achieve a 10 kHz analog output rate, you must check Scheduled on the Output page and
configure scheduled output.
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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 dropdown 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 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 Input on page 431 for more information on
connecting external input to Gocator sensors.
Behavior
Encoder
Specifies how the Gocator sensor is triggered when the target
moves. Can be Track Backward, Ignore Backward, or BiDirectional. See Triggers on page 88 for more information on
these behaviors.
Spacing
Encoder
Specifies the distance between triggers (mm). Internally the
Gocator sensor rounds the spacing to a multiple of the encoder
resolution.
Reversal Distance
Encoder
When encoder triggering is set to Bi-Directional , use this
setting to ignore jitter or vibrations in your transport system by
specifying what distance the target must travel before a
direction change is triggered. One of the following:
Auto: The distance is automatically set by multiplying the value
in Spacing by 3.
Custom: Set the distance (in millimeters). Various functions in
the sensor depend on this value to explicitly determine the
point where direction change is triggered. Set this value larger
than the maximum vibrations you see in your transport
system.
Units
External Input, Software Specifies whether the trigger delay, output delay, and output
scheduled command operate in the time or the encoder
domain.
The unit is implicitly set to microseconds with Time trigger
source. The unit is implicitly set to millimeters with Encoder
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 98.
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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
.
Maximum Input Trigger Rate
The maximum external input trigger rate in a system including Master 400 or higher is 20 kHz.
When using a standalone sensor or a sensor connected to a Master 100, the maximum trigger rate is 32
kHz. This rate is limited by the fall time of the signal, which depends on the Vin and duty cycles. To
achieve the maximum trigger rate, the Vin and duty cycles must be adjusted as follows:
Maximum Speed
Vin
Maximum Duty Cycle
32 kHz
3.3 V
88%
32 kHz
5V
56%
32 kHz
7V
44%
32 kHz
10 V
34%
At 50% duty cycle, the maximum trigger rates are as follows:
Vin
Maximum Speed
3.3 V
34 kHz
5V
34 kHz
10 V
22 kHz
Maximum Encoder Rate
On a standalone sensor, with the encoder directly wired into the I/O port or through a Master 100, the
maximum encoder rate is about 1 MHz.
For sensors connected through a Master 400 or higher, with the encoder signal supplied to the Master,
the maximum rate is about 300 kHz.
Sensor
The following sections describe the settings that are configured in the Sensor panel on the Scan page.
Active Area
Active area refers to the region within the sensor's maximum field of view that is used for laser ranging.
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By default, the active area covers the sensor's entire field of view. By reducing the active area, the sensor
can operate at higher speeds.
Active area is specified in sensor coordinates,
rather than in system coordinates. As a result, if
the sensor is already alignment calibrated, press
the Acquire button to display uncalibrated data
before configuring the active area. See
Coordinate Systems on page 48 for more
information on sensor and system coordinates.
To set the active area:
1.
Go to the Scan page.
2.
Choose Range or Profile mode in the Scan Mode panel, depending on the type of measurement whose
decision you need to configure.
If one of these modes is not selected, tools will not be available in the Measure panel.
3.
Expand the Sensor panel by clicking on the panel header or the
button.
4.
Click the button corresponding to the sensor you want to configure.
The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system.
Active area is specified separately for each sensor.
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5.
Click on the Active Area tab.
6.
Click the Select button.
7.
Click the Acquire button to see a scan while setting the active area.
8.
Set the active area.
Adjust the active area graphically in the data viewer or enter the values manually in the fields.
9.
Click the Save button in the Sensor panel.
Click the Cancel button to cancel setting the active area.
10. Save the job in the Toolbar by clicking the Save button
.
Laser ranging devices are usually more accurate at the near end of their measurement range. If
your application requires a measurement range that is small compared to the maximum
measurement range of the sensor, mount the sensor so that the active area can be defined at the
near end of the measurement range.
Transformations
The transformation settings determine how data is converted from sensor coordinates to system
coordinates. Typically, transformations are set when you align a sensor. However, you can also manually
set values. For more information on coordinate systems, see Coordinate Systems on page 48.
Parameter
Description
Z Offset
Specifies the shift along the Z axis. A positive value shifts the data toward the sensor.
Angle
Specifies the tilt (rotation in the X-Z plane). A positive value rotates the profile counter-clockwise.
When applying the transformations, angular rotation is applied before the Z offset.
Setting Angle X or Angle Z, and to a lesser extent Y Offset, to a non-zero value
increases CPU usage when scanning, which reduces the maximum scan speed.
Artifacts may appear in scan data when Angle Z or Angle X is set to a non-zero value if
encoder trigger spacing is set too high (resulting in a low sampling rate).
To configure transformation settings:
1.
Go to the Scan page.
2.
Choose a mode other than Video mode in the Scan Mode panel.
If Video mode is selected, you will not be able to change the settings.
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3.
Expand the Sensor panel by clicking on the panel header.
4.
Click the button corresponding to the sensor you want to configure.
The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system.
Transformations can be configured separately for each sensor.
5.
Expand the Transformations area by clicking on the expand button
.
See the table above for more information.
6.
Set the parameter values.
See the table above for more information.
The Y offset, X angle, and Z angle transformations cannot be non-zero when
Uniform Spacing is unchecked. Therefore, when aligning a sensor using a bar
alignment target with Uniform Spacing unchecked, set the Degrees of
Freedom setting to X, Z, Y Angle, which prevents these transformations from
being non-zero.
7.
Save the job in the Toolbar by clicking the Save button
.
8.
Check that the transformation settings are applied correctly after the sensor is restarted.
Exposure
Exposure Mode
Description
Single
Uses a single exposure for all objects. Used when the surface is uniform and is the same for
all targets.
Dynamic
Automatically adjusts the exposure after each frame. Used when the target surface varies
between scans.
Video mode lets you see how the light appears on the camera and identify any stray light or ambient
light problems. When exposure is tuned correctly, the projected light 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.
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Under-exposure:
Over-exposure:
Laser point is not detected.
Laser point is too bright.
Increase the exposure value.
Decrease the exposure value.
Single Exposure
The sensor uses a fixed exposure in every scan. Single exposure is used when the target surface is
uniform and is the same for all targets.
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 or the
4.
Click the button corresponding to the sensor you want to configure.
button.
The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system.
Exposure is configured separately for each sensor.
5.
Click the Exposure tab.
6.
Select Single from the Exposure Mode drop-down.
7.
Edit the exposure setting by using the slider or by manually entering a value.
You can automatically tune the exposure by pressing the Auto Set button, which causes the sensor to turn
on and tune the exposure time.
8.
Run the sensor and check that laser ranging is satisfactory.
If laser ranging is not satisfactory, adjust the exposure values manually. Switch to Video mode to use video
to help tune the exposure; see Exposure on the previous page for details.
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Dynamic Exposure
The sensor automatically uses past range information to adjust the exposure for subsequent exposures
to yield the best range . This is used when the target surface changes from exposure to exposure (that is,
from scan to scan).
You can tune settings that control the exposure that is chosen by dynamic exposure in the
Material tab.
To enable dynamic exposure:
1.
Go to the Scan page.
2.
Expand the Sensor panel by clicking on the panel header or the
3.
Click the button corresponding to the sensor you want to configure.
button.
The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system.
Exposure is configured separately for each sensor.
4.
Click the Exposure tab.
5.
Select Dynamic from the Exposure Mode drop-down.
6.
Set the minimum and maximum exposure.
The auto-set function can be used to automatically set the exposure. First, place the brightest target in the
field of view and press the Auto Set Min button to set the minimum exposure. Then, place the darkest
target in the field of view and press the Auto Set Max button to set the maximum exposure.
7.
Run the sensor and check that laser ranging is satisfactory.
If laser ranging is not satisfactory, adjust the exposure values manually. Switch to Video mode to use video
to help tune the exposure; see Exposure on page 98 for details.
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Advanced
The Advanced tab contains settings to configure material characteristics, camera gain, and dynamic
exposure.
To configure advanced settings:
1.
Go to the Scan page.
2.
Switch to Video mode.
Using Video mode while configuring the settings lets you evaluate their impact.
3.
Expand the Sensor panel by clicking on the panel header or the
button.
4.
If you are configuring a dual- or multi-sensor system, click the button corresponding to the sensor you
want to configure.
The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system.
Settings can be configured separately for each sensor.
5.
Click on the Advanced tab.
6.
Configure material characteristics, camera gain, or dynamic exposure.
For more information, see Material on the next page and Camera Gain and Dynamic Exposure on the
next page.
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7.
Save the job in the Toolbar by clicking the Save button
8.
Check that scan data is satisfactory.
.
Material
Data acquisition can be configured to suit different types of target materials. For many targets, changing
the setting is not necessary, but it can make a great difference with others.
You can select preset material types in the Materials setting under the Advanced tab. The Diffuse
material option is suitable for most materials.
When Materials is set to Custom, the following settings can be configured:
Setting
Description
Spot Threshold
The minimum increase in intensity level between neighbouring pixels for a pixel to be
considered the start of a potential spot.
This setting is important for filtering false spots generated by sunlight reflection.
Spot Width Max
The maximum number of pixels a spot is allowed to span.
This setting can be used to filter out data caused by background light if the unwanted
light is wider than the laser and does not merge into the laser itself. A lower Spot
Width Max setting reduces the chance of false detection, but limits the ability to detect
features/surfaces that elongate the spot.
Spot Selection
Determines the spot selection method.
Best selects the strongest spot in a given column on the imager.
Top or Bottom: Top selects the spot farthest to the left on the imager, and Bottom
selects the spot farthest to the right on the imager. These options can be useful in
applications where there are reflections, flying sparks or smoke that are always on one
side of the laser.
None performs no spot filtering. If multiple spots are detected in an imager column,
they are left as is. .
Continuity considers adjacent horizontal data points on the imager to place spots on
pixels, giving preference to more complete profile segments. The setting can improve
scans in the presence of reflections and noise.
Various settings can affect how the Material settings behave. See Spots and Dropouts on page 118 for
more information.
Camera Gain and Dynamic Exposure
You can set camera gain and dynamic exposure to improve data acquisition.
Setting
Description
Camera Gain
Analog camera gain can be used when the application is severely exposure limited, yet
dynamic range is not a critical factor.
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Setting
Description
Digital camera gain can be used when the application is severely exposure limited, yet
dynamic range is not a critical factor.
Dynamic Exposure
Sensitivity controls the exposure that dynamic exposure converges to. The lower the
value, the lower the exposure Gocator will settle on.
The trade-off is between the number of underexposed spots and the possibility of
over-exposing.
Threshold is the minimum number of spots for dynamic exposure to consider the
profile point that make up the spot valid. If the number of spots is below this
threshold, the algorithm will walk over the allowed exposure range slowly to find the
correct exposure. Because this is slow, the Threshold value typically should be kept as
low as possible, so this slow search is not used.
These settings let you set tune how dynamic exposure settles on an exposure for a
scan. For more information on Dynamic Exposure, see Dynamic Exposure on page 100.
Alignment
Gocator sensors are pre-calibrated and ready to deliver ranges in engineering units (mm) out of the box.
However, alignment procedures are required to compensate for sensor mounting inaccuracies, to align
multiple sensors into a common coordinate system, and to determine the resolution (with encoder) and
speed of the transport system. Alignment is performed using the Alignment panel on the Scan page.
Once alignment has been completed, the derived transformation values are displayed under
Transformations in the Sensor panel; see Transformations on page 97 for details.
Alignment States
A Gocator can be in one of two alignment states: Unaligned and Aligned.
Alignment State
State
Explanation
Unaligned
The sensor or sensor system is not aligned. Ranges are reported in sensor coordinates.
Aligned
The sensor is aligned using the alignment procedure (see Aligning Sensors on the next
page) or by manually modifying the values under Transformation in the Sensor tab
on the Scan page (for more information, see Transformations on page 97).
An indicator on the Alignment panel display ALIGNED or UNALIGNED, depending on the Gocator's
state.
Alignment Types
Gocator sensors support two types of alignment: stationary or moving.
Type
Description
Stationary
Stationary is 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
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Type
Description
conveyor belt.
Moving
Moving is used when the sensor's position relative to the object scanned is
always changing, for example, when the sensor is mounted on a robot arm
moving to different scanning locations.
Alignment: with and without Encoder Calibration
For systems that use an encoder, encoder calibration can be performed while aligning sensors. The table
below summarizes the differences between performing alignment with and without encoder calibration
calibration.
With encoder calibration
Without encoder calibration
Target Type
Calibration bar
Flat surface or calibration bar
Target/Sensor Motion
Linear motion
Stationary
Calibrates Z axis Offset
Yes
Yes
Calibrates Encoder
Yes
No
Calibrates Travel Speed
Yes
No
See Coordinate Systems on page 48 for definitions of coordinate axes. See Calibration Targets on page
24 for descriptions of calibration disks and bars.
See Aligning Sensors below for the procedure to perform alignment. After alignment, the coordinate
system for laser ranges will change from sensor coordinates to system coordinates.
Aligning Sensors
Alignment can be used to compensate for mounting inaccuracies by aligning sensor data to a common
reference surface. (In many systems, the reference surface is a conveyor belt.) For more information on
alignment types, see Alignment Types on the previous page.
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 77 for more information.
2.
Go to the Scan page.
3.
Choose a mode other than Video mode in the Scan Mode panel.
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If Video mode is selected, tools will not be available in the Measure panel.
4.
Expand the Alignment panel by clicking on the panel header or the
5.
Ensure that all sensors have a clear view of the target surface.
button.
Remove any irregular objects from the sensor's field of view that might interfere with alignment.
To perform stationary alignment:
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.s
3.
Select an alignment Target.
l
Select Bar to use a custom calibration bar. If using a calibration bar, specify the bar dimensions
and reference hole layout. See Calibration Targets on page 24 for details.
Configure the characteristics of the target.
Degrees of Freedom: In stationary bar alignment, only one option is provided, namely, X, Z, Y
Angle. This setting aligns X and Z offsets, as well as rotation around the Y axis.
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
98).
Alignment uses the exposure defined for single exposure mode, regardless of the
current exposure mode.
6.
Inspect alignment results.
Data points from all sensors should now be aligned to the alignment target surface. The base of the
alignment target (or target surface) provides the origin for the system Z axis.
To perform moving alignment:
1.
Do one of the following if you have not already done so.
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l
If the system uses an encoder, configure encoder resolution. See Encoder Resolution on page 78 for
more information.
l
If the system does not use an encoder, configure travel speed. See Travel Speed on page 78 for
more information.
2.
In the Alignment panel, select Moving as the Type.
3.
Clear the previous alignment if present.
Press the Clear Alignment button to remove an existing alignment.
4.
Select an alignment Target.
l
Select one of the disk Disk options to use a disk as the alignment reference.
l
Select Bar to use a custom calibration bar. If using a calibration bar, specify the bar dimensions
and reference hole layout. See Calibration Targets on page 24 for details.
Configure the characteristics of the target.
Degrees of Freedom: In moving bar alignment, three options are available, which are
combinations of different types of alignments. X, Y, and Z compensate for offsets on the X, Y, and Z
axes, respectively. Y Angle and Z Angle compensate for rotation around the Y and Z axes,
respectively. Compensating for X angle rotation is currently only possible by manually setting the
rotation in the Transformations panel.
The Y offset, X angle, and Z angle transformations cannot be non-zero when
Uniform Spacing is unchecked. Therefore, when aligning a sensor using a bar
alignment target with Uniform Spacing unchecked, set the Degrees of Freedom
setting to X, Z, Y Angle, which prevents these transformations from being nonzero.
On sensors aligned using Z angle or X angle, and to a lesser extent Y offset, CPU
usage increases when scanning, which reduces the maximum scan speed.
Artifacts may appear in scan data on sensors aligned using Z angle or X angle if
encoder trigger spacing is set too high (resulting in a low sampling rate).
5.
Place the target under the sensor.
6.
(Optional) Check the Encoder or Speed Calibration checkbox.
7.
Click the Align button.
The sensors will start and then wait for the calibration target to pass through the laser plane.
Alignment is performed simultaneously for all sensors. If the sensors do not align, check and adjust the
exposure settings.
Alignment uses the exposure defined for single exposure mode, regardless of the
current exposure mode.
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8.
Engage the transport system.
When the calibration target has passed completely through the laser plane, the calibration process will
complete automatically. To properly calibrate the travel speed, the transport system must be running
at the production operating speed before the target passes through the laser plane.
9.
Inspect alignment results.
Data points from all sensors should now be aligned to the alignment target surface. The base of the
alignment target (or target surface) provides the origin for the system Z axis.
Clearing Alignment
Alignment can be cleared to revert the sensor to sensor coordinates.
To clear alignment:
1.
Go to the Scan page.
2.
Choose Range or Profile mode in the Scan Mode panel, depending on the type of measurement whose
decision you need to configure.
If one of these modes is not selected, tools will not be available in the Measure panel.
3.
Expand the Alignment panel by clicking on the panel header or the
4.
Click the Clear Alignment button.
button.
The alignment will be erased and sensors will revert to using sensor coordinates.
Filters
Filters are used to post-process scan data along the X or Y axis to remove noise or clean it up before it is
output or is used by measurement tools.
In some situations, such as when Uniform Spacing is disabled or when a sensor does not support
filters, the filters panel is not displayed.
The following types of filters are supported:
Filter
Description
Gap Filling
Fills in missing data caused by occlusions using information from the nearest neighbors.
Gap filling also fills gaps where no data is detected, which can be due to the surface
reflectivity, for example dark or specular surface areas, or to actual gaps in the surface.
Median
Substitutes the value of a data point with the median within a specified window around
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Filter
Description
the data point.
Smoothing
Applies moving window averaging to reduce random noise.
Decimation
Reduces the number of data points.
Slope
Useful for measuring high-frequency height changes when they are surrounded by lower
frequency changes on the surface.
Filters are applied in the order displayed in the table above. The filters are configured in the Filters panel
on the Scan page.
Median
The Median filter substitutes the value of a data point with the median calculated within a specified
window around the data point.
In Profile mode, gap filling is limited to the X axis. In Range mode, the filter is limited to the Y axis
(direction of travel).
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 Range mode in the Scan Mode panel.
If this mode is not selected, you will not be able to configure the median filter.
3.
Expand the Filters panel by clicking on the panel header or the
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.
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.
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Smoothing
Smoothing works by substituting a data point value with the average value of that data point and its
nearest neighbors within a specified window. Smoothing can be applied along the X axis or the Y axis. X
smoothing works by calculating a moving average across samples within the same profile. Y smoothing
works by calculating a moving average in the direction of travel at each X location.
In Profile mode, gap filling is limited to the X axis. In Range mode, the filter is limited to the Y axis
(direction of travel).
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 Range 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
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.
button.
.
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, only points every .2
millimeters will be used.
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In Profile mode, gap filling is limited to the X axis. In Range mode, the filter is limited to the Y axis
(direction of travel).
To configure X or Y decimation:
1.
Go to the Scan page.
2.
Choose Range mode in the Scan Mode panel.
If this mode is not selected, you will not be able to configure the decimation filter.
3.
Expand the Filters panel by clicking on the panel header or the
4.
Click on the Decimation tab.
5.
Enable the X or Y setting and select the decimation window value.
6.
Save the job in the Toolbar by clicking the Save button
7.
Check that the laser profiling is satisfactory.
button.
.
Slope
Slope modifies profile data in way that emphasizes high-frequency height changes when they are
surrounded by lower frequency changes on the surface. You can use the filter, for example, to easily
measure the position of edges on a wavy surface.
An example is a generated profile that looks like this:
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In the top profile (no filter applied), the second feature would be missed by a Position Z measurement,
because the feature has moved beyond the region of interest defined for the measurement. When the
filter is applied, the profile around the features is "evened out"—even though the overall height is
greater than the features that must be detected—and the more abrupt changes of the features are
emphasized. As a result, the position of the features can easily be measured.
The filter can be used in both Range and Profile mode.
Profile Generation
The sensor can generate a profile by combining a series of ranges gathered along the direction of travel.
The sensor uses different methods to generate the data, depending on the needs of the application.
Data generation is configured in the Profile Generation panel on the Scan page.
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The types in the table below correspond to the Type setting in the panel.
When Type is set to Continuous, part detection is automatically enabled. When Type is set to
any of the other settings, part detection can be enabled and disabled in the Part Detection
panel. For descriptions of the settings that control part detection logic, Part Detection on page
115.
Continuous: The sensor
continuously generates profiles of
parts that are detected under the
sensor. This type is typically used
when the transport system
continuously feeds material or
parts under a sensor. The materials
have a distinguishable start and
stop edge, such as in when
detecting wane (the curved part on
boards cut from logs that must be
removed).
Fixed Length: The sensor
generates profiles of a fixed length
(in mm) using the value in the
Length setting. Like Continuous
mode, Fixed Length mode is used
when material or parts
continuously pass under the
sensor. Unlike Continuous mode,
parts/material do not have
distinguishable start and stop edge.
Examples include measuring height
characteristics of rubber extrusions
or road roughness calculations.
For correct length measurement,
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you should ensure that motion is
calibrated (that is, encoder
resolution for encoder triggers or
travel speed time triggers).
Two types of start triggers are
available:
o
Sequential: Continuously
generates back-to-back fixed
length profiles.
o
External Input: A pulse on the
digital input triggers the
generation of a single profile of
fixed length.
For more information on
connecting external input to a
Gocator sensor, see Digital Input on
page 431.
You can optionally enable part
detection to process the profile
after it has been generated, but the
generation itself does not depend
on the detection logic. To do this,
check Enabled in the Part
Detection panel.
Variable Length: The sensor
generates profiles of variable length
while the external digital input is
held high. If the value of the Max
Length setting is reached while
external input is still high, the next
profile starts immediately. This
mode is typically used in robotmounted applications, for example,
measuring the lengths of different
parts on an engine block.
For correct length measurement,
you should ensure that motion is
calibrated (i.e., encoder resolution
for encoder triggers or travel speed
for time triggers).
For more information on
connecting external input to a
Gocator sensor, see Digital Input on
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page 431.
You can optionally enable part
detection to process the profile
after it has been generated, but the
generation itself does not depend
on the detection logic. To do this,
check Enabled in the Part
Detection panel.
Rotational: The sensor reorders
ranges within a profile to be aligned
with the encoder’s index pulse so
that the system knows when a full
rotation has completed. That is,
regardless of the radial position the
sensor is started at, the generated
profile always starts at the position
of the index pulse. If the index
pulse is not detected and the
rotation circumference is met, the
profile is dropped and the Encoder
Index Drop indicator will be
incremented. This mode is typically
used in applications where
measurements of circular objects or
shafts need to be taken, such as tire
tread inspection, or label
positioning on bottles.
To scan exactly one
revolution of a circular
target without knowing
the circumference,
manually set the encoder
resolution (page 78) to 1,
the encoder trigger
spacing (page 88) to
(number of encoder ticks
per revolution) / (number
of desired profiles per
revolution), and Encoder
Resolution in the Profile
Generation panel to the
number of encoder ticks
per revolution.
You can optionally enable part
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detection to process the profile
after it has been generated, but the
generation itself does not depend
on the detection logic. To do this,
check Enabled in the Part
Detection panel.
To configure profile generation:
1.
Go to the Scan page and choose Profile in the Scan Mode panel.
If this mode is not selected, you will not be able to configure surface generation.
2.
Expand the Profile Generation panel by clicking on the panel header or the
3.
Choose an option from the Type drop-down and any additional settings.
button.
See the types and their settings described above.
Part Detection
In Profile mode, the Gocator sensor can analyze profiles created by combining range values to identify
discrete objects.
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
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Setting
Description
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 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 Length
Determines the amount of extra data on the Y axis from the surface surrounding the
detected part that will be included. This is mostly useful when processing part data with
third-party software such as HexSight, Halcon, etc.
Min Part Length
Determines the minimum length of the part object.
Max Part Length
Determines the maximum length of the part object. When the object exceeds the
maximum length, it is automatically separated into two parts. This is useful to break a
long object into multiple sections and perform measurements on each section.
Frame of Reference
Determines the coordinate reference for surface measurements. When Profile
Generation is set to Continuous, only Part is available. See Profile Generation on page
111 for more information.
Sensor
When Frame of Reference is set to Sensor, the sensor's frame of reference is used.
The way the sensor's frame of reference is defined changes depending on the profile
generation Type setting (Profile Generation on page 111 and for more information):
l
When parts are segmented from a continuous surface (the profile generation Type
setting is set to Continuous), measurement values are relative to a Y origin at the
center of the part (the same as for Part frame of reference; see below).
l
When parts are segmented from other types of profiles (the profile generation Type
setting is set to Fixed Length, Variable Length, or Rotational ), measurement
values are relative to a Y origin at the center of the surface from which the part is
segmented.
Part
When Frame of Reference is set to Part, all measurements are relative to the center of
the bounding box of the part.
To set up part detection:
1.
Go to the Scan page and choose Profile in the Scan Mode panel.
If this mode is not selected, you will not be able to configure part detection.
2.
Expand the Part Detection panel by clicking on the panel header or the
3.
If necessary, check the Enabled option.
button.
When Profile Generation is set to Continuous, part detection is always enabled.
4.
Adjust the settings.
See the part detection parameters above for more information.
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Data Viewer
The data viewer can display video images, ranges, profiles, and intensity images. It is also used to
configure the active area (Active Area on page 95) and measurement tools (see Measurement on page
123). The data viewer changes depending on the current operation mode and the panel that has been
selected.
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 when viewing generated profiles.
Press the 'F' key when the cursor is in the data viewer to switch to full screen. Press Esc to exit full screen.
When the sensor is in Profile mode, or in Surface mode when a section is displayed, a safety goggle mode
button ( ) is available in the data viewer. Enabling this mode changes some colors to ensure that
profiles are visible in the data viewer when wearing laser safety goggles.
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Video Mode
In Video mode, the data viewer displays a camera image. In a dual-sensor system, camera images from
the Main or the Buddy sensor can be displayed. In this mode, you can configure the data viewer to
display exposure, spot, and dropout information that can be useful in properly setting up the system for
scanning.
Spots and Dropouts
Various settings can affect how the Material settings behave. In Video mode, you can examine how the
Material settings are affected. To do this, in Video mode, check the Show Spots option at the top of
the data viewer to overlay a representation of the spot in the data viewer.
In the image below, the white and gray squares represent the laser point as it appears on the camera
sensor. The spot (which represents the center of the laser point on the camera sensor) is displayed as a
red "x" symbol. A dropout would be displayed as a yellow dot.
To show data dropouts:
1.
Go to the Scan page and choose Video mode in the Scan Mode panel.
2.
check the Show Dropouts option at the top of the data viewer.
For more information on the material settings, see Advanced on page 101.
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Range Mode
When the Gocator is in Range scan mode, the data viewer displays range, intensity, and measurement
information as numerical values and bars. Color is used to indicate pass / fail in the case of measurement
decisions.
The Range value indicates where along the measurement range that the target falls. The bars indicate
how close the target is to the near end (more bars, farther to the right) or the far end (fewer bars, farther
to the left) of the measurement range. In the image below, the bars indicate that at 45.773 mm, the
target is close to the near end of the measurement range of that sensor.
The Intensity value is on a scale of 0 to 255 and indicates the intensity at the laser point. The bars
provide a graphical representation of this value. The Acquire Intensity option must be enabled in the
Scan Mode panel for the Intensity value and bar to be displayed.
The Measurement value indicates the measured value of the target. If the measured value falls between
the Min and Max decision values (a pass decision), the measurement and bars are green. The bars
indicate graphically where, between the Min and Max decision values, the measured value falls. If the
measured value falls outside the Min and Max decision values (a fail decision), the measurement is red
and no bars are displayed. If the measurement is invalid, a "---" indicator is displayed instead of a value,
and the bars and this indicator are red.
In a dual-sensor system, the sensor used to display ranges can be selected.
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To manually select the display view in the Scan page:
1.
Go to the Scan page and choose Range mode in the Scan Mode panel.
2.
Select the view in the data viewer.
When the Measure page is active, the view of the display is set to the range source of the selected
measurement tool (Measurement on page 123).
Profile Mode
When the Gocator is in Profile scan mode, the data viewer displays profile plots.
In a dual-sensor system, profiles from individual sensors or from a combined view can be displayed.
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When in the Scan page, selecting a panel (e.g., Sensor or Alignment panel) automatically sets the
display to the most appropriate display view.
To manually select the display view in the Scan page:
1.
Go to the Scan page.
2.
Choose Profile mode in the Scan Mode panel.
3.
Select the view.
Top: View from a single sensor, from the top sensor in an opposite-layout dual-sensor system, or the
combined view of sensors in the top position.
Bottom: View from the bottom sensor in an opposite-layout dual-sensor system.
Left: View from the left sensor in a dual-sensor system.
Right: View from the right sensor in a dual-sensor system.
Left & Right: In a dual-sensor system, views from both sensors, displayed at the same time in the data
viewer, using the coordinate systems of each sensor.
In the Measure page, the view of the display is set to the profile source of the selected measurement
tool.
Region Definition
Regions, such as an active area or a measurement region, can be graphically set up using the data viewer.
When the Scan page is active, the data viewer can be used to graphically configure the active area. The
Active Area setting can also be configured manually by entering values into its fields and is found in the
Sensor panel (see Sensor on page 95.
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To set up a region of interest:
1.
Move the mouse cursor to the rectangle.
The rectangle is automatically displayed when a setup or measurement requires an area to be
specified.
2.
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 data that measure the amount of light reflected by an object. An
8-bit intensity value is output for each range value.
To display intensity data, click the Intensity button (
).
To be able to display intensity data, you must enabled Acquire Intensity in the Scan Mode
panel.
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Measurement
The following sections describe Gocator's tools and measurements.
Measure Page Overview
Measurement tools are added and configured in the Measure page.
The content of the Tools panel in the Measure page depends on the current scan mode. In Range
mode, the Measure page displays tools for range measurement.In Profile mode, the Measure page
displays tools for profile measurement. In Video mode, tools are not accessible.
1
Element
Description
Tools panel
Used to add, manage, and configure tools and measurements (see Tools Panel on the
next page).
2
Data Viewer
Displays video and scan data, sets up tools, and displays result calipers related to the
selected measurement.
See Data Viewer below.
Data Viewer
When the Measure page is active, the data viewer can be used to graphically configure measurement
regions. Measurement regions can also be configured manually in measurements by entering values into
the provided fields (see Regions on page 125).
For information on controls in the data viewer, see Data Viewer Controls on page 117.
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For instructions on how to set up measurement regions graphically, Region Definition on page 121.
Tools Panel
The Tools panel lets you add, configure, and manage measurement tools. Tools contain related
measurements.
Some settings apply to tools, and therefore to all measurements; these settings are found in the
Parameters tab below the list of tools. Other settings apply to specific measurements, and are found in
a Parameters tab below the list of measurements; not all measurements have parameters.
See Range Measurement on page 140 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 "Range Position" in the user interface, but simply "Position" in the manual.
Adding and Configuring a Measurement Tool
Adding a tool adds all of the tool's measurements to the Tools panel. You can then enable and configure
the measurements selectively.
To add and configure a tool:
1.
Go to the Scan page by clicking on the Scan icon.
2.
Choose Range or Profile mode in the Scan Mode panel.
If one of these modes 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 are added to the tool list. The tool parameters are listed in the
area below the tool list.
6.
(Optional) If you are running a dual-sensor system, choose the sensor that will provide data to the
measurement tool in Source.
For more information on sources, see Source on the next page.
7.
Select a measurement at the bottom of the tool panel.
8.
Set any tool- or measurement-specific settings.
For tool- and measurement-specific settings, see the topics for the individual range or profile tools.
9.
Set the Min and Max decision values.
For more information on decisions, see Decisions on page 131.
10. (Optional) Set one or more filters.
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For more information on filters, see Filters on page 133.
11. (Optional) Set up anchoring.
For more information on anchoring, see Measurement Anchoring on page 134.
Source
For dual-sensor systems, you must specify which sensor, or combination of sensors, provides data for a
measurement tool.
The Source setting applies to all of a tool's measurements.
Depending on the layout you have selected, the Source drop-down will display one of the following (or a
combination). For more information on layouts, see Layout on page 73.
Setting
Description
Top
The Main sensor in a standalone system.
In a dual-sensor system, refers to the Main sensor in Opposite layout, or to the combined
data from both the Main and Buddy sensors.
Bottom
The Buddy sensor in Opposite layout in a dual-sensor system.
Top & Bottom
In a dual-sensor system, refers to the combined data from the Main and Buddy sensor.
Top Left
Refers to a Main sensor in Wide layout or to a Buddy sensor in Reverse layout in a dualsensor system.
Top Right
Refers to a Buddy sensor in Wide layout or to a Main sensor in Reverse layout in a dualsensor system.
To select the source:
1.
Go to the Measure page by clicking on the Measure icon.
The scan mode must be set to the type of measurement you need to configure.
Otherwise, the wrong tools, or no tools, will be listed on the Measure page.
2.
In the Tools panel, click on a tool in the tool list.
3.
If it is not already selected, click on the Parameter tab in the tool configuration area.
4.
Select the profile source in the Source drop-down list.
Regions
Many measurement tools use user-defined regions to limit the area in which measurements occur .
Unlike reducing the active area, reducing the measurement region does not increase the maximum
frame rate of the sensor.
You can disable regions entirely and cause the measurement tool uses the entire active area by
unchecking the checkbox next to the Regions setting.
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All tools provide region settings under the upper Parameters tab. This region applies to all of a tool's
measurements.
Region settings are often found within expandable feature sections in the tool's panel.
To configure regions:
1.
Go to the Measure page by clicking on the Measure icon.
The scan mode must be set to the type of measurement you need to configure.
Otherwise, the wrong tools, or no tools, will be listed on the Measure page.
2.
In the Tools panel, click on a tool in the tool list.
3.
Configure the region using the mouse in the data viewer.
You can also configure regions manually by clicking the expand button (
fields. This is useful if you need to set precise values.
) and entering values in the
The measurement region of some tools can be rotated by setting the region's Z Angle to better
accommodate features that are on an angle on a target. By rotating the measurement region, data not
related to the feature can often be excluded, improving accuracy of measurements.
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To rotate measurement regions:
1.
Determine the length and width of the region that will be required once it is rotated.
2.
Expand the Region setting and then set a value in Z Angle.
The region rotates clockwise around the Z axis relative to the X axis.
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Once the region has been rotated, you cannot modify it in the data viewer using the mouse. You can
however modify its dimensions and its location manually by changing the region's values in the Region
setting.
Feature Points
Dimensional and positional measurements detect feature points found within the defined measurement
region and then compare measurement values taken at the selected point with minimum and maximum
thresholds to produce a decision. Feature points are selected in one or more Feature dropdowns in a
tool and are used for all of the tool's measurements.
The following types of points can be identified in a measurement region.
Point Type
Examples
Max Z
Finds the point with the maximum Z value in the region of
interest.
Min Z
Finds the point with the minimum Z value in the region of
interest.
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Point Type
Examples
Min X
Finds the point with the minimum X value in the region of
interest.
Max X
Finds the point with the maximum X value in the region of
interest.
Average
Determines the average location of points in the region of
interest.
Corner
Finds a dominant corner in the region of interest, where corner
is defined as a change in profile slope.
Top Corner
Finds the top-most corner in the region of interest, where corner
is defined as a change in profile shape.
Bottom Corner
Finds the bottom-most corner in the region of interest, where
corner is defined as a change in profile shape.
Left Corner
Finds the left-most corner in the region of interest, where corner
is defined as a change in profile shape.
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Point Type
Examples
Right Corner
Finds the right-most corner in the region of interest, where
corner is defined as a change in profile shape.
Rising Edge
Finds a rising edge in the region of interest (moving from left to
right).
Falling Edge
Finds a falling edge in the region of interest (moving from left to
right).
Any Edge
Finds a rising or falling edge in the region of interest.
Median
Determines the median location of points in the region of
interest.
Fit Lines
Some measurements involve estimating lines in order to measure angles or intersection points. A fit line
can be calculated using data from either one or two fit areas.
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A line can be defined using one or two areas. Two areas can be used to bypass discontinuity in a line
segment.
Geometric Features
Many Profile tools can output features that Feature tools can take as input to produce measurements.
These features are called geometric features. Feature tools use these entities to produce measurements
based on more complex geometry. (For more information on Feature tools, see Feature Measurement
on page 178.)
Gocator’s measurement tools can currently generate the following kinds of geometric features:
Points: A 2D point. Can be used for point-to-point or point-to-line measurements.
Lines: A straight line that is infinitely long. Useful for locating the orientation of an enclosure or part, or
to intersect with another line to form a reference point that can be consumed by a Feature tool.
The following tables list Gocator’s measurement tools and the geometric features they can generate:
Geometric features generated by Profile tools
Point
Center
Point
Intersect
Line
Corner
Error Min Error Max Point
Line
Base
X
X
Point
Tool
Area
X
Bounding
X
X
Box
Circle
X
Dimension
Groove
Intersect
X
Line
X
X
X
Panel
Position
X
Round
Corner
Strip
The Feature Intersect tool can also produce an intersect point. Script tools do not currently take
geometric features as input.
Decisions
Results from a measurement can be compared against minimum and maximum thresholds to generate
pass / fail decisions. The decision state is pass if a measurement value is between the minimum and
maximum threshold. In the data viewer and next to the measurement, these values are displayed in
green. Otherwise, the decision state is fail. In the user interface, these values are displayed in red.
All measurements provide decision settings under the Output tab.
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Value (5.736) within decision thresholds (Min: 5, Max: 6). Decision: Pass
Value (-13.880) outside decision thresholds (Min: -13, Max: -12). Decision: Fail
Along with measurement values, decisions can be sent to external programs and devices. In particular,
decisions are often used with digital outputs to trigger an external event in response to a measurement.
See Output on page 188 for more information on transmitting values and decisions.
To configure decisions:
1.
Go to the Measure page by clicking on the Measure icon.
The scan mode must be set to the type of measurement you need to configure.
Otherwise, the wrong tools, or no tools, will be listed on the Measure page.
2.
In the Tools panel, click on a tool in the tool list.
3.
In the measurement list, select a measurement.
To select a measurement, it must be enabled. See Enabling and Disabling Measurements on page 136
for instructions on how to enable a measurement.
4.
Click on the Output tab.
For some measurements, only the Output tab is displayed.
5.
Enter values in the Min and Max fields.
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Filters
Filters can be applied to measurement values before they are output from the Gocator sensors.
All measurements provide filter settings under the Output tab. The following settings are available.
Filter
Description
Scale and Offset
The Scale and Offset settings are applied to a measurement value according to the following
formula:
Scale * Value + Offset
Scale and Offset can be used to transform the output without the need to write a script. For
example, to convert the measurement value from millimeters to thousands of an inch, set
Scale to 39.37. To convert from radius to diameter, set Scale to 2.
For more information on scripts, see Scripts on page 182.
Hold Last Valid
Holds the last valid value when the measurement is invalid.
Smoothing
Averages the valid measurements in the number of preceding frames specified in Samples.
Use this to reduce the impact of random noise on a measurement's output.
If Hold Last Valid is enabled, the smoothing filter uses the last valid measurement value
until a valid value is encountered.
Preserve Invalid
When enabled, smoothing is only applied to valid measurements and not to invalid results:
invalid results are not modified and are sent to output as is.
When disabled, smoothing is applied to both valid and invalid results. (This setting is only
visible when Smoothing is enabled.)
If Hold Last Valid is enabled, results will always be valid, in which case this setting does
nothing.
To configure the filters:
1.
Go to the Measure page by clicking on the Measure icon.
The scan mode must be set to the type of measurement you need to configure.
Otherwise, the wrong tools, or no tools, will be listed on the Measure page.
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2.
In the Tools panel, click on a tool in the tool list.
3.
In the measurement list, select a measurement.
To select a measurement, it must be enabled. See Enabling and Disabling Measurements on page 136
for instructions on how to enable a measurement.
4.
Click on the Output tab.
For some measurements, only the Output tab is displayed.
5.
Expand the Filters panel by clicking on the panel header or the
6.
Configure the filters.
button.
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
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.
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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 or Z measurement can be used as an anchor for a tool.
Several anchors can be created to run in parallel. For example, you could anchor some measurements
relative to the left edge of a target at the same time as some other measurements are anchored relative
to the right edge of a target.
To anchor a profile tool to a measurement:
1.
Place a representative target object in the field of view.
In Profile mode
a. Use the Start or Snapshot button to view live profile data to help position the target.
2.
On the Measure page, add a suitable tool to act as an anchor.
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A suitable tool is one that returns an X, Y, or Z position as a measurement value.
3.
Adjust the anchoring tool's settings and measurement region.
You can adjust the measurement region graphically in the data viewer or manually by expanding the
Regions area.
The position and size of the anchoring tool’s measurement regions define the zone within which
movement will be tracked.
See Feature Points on page 128 for more information on feature types.
4.
Add the tool that you want to anchor.
Any tool can be anchored.
5.
Adjust the tool and measurement settings, as well as the measurement regions, on a scan of the
representative target.
6.
Click on the tool's Anchoring tab.
7.
Choose an anchor from one of the drop-down boxes.
If the sensor is running, the anchored tool’s measurement regions are shown in white to indicate the
regions are locked to the anchor. The measurement regions of anchored tools cannot be adjusted.
The anchored tool’s measurement regions are now tracked and will move with the target’s position
under the sensor, as long as the anchoring measurement produces a valid measurement value. If the
anchoring measurement is invalid, for example, if part moves outside its measurement region, the
anchored tool will not show the measurement regions at all and an “Invalid-Anchor” message will be
displayed in the tool panel.
8.
Verify that the anchored tool works correctly on other scans of targets in which the part has moved
slightly.
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.
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.
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To enable a measurement:
1.
Go to the Scan page by clicking on the Scan icon.
2.
Choose Range mode in the Scan Mode panel.
If this mode is not selected, tools will not be available in the Measure panel.
3.
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 Range 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 change the names of tools you add in Gocator. You can also change the names of their
measurements. This allows multiple instances of tools and measurements of the same type to be more
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easily distinguished in the Gocator web interface. The measurement name is also referenced by the
Script tool.
To change a tool or measurement name:
1.
Go to the Scan page by clicking on the Scan icon.
2.
Choose Range mode in the Scan Mode panel.
If this mode is not selected, tools will not be available in the Measure panel.
3.
Go to the Measure page by clicking on the Measure icon.
4.
Do one of the following:
l
Tool: In the tool list, double-click the tool name you want to change
l
Measurement: In a tool's measurement list, double-click the measurement name you want to
change.
5.
Type a new name.
6.
Press the Tab or Enter key, or click outside the field.
The name 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 Range 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 136
for instructions on how to enable a measurement.
5.
Click in the ID field.
6.
Type a new ID number.
The value must be unique among all measurements.
7.
Press the Tab or Enter key, or click outside the ID field.
The measurement ID will be changed.
Duplicating a Tool
You can quickly create a copy of a previously added tool in Gocator. All settings of the original are
copied. This is useful, for example, when you need almost identical tools with only minor variations, such
as different Min and Max values.
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To duplicate a tool:
1.
Go to the Scan page by clicking on the Scan icon.
2.
Choose Range or Profile mode in the Scan Mode panel.
If one of these modes 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 the Duplicate button (
) of the tool you want to duplicate.
A copy of the tool appears below the original.
5.
Configure the copy as desired and rename it if necessary.
For information on renaming a tool, see Editing a Tool or Measurement Name on page 137.
Removing a Tool
Removing a tool removes all of its associated measurements.
To remove a tool:
1.
Go to the Scan page by clicking on the Scan icon.
2.
Choose Range or Profile mode in the Scan Mode panel.
If this modeone of these modes is not selected, tools will not be available in the Measure panel.
3.
Go to the Measure page by clicking on the Measure icon.
4.
In the tool list, click on the Duplicate button (
) of the tool you want to duplicate.
A copy of the tool appears below the original.
Reordering Tools
When you add or duplicate a tool, the tool is added to the bottom of the list in the Tools panel. You can
reorder tools in the web interface to organize tools more logically. For example, you could group tools
that output geometric features with the tools that use them. Or you could group tools you use as
anchors with the tools that use those anchors.
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Range Measurement
This section describes the range measurement tools available in the Gocator sensors.
Position
The Position tool finds the Z axis position of the laser range. Gocator compares the measurement value
with the values in Min and Max to yield a decision. For more information on decisions, see Decisions on
page 131.
Measurements and Settings
Measurements
Measurement
Illustration
Position Z
Determines the Z axis position of the laser range.
Parameters
Parameter
Description
Source
The sensor, or combination of sensors, that provides data
for the tool's measurements. For more information, see
Source on page 125.
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Parameter
Description
Filters
The filters that are applied to measurement values before
they are output. For more information, see Filters on page
133.
Decision
The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on page
131.
Thickness
The Thickness tool determines the difference along the Z axis between two laser ranges. Gocator
compares the measurement value with the values in Min and Max to yield a decision. For more
information on decisions, see Decisions on page 131.
The difference can be expressed as an absolute or signed result. The difference is calculated by:
Thickness = Range
Main
- Range
Buddy
Measurements and Settings
Measurements
Measurement
Illustration
Thickness
Determines the difference (thickness) along the Z axis
between two laser ranges.
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Parameters
Parameter
Description
Source
The sensor, or combination of sensors, that provides data
for the tool's measurements. For more information, see
Source on page 125.
Absolute
Check the Absolute option to select absolute result
Filters
The filters that are applied to measurement values before
they are output. For more information, see Filters on page
133.
Decision
The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on page
131.
Script
A Script measurement can be used to program a custom measurement using a simplified C-based
syntax. A script measurement can produce multiple measurement values and decisions for the output.
See Adding and Configuring a Measurement Tool on page 124 for instructions on how to add
measurement tools.
See Scripts on page 182 for more information on scripts.
See Scripts on page 182 for more information on the script syntax.
To create or edit a Script measurement:
1.
Add a new Script tool or select an existing Script measurement.
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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
4.
Click the Save button
button next to it.
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 data is not. (The script engine is not powerful enough to process the data
itself.) Only one script can be created.
Profile Measurement
This section describes the profile measurement tools available in Gocator sensors.
Area
The Area tool determines the cross-sectional area within a region. Gocator compares the measurement
value with the values in Min and Max to yield a decision. For more information on decisions, see
Decisions on page 131.
All tools can use the measurements of other tools as anchors, to improve reliability and repeatability; for
more information, see Measurement Anchoring on page 134.
See Adding and Configuring a Measurement Tool on page 124 for instructions on how to add
measurement tools.
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Areas are positive in regions where the profile is above the X axis. In contrast, areas are negative in
regions where the profile is below the X axis.
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Measurements, Features, and Settings
Measurements
Measurement
Illustration
Area
Measures the cross-sectional area within a region that is
above or below a fitted baseline.
Centroid X
Determines the X position of the centroid of the area.
Centroid Z
Determines the Z position of the centroid of the area.
Features
Type
Description
Center Point
The center point of the area.
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For more information on geometric features, see Geometric Features on page 131.
Parameters
Parameter
Description
Source
The sensor, or combination of sensors, that provides data
for the tool's measurements. For more information, see
Source on page 125.
Type
Object area type is for convex shapes above the baseline.
Regions below the baseline are ignored.
Clearance area type is for concave shapes below the
baseline. Regions above the baseline are ignored.
Baseline
Baseline is the fit line that represents the line above which
(Object clearance type) or below which (Clearance area type)
the cross-sectional area is measured.
When this parameter is set to Line, you must define a line
in the Line parameter. See Fit Lines on page 130 for more
information on fit lines.
When this parameter is set to X-Axis, the baseline is set to z
= 0.
Region
The region to which the tool's measurements will apply. For
more information, see Regions on page 125.
Line
When Baseline (see above) is set to Line, set this to one of
the following:
1 Region or 2 Regions: Lets you set one or two regions
whose data the tool will use to fit a line.
All Data: The tool uses all of the data in the active area.
For more information on regions, see Regions on page 125).
For more information on fit lines, see Fit Lines on page 130.
Filters
The filters that are applied to measurement values before
they are output. For more information, see Filters on page
133.
Decision
The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on page
131.
Anchoring
Anchor
Description
X or Z
Lets you choose the X or Z measurement of another tool to
use as a positional anchor for this tool.
A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.
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For more information on anchoring, see Measurement Anchoring on page 134.
Bounding Box
The Bounding Box tool provides measurements related to the smallest box that contains the profile (for
example, X position, Z position, width, etc.).
Gocator compares the measurement value with the values in Min and Max to yield a decision. For more
information on decisions, see Decisions on page 131.
See Adding and Configuring a Measurement Tool on page 124 for instructions on how to add
measurement tools.
The bounding box provides the absolute position from which the Position centroids tools are
referenced.
When you use measurement tools on parts, the coordinates returned are relative to the part.
You can use the values returned by the Bounding Box tool's "Global" (see below) measurements
as an offset in a Gocator script to convert the positional (X or Z) measurements of other
measurement tools to sensor or system coordinates (depending on whether the sensor is
aligned). For more information on Gocator scripts, see See Scripts on page 182.
Measurement Panel
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Measurements, Features, and Settings
Measurements
Measurement
Illustration
X
Determines the X position of the center of the bounding
box that contains the profile.
The value returned is relative to the profile.
Z
Determines the Z position of the center of the bounding
box that contains the profile.
The value returned is relative to the profile.
Width
Determines the width of the bounding box that contains
the profile. The width reports the dimension of the box in
the direction of the minor axis.
Height
Determines the height (thickness) of the bounding box that
contains the profile.
Global X*
This measurement is not intended for use with Gocator
1300 sensors.
Global Y*
This measurement is not intended for use with Gocator
1300 sensors.
Global Angle*
This measurement is not intended for use with Gocator
1300 sensors.
Features
Type
Description
Center Point
The center point of the bounding box.
Corner Point
The lower left corner of the bounding box.
For more information on geometric features, see Geometric Features on page 131.
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Parameters
Parameter
Description
Source
The sensor, or combination of sensors, that provides data
for the tool's measurements. For more information, see
Source on page 125.
Region
The region to which the tool's measurements will apply. For
more information, see Regions on page 125.
Filters
The filters that are applied to measurement values before
they are output. For more information, see Filters on page
133.
Decision
The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on page
131.
Anchoring
Anchor
Description
X or Z
Lets you choose the X or Z measurement of another tool to
use as a positional anchor for this tool.
A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.
For more information on anchoring, see Measurement Anchoring on page 134.
Circle
The Circle tool provides measurements that find the best-fitted circle to a profile and measure various
characteristics of the circle. Gocator compares the measurement value with the values in Min and Max
to yield a decision. For more information on decisions, see Decisions on page 131.
See Adding and Configuring a Measurement Tool on page 124 for instructions on how to add
measurement tools.
The tool may be unable to fit a circle to the profile when attempting the fit on a small number of
relatively collinear data points.
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Measurements, Features, and Settings
Measurements
Measurement
Illustration
Radius
Measures the radius of the circle.
X
Finds the circle center position in the X axis.
Z
Finds the circle center position in the Z axis.
Features
Type
Description
Center Point
The center point of the fitted circle.
For more information on geometric features, see Geometric Features on page 131.
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Parameters
Parameter
Description
Source
The sensor, or combination of sensors, that provides data
for the tool's measurements. For more information, see
Source on page 125.
Region
The region to which the tool's measurements will apply. For
more information, see Regions on page 125.
Filters
The filters that are applied to measurement values before
they are output. For more information, see Filters on page
133.
Decision
The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on page
131.
Anchoring
Anchor
Description
X or Z
Lets you choose the X or Z measurement of another tool to
use as a positional anchor for this tool.
A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.
For more information on anchoring, see Measurement Anchoring on page 134.
Dimension
The Dimension tool provides Width, Height, Distance, Center X, and Center Z measurements.
See Adding and Configuring a Measurement Tool on page 124 for instructions on how to add
measurement tools.
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The tool's measurements require two feature points. See Feature Points on page 128 for information on
point types and how to configure them.
Measurements
Measurement
Illustration
Width
Determines the difference along the X axis between two
feature points.
The difference can be calculated as an absolute or signed
result. The difference is calculated by:
Width = Feature 2
X position
– Feature 1
X position
Height
Determines the difference along the Z axis between two
feature points.
The difference can be expressed as an absolute or signed
result. The difference is calculated by:
Height = Feature 2
Z position
– Feature 1
Z position
Distance
Determines the direct, Euclidean distance between two
feature points.
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Measurement
Illustration
Center X
Finds the average location of two features and measures
the X axis position of the average location
Center Z
Finds the average location of two features and measures
the Z axis position of the average location.
Parameters
Parameter
Description
Source
The sensor, or combination of sensors, that provides data
for the tool's measurements. For more information, see
Source on page 125.
Feature 1
The Feature 1 and Feature 2 settings represent the two
Feature 2
features the tool uses to perform measurements. For each,
one of the following:
l
l
l
l
l
l
l
l
l
l
l
l
l
l
Max Z
Min Z
Max X
Min X
Corner
Average
Rising Edge
Falling Edge
Any Edge
Top Corner
Bottom Corner
Left Corner
Right Corner
Median
To set the region of a feature, adjust it graphically in the
data viewer, or expand the feature using the expand
button (
) and enter the values in the fields. For more
information on regions, see Regions on page 125.
Absolute
Determines if the result will be expressed as an absolute or
(Width and Height measurements only)
a signed value.
Filters
The filters that are applied to measurement values before
they are output. For more information, see Filters on page
133.
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Parameter
Description
Decision
The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on page
131.
Anchoring
Anchor
Description
X or Z
Lets you choose the X or Z measurement of another tool to
use as a positional anchor for this tool.
A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.
For more information on anchoring, see Measurement Anchoring on page 134.
Groove
The Groove tool provides measurements of V-shape, U-shape, or open-shape grooves. Gocator
compares the measurement value with the values in Min and Max to yield a decision. For more
information on decisions, see Decisions on page 131.
See Adding and Configuring a Measurement Tool on page 124 for instructions on how to add
measurement tools.
The Groove tool uses a complex feature-locating algorithm to find a groove and then return
measurements. See "Groove Algorithm" in the Gocator Measurement Tool Technical Manual for a
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detailed explanation of the algorithm. The behavior of the algorithm can be adjusted by changing the
parameters in the measurement panel.
The Groove tool lets you add multiple measurements of the same type to receive measurements and set
decisions for multiple grooves. Multiple measurements are added by using the drop-down above the list
of measurements and clicking on the Add button.
For example, if a target has three grooves, by adding two measurements, choosing Index From The
Left in the Select Type setting of those measurements, and providing values of 0 and 2 in the Index
setting of the measurements, respectively, the Groove tool will return measurements and decisions for
the first and third grooves.
Measurements
Measurement
Illustration
Width
Measures the width of a groove.
Depth
Measures the depth of a groove as the maximum
perpendicular distance from a line connecting the edge
points of the groove.
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Measurement
Illustration
X
Measures the X position of the bottom of a groove.
Z
Measures the Z position of the bottom of a groove.
Parameters
Parameter
Description
Source
The sensor, or combination of sensors, that provides data for the tool's measurements. For
more information, see Source on page 125.
Shape
Shape of the groove
Min Depth
Minimum depth for a groove to be considered valid.
Min Width
Minimum width for a groove to be considered valid. The width is the distance between the
groove corners.
Max Width
Maximum width of a groove to be considered valid. If set to 0, the maximum is set to the width
of the measurement area.
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Parameter
Description
Region
The measurement region defines the region in which to search for the groove. For a stable
measurement, the measurement region should be made large enough to cover some laser data
on the left and right sides of the groove.
For more information on regions, see Regions on page 125.
Location
Specifies the location type to return
(Groove X and Groove Z
Bottom - Groove bottom. For a U-shape and open-shape groove, the X position is at the centroid
measurements only)
of the groove. For a V-shape groove, the X position is at the intersection of lines fitted to the left
and right sides of the groove. See algorithm section below for more details.
Left - Groove's left corner.
Right - Groove's right corner.
Select Type
Specifies how a groove is selected when there are multiple grooves within the measurement
area.
Maximum Depth - Groove with maximum depth.
Index from The Left - 0-based groove index, counting from left to right
Index from the Right - 0-based groove index, counting from right to left.
Index
0-based groove index.
Filters
The filters that are applied to measurement values before they are output. For more
information, see Filters on page 133.
Decision
The Max and Min settings define the range that determines whether the measurement tool
sends a pass or fail decision to the output. For more information, see Decisions on page 131.
Anchoring
Anchor
Description
X or Z
Lets you choose the X or Z measurement of another tool to
use as a positional anchor for this tool.
A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.
For more information on anchoring, see Measurement Anchoring on page 134.
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Intersect
The Intersect tool determines intersect points and angles. Gocator compares the measurement value
with the values in Min and Max to yield a decision. For more information on decisions, see Decisions on
page 131.
The Intersect tool's measurements require two fit lines, one of which is a reference line set to the X axis (z
= 0), the Z axis (x = 0), or a user-defined line.
See Adding and Configuring a Measurement Tool on page 124 for instructions on how to add
measurement tools.
Measurements, Features, and Settings
Measurements
Measurement
Illustration
X
Finds the intersection between two fitted lines and
measures the X axis position of the intersection point.
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Measurement
Illustration
Z
Finds the intersection between two fitted lines and
measures the Z axis position of the intersection point.
Angle
Finds the angle subtended by two fitted lines.
Features
Type
Description
Intersect Point
The point of intersection.
Line
The intersect line.
Base Line
The base line.
For more information on geometric features, see Geometric Features on page 131.
Parameters
Parameter
Description
Source
The sensor, or combination of sensors, that provides data
for the tool's measurements. For more information, see
Source on page 125.
Reference Type
Determines the type of the reference line.
X-Axis: The reference line is set to the X axis.
Z-Axis: The reference line is set to the Z axis
Line: The reference line is defined manually using the Ref
Line parameter. One or two regions can be used to define
the line.
Line
You can use one or two fit areas for the fit line. To set the
region (or regions) of the fit line, adjust it graphically in the
data viewer, or expand the feature using the expand
button (
) and enter the values in the fields. For more
information on regions, see Regions on page 125.
For more information on fit lines, see Fit Lines on page 130.
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Parameter
Description
Ref Line
Used to define the reference line when Line is selected in
the Reference Type parameter. To set the region (or regions)
of the reference line, adjust it graphically in the data viewer,
or expand the feature using the expand button (
) and
enter the values in the fields. For more information on
regions, see Regions on page 125.
For more information on fit lines, see Fit Lines on page 130.
Angle Range
Determines the angle range. The options are:
(Angle measurement only)
-90 – 90
0 – 180
Filters
The filters that are applied to measurement values before
they are output. For more information, see Filters on page
133.
Decision
The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on page
131.
Anchoring
Anchor
Description
X or Z
Lets you choose the X or Z measurement of another tool to
use as a positional anchor for this tool.
A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.
For more information on anchoring, see Measurement Anchoring on page 134.
Line
The Line tool fits a line to the live profile and measures the deviations from the best-fitted line. Gocator
compares the measurement value with the values in Min and Max to yield a decision. For more
information on decisions, see Decisions on page 131.
See Adding and Configuring a Measurement Tool on page 124 for instructions on how to add
measurement tools.
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Measurements, Features, and Settings
Measurements
Measurement
Illustration
Standard Deviation
Finds the best-fitted line and measures the standard
deviation of the laser points from the line.
Min Error
Finds the best-fitted line and measures the minimum error
from the line (the maximum distance below the line).
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Measurement
Illustration
Max Error
Finds the best-fitted line and measures the maximum error
from the line (the maximum distance above the line).
Percentile
Finds the best-fitted line and measures the range (in Z) that
covers a percentage of points around the line.
Offset
Finds the best-fitted line and returns the intersection point
between that line and the Z axis.
Angle
Finds the best-fitted line and returns the angle relative to
the X axis.
Min Error X
Min Error Z
Finds the best-fitted line and returns the X or Z position of
the minimum error from the line (the maximum distance
below the line).
Max Error X
Max Error Z
Finds the best-fitted line and returns the X or Z position of
the maximum error from the line (the maximum distance
above the line).
Features
Type
Description
Line
The fitted line.
Error Min Point
The point of minimum error.
Error Max Point
The point of maximum error.
For more information on geometric features, see Geometric Features on page 131.
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Parameters
Parameter
Description
Source
The sensor, or combination of sensors, that provides data
for the tool's measurements. For more information, see
Source on page 125.
Region
The region to which the tool's measurements will apply. For
more information, see Regions on page 125.
Fitting Regions
Determines which data Gocator uses to fit the line over the
profile.
When Fitting Regions is enabled, Gocator uses the data
indicated by one of the following options:
l
l
l
All Data: All of the data in the profile is used to fit the
line.
1 Region: Data from a fitting region you define in the
data viewer is used to fit the line.
2 Regions: Data from two fitting regions you define is
used to fit the line.
When Fitting Regions is disabled, to fit the line, Gocator
uses the measurement region if Region is enabled, or the
entire profile if Region is disabled.
When Fitting Regions is enabled and 1 Region or 2 Regions
is selected, you can set the region (or regions) graphically in
the data viewer, or you can expand the feature using the
expand button (
) and enter the values in the fields. For
more information on regions, see Regions on page 125.
Percent
The specified percentage of points around the best-fitted
(Percentile measurement only)
line.
Filters
The filters that are applied to measurement values before
they are output. For more information, see Filters on page
133.
Decision
The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on page
131.
Anchoring
Anchor
Description
X or Z
Lets you choose the X or Z measurement of another tool to
use as a positional anchor for this tool.
A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.
For more information on anchoring, see Measurement Anchoring on page 134.
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Panel
The Panel tool provides Gap and Flush measurements. Gocator compares the measurement value with
the values in Min and Max to yield a decision. For more information on decisions, see Decisions on page
131.
See Adding and Configuring a Measurement Tool on page 124 for instructions on how to add
measurement tools.
The Panel tool uses a complex feature-locating algorithm to find the gap or calculate flushness and
return measurements. The behavior of the algorithm can be adjusted by changing the parameters in the
measurement panel. See "Gap and Flush Algorithm" in the Gocator Measurement Tool Technical Manual
for a detailed explanation of the algorithm.
You must make sure that there are enough data points to define the edge in the profile, by
properly settng up exposure, etc. If not, the algorithm will not function.
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Measurements
Measurement
Illustration
Gap
Measures the distance between two surfaces. The surface
edges can be curved or sharp.
Flush
Measures the flushness between two surfaces. The surface
edges can be curved or sharp.
Left Gap X
Returns the X position of the edge feature on the left side
used to measure the gap.
Left Gap Z
Returns the Z position of the edge feature on the left side
used to measure the gap.
Left Flush X
Returns the X position of the feature on the left side used
to measure flushness.
Left Flush Z
Returns the Z position of the feature on the left side used
to measure flushness.
Left Surface Angle
The angle of the left side surface relative to the X axis.
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Measurement
Illustration
Right Gap X
Returns the X position of the edge feature on the right side
used to measure the gap.
Right Gap Z
Returns the Z position of the edge feature on the right side
used to measure the gap.
Right Flush X
Returns the X position of the feature on the right side used
to measure flushness.
Right Flush Z
Returns the Z position of the feature on the right side used
to measure flushness.
Right Surface Angle
The angle of the right side surface relative to the X axis.
Parameters
Parameter
Description
Source
The sensor, or combination of sensors, that provides data for the tool's measurements. For
more information, see Source on page 125.
Reference SideDirection
Defines the side used to calculate the measurement axis (see below) rounded corner.
Max Gap Width
The maximum width of the gap. Allows the tool to filter gaps greater than the expected
width. This can be used to single out the correct gap when there are multiple gaps in the
field of view.
Measurement Axis
Defines the direction that the gap is calculated, in relation to the reference side (see
Gap measurement only
above).
Surface: In the direction of the fitted surface line of the reference surface.
Edge: In the direction perpendicular to the edge of the reference surface.
Distance: The Cartesian distance between the two feature locations.
Absolute
When enabled, returns an absolute value rather than a signed value.
Flush measurement only
Filters
The filters that are applied to measurement values before they are output. For more
information, see Filters on page 133.
Decision
The Max and Min settings define the range that determines whether the measurement
tool sends a pass or fail decision to the output. For more information, see Decisions on
page 131.
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Left/Right SideEdge Parameters
Parameter
Description
Max Void Width
The maximum allowed width of missing data caused by occlusion or data dropout.
Min Depth
Defines the minimum depth before an opening could be considered to have a potential
edge. The depth is the perpendicular distance from the fitted surface line.
Surface Width
The width of the surface area in which laser data is used to form the fitted surface line.
This value should be as large as the surface allows.
Surface Offset
The distance between the edge region and the surface region.
Setting a small value allows the edge within a tighter region to be detected. However, the
measurement repeatability could be affected if the data from the edge are considered as
part of the surface region (or vice versa). A rule of thumb is to set Surface Offset equal to
Nominal Radius.
Nominal Radius
The radius of the curve edge that the tool uses to locate the edge region.
Edge Angle
A point on the best fit circle to be used to calculate the feature point. The selected point
is on the circumference at the specified angle from the start of the edge region.
The angle is measured from the axis perpendicular to the fitted surface line.
Edge Type
Defines the type of feature point to use for the edge (Corner or Tangent).
A tangent edge point is the point selected based on the defined Edge Angle. A corner
edge point is the intersect point between the fitted surface line and a edge line formed
by interpolating the points at and after the tangent within the edge region.
Region
The region to which the tool's measurements will apply. For more information, see Regions
on page 125.
Anchoring
Anchor
Description
X or Z
Lets you choose the X or Z measurement of another tool to
use as a positional anchor for this tool.
A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.
For more information on anchoring, see Measurement Anchoring on page 134.
Position
The Position tool finds the X or Z axis position of a feature point. The feature type must be specified and
is one of the following: Max Z, Min Z, Max X, Min X, Corner, Average (the mean X and Z of the data
points), Rising Edge, Falling Edge, Any Edge, Top Corner, Bottom Corner, Left Corner, Right Corner, or
Median (median X and Z of the data points). Gocator compares the measurement value with the values
in Min and Max to yield a decision. For more information on decisions, see Decisions on page 131.
See Adding and Configuring a Measurement Tool on page 124 for instructions on how to add
measurement tools.
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Measurements, Features, and Settings
Measurements
Measurement
Illustration
X
Finds the position of a feature on the X axis.
Z
Finds the position of a feature on the Z axis.
Features
Type
Description
Point
The returned position.
For more information on geometric features, see Geometric Features on page 131.
Parameters
Parameter
Description
Source
The sensor, or combination of sensors, that provides data
for the tool's measurements. For more information, see
Source on page 125.
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Parameter
Description
Feature
The feature the tool uses for its measurements. One of the
following:
l
l
l
l
l
l
l
l
l
l
l
l
l
l
Max Z
Min Z
Max X
Min X
Corner
Average
Rising Edge
Falling Edge
Any Edge
Top Corner
Bottom Corner
Left Corner
Right Corner
Median
To set the region of a feature, adjust it graphically in the
data viewer, or expand the feature using the expand
button (
) and enter the values in the fields. For more
information on regions, see Regions on page 125.
Filters
The filters that are applied to measurement values before
they are output. For more information, see Filters on page
133.
Decision
The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on page
131.
Anchoring
Anchor
Description
X or Z
Lets you choose the X or Z measurement of another tool to
use as a positional anchor for this tool.
A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.
For more information on anchoring, see Measurement Anchoring on page 134.
Round Corner
The Round Corner tool measures corners with a radius, returning the position of the edge of the corner
and the angle of adjacent surface with respect to the X axis.
Gocator compares the measurement value with the values in Min and Max to yield a decision. For more
information on decisions, see Decisions on page 131.
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See Adding and Configuring a Measurement Tool on page 124 for instructions on how to add
measurement tools.
The Round Corner tool uses a complex feature-locating algorithm to find the edge and return
measurements. The behavior of the algorithm can be adjusted by changing the parameters in the
measurement panel. See "Gap and Flush Algorithm" in the Gocator Measurement Tool Technical Manual
for a detailed explanation of the algorithm.
You must make sure that there are enough data points to define the edge (proper exposure,
etc.). If not, the algorithm will not function.
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Measurements
Measurement
Illustration
X
Measures the X position of the location where the tangent
touches the edge, or intersect of the tangent and the line
fitted to the surface used by the measurement (see
Reference Side, below).
Z
Measures the Z position of the location where the tangent
touches the edge, or intersect of the tangent and the line
fitted to the surface used by the measurement (see
Reference Side, below).
Angle
Measures the angle of the line fitted to the surface next to
the corner (see Reference Side, below), with respect to the
x-axis. Left edge angles are from -90 to 90. Right edge
angles are from 90 to 270.
Parameters
Parameter
Description
Source
The sensor, or combination of sensors, that provides data for the tool's measurements. For
more information, see Source on page 125.
Reference SideDirection
Defines the side used to calculate the measurement axis (see below) rounded corner.
Max Gap Width
The maximum width of the gap. Allows the tool to filter gaps greater than the expected
width. This can be used to single out the correct gap when there are multiple gaps in the
field of view.
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Parameter
Description
Measurement Axis
Defines the direction that the gap is calculated, in relation to the reference side (see
Gap measurement only
above).
Surface: In the direction of the fitted surface line of the reference surface.
Edge: In the direction perpendicular to the edge of the reference surface.
Distance: The Cartesian distance between the two feature locations.
Absolute
When enabled, returns an absolute value rather than a signed value.
Flush measurement only
Filters
The filters that are applied to measurement values before they are output. For more
information, see Filters on page 133.
Decision
The Max and Min settings define the range that determines whether the measurement
tool sends a pass or fail decision to the output. For more information, see Decisions on
page 131.
Left/Right SideEdge Parameters
Parameter
Description
Max Void Width
The maximum allowed width of missing data caused by occlusion or data dropout.
Min Depth
Defines the minimum depth before an opening could be considered to have a potential
edge. The depth is the perpendicular distance from the fitted surface line.
Surface Width
The width of the surface area in which laser data is used to form the fitted surface line.
This value should be as large as the surface allows.
Surface Offset
The distance between the edge region and the surface region.
Setting a small value allows the edge within a tighter region to be detected. However, the
measurement repeatability could be affected if the data from the edge are considered as
part of the surface region (or vice versa). A rule of thumb is to set Surface Offset equal to
Nominal Radius.
Nominal Radius
The radius of the curve edge that the tool uses to locate the edge region.
Edge Angle
A point on the best fit circle to be used to calculate the feature point. The selected point
is on the circumference at the specified angle from the start of the edge region.
The angle is measured from the axis perpendicular to the fitted surface line.
Edge Type
Defines the type of feature point to use for the edge (Corner or Tangent).
A tangent edge point is the point selected based on the defined Edge Angle. A corner
edge point is the intersect point between the fitted surface line and a edge line formed
by interpolating the points at and after the tangent within the edge region.
Region
The region to which the tool's measurements will apply. For more information, see Regions
on page 125.
Anchoring
Anchor
Description
X or Z
Lets you choose the X or Z measurement of another tool to
use as a positional anchor for this tool.
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A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.
For more information on anchoring, see Measurement Anchoring on page 134.
Strip
The Strip tool measures the width of a strip. Gocator compares the measurement value with the values
in Min and Max to yield a decision. For more information on decisions, see Decisions on page 131.
See Adding and Configuring a Measurement Tool on page 124 for instructions on how to add
measurement tools.
The Strip tool uses a complex feature-locating algorithm to find a strip and then return measurements.
See "Strip Algorithm" in the Gocator Measurement Tool Technical Manual for a detailed explanation of
the algorithm. The behavior of the algorithm can be adjusted by changing the parameters in the
measurement panel.
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The Strip tool lets you add multiple measurements of the same type to receive measurements and set
decisions for multiple strips. Multiple measurements are added by using the drop-down above the list of
measurements and clicking on the Add button.
For example, if a target has three strips, by adding two measurements, choosing Index From The Left
in the Select Type setting, and providing values of 1 and 3 in the Index of field of the measurements,
respectively, the Strip tool will return measurements and decisions for the first and third strip.
Measurements
Measurement
Illustration
Width
Measures the width of a strip.
Height
Measures the height of a strip.
X
Measures the X position of a strip.
Z
Measures the Z position of a strip.
Parameters
Parameter
Description
Source
The sensor, or combination of sensors, that provides data for the tool's measurements. For
more information, see Source on page 125.
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Parameter
Description
Base Type
Affects detection of rising and falling edges.
When Base Type is set to Flat, both strip (raised area) and base support regions are needed.
When set to None, only a point that deviates from a smooth strip support region is needed to
find a rising or falling edge.
Left Edge
Specifies the features that will be considered as the strip's left and right edges. You can select
Right Edge
more than one condition.
Rising - Rising edge detected based on the strip edge parameters.
Falling - Falling edge detected based on the strip edge parameters.
Data end - First valid profile data point in the measurement region.
Void - Gap in the data that is larger than the maximum void threshold. Gaps connected to the
measurement region's boundary are not considered as a void.
See "Strip Start and Terminate Conditions" in the Gocator Measurement Tool Technical Manual for
the definitions of these conditions.
Tilt Enabled
Enables/disables tilt correction.
The strip may be tilted with respect to the sensor's coordinate X axis. This can be caused by
conveyor vibration. If the Tilt option is enabled, the tool will report the width and height
measurements following the tilt angle of the strip.
Support Width
Specifies the width of the region around the edges from which the data is used to calculate the
step change. See "Strip Step Edge Definitions" in the Gocator Measurement Tool Technical Manual
on how this parameter is used by different base types.
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Parameter
Description
Transition Width
Specifies the nominal width needed to make the transition from the base to the strip. See
"Strip Step Edge Definitions" in the Gocator Measurement Tool Technical Manual on how this
parameter is used by different base types.
Min Width
Specifies the minimum width for a strip to be considered valid.
Min Height
Specifies the minimum deviation from the strip base. See "Strip Step Edge Definitions" in the
Gocator Measurement Tool Technical Manual on how this parameter is used for different base
types.
Max Void Width
The maximum width of missing data allowed for the data to be considered as part of a strip
when Void is selected in the Left or Right parameter. This value must be smaller than the edge
Support Width.
Region
The measurement region defines the region in which to search for the strip. If possible, the
region should be made large enough to cover the base on the left and right sides of the strip.
For more information, see Regions on page 125.
Location
Specifies the strip position from which the measurements are performed.
(Strip Height, Strip X, and
Left - Left edge of the strip.
Strip Z measurements only) Right - Right edge of the strip.
Center - Center of the strip.
Select Type
Specifies how a strip is selected when there are multiple strips within the measurement area.
Best - The widest strip.
Index Left - 0-based strip index, counting from left to right.
Index Right - 0-based strip index, counting from right to left.
Index
0-based strip index.
Filters
The filters that are applied to measurement values before they are output. For more
information, see Filters on page 133.
Decision
The Max and Min settings define the range that determines whether the measurement tool
sends a pass or fail decision to the output. For more information, see Decisions on page 131.
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Anchoring
Anchor
Description
X or Z
Lets you choose the X or Z measurement of another tool to
use as a positional anchor for this tool.
A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.
For more information on anchoring, see Measurement Anchoring on page 134.
Script
A Script measurement can be used to program a custom measurement using a simplified C-based
syntax. A script measurement can produce multiple measurement values and decisions for the output.
See Adding and Configuring a Measurement Tool on page 124 for instructions on how to add
measurement tools.
See Scripts on page 182 for more information on scripts.
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See Scripts on page 182 for more information on the script syntax.
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
4.
Click the Save button
button next to it.
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 profile3D point cloud data is not. (The script engine is not powerful enough to
process the data itself.) Only one script can be created.
Feature Measurement
The following sections describe Gocator's Feature tools.
Feature tools produce measurements based on more complex geometry, letting you implement
applications more quickly by reducing dependence on writing scripts to accomplish these kinds of
measurements. Feature tools take geometric features generated by other tools as input and perform
measurements on those features.
Feature tools are available in Profile mode.
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Dimension
The Feature Dimension tool provides dimensional measurements from a point geometric feature to a
reference point or line geometric feature.
Gocator compares the measurement value with the values in Min and Max to yield a decision. For more
information on decisions, see Decisions on page 131.
See Adding and Configuring a Measurement Tool on page 124 for instructions on how to add
measurement tools.
Measurement Panel
In the following measurement descriptions, the first geometric feature is set in the Point dropdown. The second geometric feature is set in the Reference Feature drop-down.
Measurements
Measurement
Width
Point-point: The difference on the X axis between the points.
Point-line: The difference on the X axis between the point and a point on the line. For profiles, the point on the line is at
the same Z position as the first point.
Length
Point-point: The difference on the Y axis between the points.
Point-line: The difference on the Y axis between the point and, for profiles, the nearest point on the line; currently, always
zero.
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Measurement
Height
Point-point: The difference on the Z axis between the points.
Point-line: The difference on the Z axis between the point and, for profiles, a point on the line at the same X position as
the first point.
Distance
Point-point: The direct, Euclidean distance between two point geometric features.
Point-line: The direct, Euclidean distance between a point and the nearest point on the line.
Plane Distance
Point-point: The distance between two point geometric features. For profile data, the points are projected onto the XZ
plane (always the same as the Distance measurement).
Point-line: The distance between a point and a line. For profile data, projected onto the XZ plane (always the same as the
Distance measurement).
Parameters
Parameter
Description
Point
A point geometric feature generated by another tool.
Reference Feature
A point or line geometric feature generated by another tool.
Dimensional measurements are calculated from the
reference feature to the point in the Point setting.
Filters
The filters that are applied to measurement values before
they are output. For more information, see Filters on page
133.
Decision
The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on page
131.
Intersect
The Feature Intersect tool returns the intersection of a line geometric features and a reference line or
plane geometric feature. For line-line intersections, the lines are projected onto the Y = 0 plane for
features extracted from a profile. The angle measurement between the two lines is also returned
The Feature Intersect tool saves you from having to write complicated calculations in script tools to find
intersect point between lines. Previously, calculating the intercept point of two lines was difficult and
prone to bugs, involving finding lines in indirect ways.
The Feature Intersect tool can also generate a point geometric feature representing the point of
intersection of the lines that the Feature Dimension tool can use in measurements.
Gocator compares the measurement value with the values in Min and Max to yield a decision. For more
information on decisions, see Decisions on page 131.
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See Adding and Configuring a Measurement Tool on page 124 for instructions on how to add
measurement tools.
Measurement Panel
Measurements
Measurement
X
Line-Line: The X position of the intersect point between the lines.
Line-Plane: The X position of the intersect point between the line and the plane.
Y
Line-Line: The Y position of the intersect point between the lines.
Line-Plane: The Y position of the intersect point between the line and the plane.
Z
Line-Line: The Z position of the intersect point between the lines.
Line-Plane: The Z position of the intersect point between the line and the plane.
Angle
Line-Line: The angle between the lines, as measured from the line selected in Reference Feature to the line selected in
Line. Line-line angles can range over 360 degrees, expressed either as an angle from -180 to 180 or as an angle from 0 to
360 degrees.
Line-Plane:The angle between the line and the perpendicular projection of the line onto the plane, as measured from the
plane geometric feature selected in Reference Feature to the line selected in Line. Line-plane angles are expressed as an
angle from 90 to -90 degrees, which can be expressed as an absolute value.
In both cases, use the Angle Range setting to determine how angles are expressed.
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Features
Type
Description
Intersect Point
The intersect point of the two edge lines.
Parameters
Parameter
Description
Line
A line geometric feature generated by another tool.
Reference Feature
A line or plane geometric feature generated by another tool.
For the Angle measurement, the angle is measured from the
reference feature.
Angle Range
Determines the angle range.
(Angle measurement only)
Filters
The filters that are applied to measurement values before
they are output. For more information, see Filters on page
133.
Decision
The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on page
131.
Scripts
Scripts use outputs from other measurement tools to produce custom measurements.
Similar to other measurement tools, a script measurement can output multiple measurement values and
decisions. Scripts are added, configured, and removed much like other measurement tools; for more
information on this, see Script under Profile Measurement on page 143.
Scripts must be less than 27,000 characters long.
Scripts use a simplified C-based syntax. The following elements of the C language are supported:
Supported Elements
Elements
Supported
Control Operators
if, while, do, for, switch and return.
Data Types
char, int, unsigned int, float, double, long long (64-bit integer).
Arithmetic and Logical
Standard C arithmetic operators, except ternary operator (i.e., "condition? trueValue:
Operator
falseValue"). Explicit casting (e.g., int a = (int) a_float) is not supported.
Function Declarations
Standard C function declarations with argument passed by values. Pointers are not
supported.
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Built-in Functions
Measurement Functions
Function
Description
int Measurement_Exists(int id)
Determines if a measurement exists by ID.
Parameters:
id – Measurement ID
Returns:
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 valid
double Measurement_Value (int id)
Gets the value of a measurement by its ID.
Parameters:
id - Measurement ID
Returns:
Value of the measurement
0 – if measurement does not exist
1 – if measurement exists
int Measurement_Decision (int id)
Gets the decision of a measurement by its ID.
Parameters:
ID - Measurement ID
Returns:
Decision of the measurement
0 – if measurement decision is false
1 – If measurement decision is true
int Measurement_NameExists(char* toolName,
Determines if a measurement exist by name.
char* measurementName)
Parameter:
toolName – Tool name
measurementName – Measurement name
Returns:
0 – measurement does not exist
1 – measurement exists
int Measurement_Id (char* toolName, char*
Gets the measurement ID by the measurement name.
measurementName)
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Function
Description
Parameters:
toolName – Tool name
measurementName – Measurement name
Returns:
-1 – measurement does not exist
Other value – Measurement ID
Output Functions
Function
Description
void Output_Set (double value, int
Sets the output value and decision on Output index 0. Only the last
decision)
output value / decision in a script run is kept and passed to the Gocator
output. To output an invalid value, the constant INVALID_VALUE can be
used (e.g., Output_SetAt(0, INVALID_VALUE, 0))
Parameters:
value - value output by the script
decision - decision value output by the script. Can only be 0 or 1
void Output_SetAt(unsigned int index,
Sets the output value and decision at the specified output index. To
double value, int decision)
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
Sets the output value and decision at the specified script output ID. To
decision)
output an invalid value, the constant INVALID_VALUE can be used (e.g.,
Output_SetId(0, INVALID_VALUE, 0))
Parameters:
id – Script output ID
Memory Functions
Function
Description
void Memory_Set64s (int id, long long
Stores a 64-bit signed integer in persistent memory.
value)
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:
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Function
Description
value - Value stored in persistent memory
void Memory_Set64u (int id, unsigned long Stores a 64-bit unsigned integer in the persistent memory
long value)
Parameters:
id - ID of the value
value - Value to store
unsigned long long Memory_Get64u (int id) Loads a 64-bit unsigned integer from persistent memory.
Parameters:
id - ID of the value
Returns:
value - Value stored in persistent memory
void Memory_Set64f (int id, double value)
Stores a 64-bit double into persistent memory.
Parameters:
id - ID of the value
value - Value to store
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
Runtime Variable Functions
Function
Description
int RuntimeVariable_Count()
Returns the number of runtime variables that can be accessed.
Returns:
The count of runtime variables.
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Function
Description
int RuntimeVariable_Get32s(int id)
Returns the value of the runtime variable at the given index.
Parameters:
Id – ID of the runtime variable
Returns:
Runtime variable value
Stamp Functions
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.
Math Functions
Function
Description
float sqrt(float x)
Calculates square root of x
float sin(float x)
Calculates sin(x) (x in radians)
float cos(float x)
Calculates cos(x) (x in radians)
float tan(float x)
Calculates tan(x) (x in radians)
float asin(float x)
Calculates asin(x) (x in radians)
float acos(float x)
Calculates acos(x) (x in radians)
float atan(float x)
Calculates atan(x) (x in radians)
float pow (float x, float y)
Calculates the exponential value. x is the base, y is the exponent
float fabs(float x)
Calculates the absolute value of x
Example: Accumulated Length
The following example shows how to create a custom measurement that is based on the values from
other measurements and persistent values. The example calculates the length of the target using a series
of position Z measurement tool values (Measurement ID 1)
/* Encoder Spacing is 0.5mm */
/* Z position measurement ID is set to 1 */
long long encoder_spacing = 500;
long long length = Memory_Get64s(0);
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if (Measurement_Valid(1))
{
length = length + encoder_spacing;
}
else
{
length = 0;
}
Memory_Set64s(0, length);
if (length > 10000)
{
Output_Set(length, 1);
}
else
{
Output_Set(length, 0);
}
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Output
The following sections describe the Output page.
Output Page Overview
Output configuration tasks are performed using the Output page. Gocator sensors can transmit laser
ranges and measurement results to various external devices using several output interface options.
Up to two outputs can have scheduling enabled with ASCII as the Serial output protocol. When
Selcom is the current Serial output protocol, only one other output can have scheduling enabled.
1
Category
Description
Ethernet
Used to select the data sources that will transmit data via Ethernet. See Ethernet
Output on the next page.
2
Digital Output 1
Used to select the data sources that will be combined to produce a digital
output pulse on Output 1. See Digital Output on page 193.
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 193.
4
Analog Panel
Used to convert a measurement value or decision into an analog output signal.
See Analog Output on page 196.
5
Serial Panel
Used to select the measurements that will be transmitted via RS-485 serial
output. See Serial Output on page 197.
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Ethernet Output
A sensor uses TCP messages (Gocator protocol) to receive commands from client computers, and to
send video, laser range, intensity, and measurement results to client computers. The sensor can also
receive commands from and send measurement results to a PLC using ASCII, Modbus TCP, or
EtherNet/IP protocol. See Protocols on page 289 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, range, intensity, or measurement items to send.
5.
(Optional) Uncheck the Auto Disconnect setting.
By default, this setting is checked, and the timeout is set to 10 seconds.
Measurements shown here correspond to measurements that have been added using the
Measure page (see Measure Page Overview on page 123).
All of the tasks that can be accomplished with the Gocator's web interface (creating jobs, performing
alignment, sending data and health information, and software triggering, etc.) can be accomplished
programmatically by sending Gocator protocol control commands.
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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.
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To receive commands and send results using EtherNet/IP messages:
1.
Go to the Output page.
2.
Click on Ethernet in the Output panel.
3.
Select EtherNet/IP in the Protocol option.
Unlike using the Gocator Protocol, you don't select which measurement items to output. The Ethernet
panel will list the register addresses that are used for EtherNet/IP messages communication.
The EtherNet/IP protocol can be used to operate a sensor. EtherNet/IP only supports a subset of the
tasks that can be accomplished in the web interface. A sensor can only process EtherNet/IP commands
when the EtherNet/IP is selected in the Protocol option.
4.
Check the Explicit Message Buffering option, 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 is read (Sample State Assembly on
page 357).
5.
Check the Implicit Messaging option, if needed.
Implicit messaging uses UDP and is faster than explicit messaging, so it is intended for time-critical
applications. However, implicit messaging is layered on top of UDP. UDP is connectionless and data
delivery is not guaranteed. For this reason, implicit messaging is only suitable for applications where
occasional data loss is acceptable.
For more information on setting up implicit messaging, see
http://lmi3d.com/sites/default/files/APPNOTE_Implicit_Messaging_with_Allen-Bradley_PLCs.pdf.
6.
Choose the byte order in the Byte Order dropdown.
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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) on page 362 for an explanation of the operation modes.
5.
Select the data format from the Data Format drop-down.
Standard: 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 370 for an explanation of
the standard result mode.
Standard with Stamp: Select the measurement to send by placing a check in the corresponding
checkbox. See Standard Result Format on page 370 for an explanation of the standard result mode.
Custom: Enables the custom format editor. 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.
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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
ejectors.
A digital output can act as a measurement valid signal to allow external devices to synchronize to the
timing at which measurement results are output. In this mode, the sensor outputs a digital pulse when a
measurement result is ready.
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 430 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 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.
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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.
6.
Specify a pulse width using the slider.
The pulse width is the duration of the digital output pulse, in microseconds.
7.
Check the Scheduled option if the output needs to be scheduled; otherwise, leave it unchecked for
immediate output.
A scheduled output becomes active after the 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.
If you checked Scheduled, specify a delay and a delay domain.
The Delay specifies the time or encoder distance 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.
9.
If you want to invert the output signal, check Invert Output Signal.
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 activates when the selected decisions produce results. The output activates only once for
each frame even if multiple decision sources are selected.
6.
Specify a pulse width using the slider.
The pulse width determines the duration of the digital output pulse, in microseconds.
To respond to software scheduled commands:
1.
Go to the Output page.
2.
Click Digital 1 or Digital 2 in the Output panel.
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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.
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 be scheduled. A continuous signal always becomes
active immediately.
Immediate output becomes active as soon as a scheduled digital output (Schedule Digital Output on
page 315) is received.
Scheduled output becomes active at a specific target time or position, given by the Scheduled Digital
Output command. Commands that schedule an event in the past will be ignored. An encoder value is in
the future if the value will be reached by moving in the forward direction (the direction that encoder
calibration was performed in).
To output an exposure signal:
1.
Go to the Output page.
2.
Click Digital 1 or Digital 2 in the Output panel.
3.
Set Trigger Event to Exposure Begin or Exposure End.
4.
Set the Pulse Width option.
The pulse width determines the duration of the digital output pulse, in microseconds.
To output an alignment signal:
1.
Go to the Output page.
2.
Click Digital 1 or Digital 2 in the Output panel.
3.
Set Trigger Event to Alignment.
The digital output state is High if the sensor is aligned, and Low if not aligned. Whether the sensor is
running does not affect the output.
To respond to exposure begin/end:
1.
Go to the Output page.
2.
Click Digital 1 or Digital 2 in the Output panel.
3.
Set Trigger Event to Exposure Begin or Exposure End.
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Analog Output
Gocator sensors can convert a measurement result or software request to an analog output. Each
sensor supports one analog output channel.
Gocator 1300 series sensors are limited to sending data at 10 kHz over the analog output
channel.
Therefore, if you configure a sensor so that it runs at a speed higher than 10 kHz in the Trigger
panel on the Scan page, and configure a measurement to be sent on the analog channel under
Analog on the Output page, you will get analog data drops.
To achieve a 10 kHz analog output rate, you must check Scheduled on the Output page and
configure scheduled output.
See Analog Output on page 433 for information on wiring analog output to an external device.
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
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degrees for angle results.
6.
Specify Current Range and Invalid current values.
The values specified here determine the minimum and maximum current values in milliamperes. If
Invalid is checked, the current value specified with the slider is used when a measurement value is not
valid. If Invalid is not checked, the output holds the last value when a measurement value is not valid.
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 Triggers on page 88 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.
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 Schedule Analog Output on page 316) 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
Gocator's web interface can be used to select measurements to be transmitted via RS-485 serial output.
Each sensor has one serial output channel.
Two protocols are supported: ASCII Protocol and Selcom Serial Protocol.
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The ASCII protocol outputs data asynchronously using a single serial port. For information on the ASCII
Protocol parameters and data formats, see ASCII Protocol on page 361.
The Selcom Serial Protocol outputs synchronized serial data using two serial ports. For information on
the Selcom serial protocol and data formats, see Selcom Protocol on page 372.
For information on wiring serial output to an external device, see Serial Output on page 433.
To configure ASCII output:
1.
Go to the Output page.
2.
Click on Serial in the Output panel.
3.
Select ASCII in the Protocol option.
4.
Select the Data Format.
Select Standard to use the default result format of the ASCII protocol. Select value and decision to send
by placing a check in the corresponding check box. See Standard Result Format on page 370 for an
explanation of the standard result mode.
Select Custom to customize the output result. A data format box will appear in which you can type the
format string. See Custom Result Format on page 371 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.
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To configure Selcom output:
1.
Go to the Output page.
2.
Click on Serial in the Output panel.
3.
Select Selcom in the Protocol option.
4.
Select the measurements to send.
To select an item for transmission, place a check in the corresponding check box. Measurements
shown here correspond to measurements that have been programmed using the Measurements
page.
5.
Select the baud rate in Rate.
6.
Select the Data Format.
See Selcom Protocol on page 372 for definitions of the formats.
7.
Specify Data Scale values.
The Data Scale values are specified in millimeters for dimensional measurements such as distance,
square millimeters for areas, cubic millimeters for volumes, and degrees for angle results.
The results are scaled according to the number of serial bits used to cover the data scale range. For
example, the 12-bit output would break a 200 mm data scale range into 4096 increments (0.0488
mm/bit), and the 14-bit output would break a 200 mm data scale range into 16384 increments (0.0122
mm/bit).
8.
Set the output delay in Delay.
The scheduled delay must be longer than the processing latency to prevent drops.
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Dashboard
The following sections describe the Dashboard page.
Dashboard Page Overview
The Dashboard page summarizes sensor health information and provides measurement statistics. It
also provides tool performance statistics. Use this information to troubleshoot your system.
1
Element
Description
System
Displays sensor state and health information. See State and Health Information
below.
2
Tool Stats
Displays measurement and tool performance statistics. See Statistics on the next
page.
State and Health Information
The following state and health information is available in the System panel on the Dashboard page:
Dashboard General System Values
Name
Description
Sensor State*
Current sensor state (Conflict, Ready, or Running).
Application Version
Gocator firmware version.
Laser Safety
Whether Laser Safety is enabled.
Uptime
Length of time since the sensor was power-cycled or reset.
CPU Usage
Sensor CPU utilization (%).
Current Speed*
Current speed of the sensor.
Encoder Value
Current encoder value (ticks).
Encoder Frequency
Current encoder frequency (Hz).
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Name
Description
Memory Usage
Sensor memory utilization (MB used / MB total available).
Storage Usage
Sensor flash storage utilization (MB used / MB total available).
Ethernet Link Speed
Speed of the Ethernet link (Mbps).
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.
Alignment State
Whether the sensor or sensor system has been aligned.
Over Temperature State
Whether the internal temperature of the sensor is over a predetermined level.
Dashboard History Values
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.
Processing Drop**
Count of frame drops due to excessive CPU utilization.
Ethernet Output Drop**
Count of frame drops due to slow Ethernet link.
Analog Output Drop**
Count of analog output drops because last output has not been completed.
Serial Output Drop**
Count of serial output drops because last output has not been completed.
Digital Output 1 Drop**
Count of digital output drops because last output has not been completed.
Digital Output 2 Drop**
Count of digital output drops because last output has not been completed.
Digital Output 1 High Count
Count of high states on digital output.
Digital Output 2 High Count
Count of high states on digital output.
Digital Output 1 Low Count
Count of low states on digital output.
Digital Output 2 Low Count
Count of low states on digital output.
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.
* When the sensor is accelerated, the indicator's value is reported from the accelerating PC.
** When the sensor is accelerated, the indicator's value is the sum of the values reported from the
sensor and the accelerating PC.
Statistics
In the Tool Stats pane, you can examine measurement and tool statistics in two tabs: Measurements
and Performance.
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To reset statistics in both tabs, use the Reset Stats button.
Measurements
The Measurements tab displays statistics for each measurement enabled in the Measure page,
grouped by the tool that contains the measurement.
For each measurement, Gocator displays the following information:
Measurement Statistics
Name
Description
ID
The measurement ID as set in the measurement's ID field on the Measure page.
Value
The most recent measurement value.
Min
The minimum measurement value that has been observed.
Max
The maximum measurement value that has been observed.
Avg
The average of all measurement values collected since the sensor was started.
Range
The difference between Max and Min.
Std
The standard deviation of all measurement values collected since the sensor was
started.
Pass
The number of pass decisions the measurement has generated.
Fail
The number of fail decisions the measurement has generated.
Invalid
The number of frames that returned no valid measurement value.
Overflow
The number of frames that returned an overflow.
Performance
The Performance tab displays performance statistics (execution time) for each tool added in the
Measure page.
For each tool, Gocator displays the following information:
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Performance Statistics
Name
Description
Last (ms)
The last execution time of the tool.
Min (ms)
The minimum execution time of the tool.
Max (ms)
The maximum execution time of the tool.
Avg (ms)
The average execution time of the tool.
Avg (%)
The average percentage the CPU the tool uses.
Tools are sorted by the Avg (%) column in descending order.
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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.
Emulator showing a range in recorded data.
A measurement is applied to the recorded data.
System Requirements
The following are the system requirements for the software:
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Processor: Intel Core i3 or equivalent (64-bit)
RAM: 4 GB
Hard drive: 500 GB
Operating system: Windows 7, 8, or 10 (64-bit)
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:
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Changes to job files in the emulator are not persistent (they are lost when you close or restart the
emulator). However, you can keep a modified job by first saving it and then downloading it from the
Jobs list on the Manage page to a client computer. The job file can then be loaded into the emulator
at a later time or even onto a physical sensor for final testing.
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Performing alignment in the emulator has no effect and will never complete.
For information on saving and loading jobs in the emulator, see Creating, Saving, and Loading Jobs on
page 210 .
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 214.
Downloading a Support File
The emulator is provided with several virtual sensors preinstalled.
You can also create virtual sensors yourself by downloading a support file from a physical Gocator and
then adding it to the emulator.
Support files can contain jobs, letting you configure systems and add measurements in an emulated
sensor. Support files can also contain replay data, letting you test measurements and some
configurations on real data. Dual-sensor systems are supported.
To download a support file:
1.
Go to the Manage page and click on the Support category.
2.
In Filename, type the name you want to use for the support file.
When you create a scenario from a support file in the emulator, the filename you provide here is displayed
in the emulator's scenario list.
Support files end with the .gs extension, but you do not need to type the extension in Filename.
3.
(Optional) In Description, type a description of the support file.
When you create a scenario from a support file in the emulator, the description is displayed below the
emulator's scenario list.
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4.
Click Download, and then when prompted, click Save.
Downloading a support file stops the sensor.
Running the Emulator
The emulator is contained in the Gocator tools package (14405-x.x.x.x_SOFTWARE_GO_Tools.zip). To
get the package, go to http://lmi3d.com/support, choose your product from the Product Downloads
section, and download the package from the Download Center.
To run the emulator, unzip the package and double-click the GoEmulator link in the unzipped emulator
folder.
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
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Adding a Scenario to the Emulator
To simulate a physical sensor using a support file downloaded from a sensor, you must add it as a
scenario in the emulator.
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.
3.
(Optional) In Description, type a description.
You can only add descriptions for user-added scenarios.
Running a Scenario
After you have added a virtual sensor by uploading a support file to the emulator, you can run it from
the Available Scenarios list on the emulator launch screen. You can also run any of the scenarios
included in the installation.
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To run a scenario:
1.
2.
If you want to filter the scenarios listed in Available Scenarios, do one or both of the following:
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Choose a model family in the Model drop-down.
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Choose Standalone or Buddy to limit the scenarios to single-sensor or dual-/multi-sensor scenarios,
respectively.
Select a scenario in the Available Scenarios list and click Start.
Removing a Scenario from the Emulator
You can easily remove a scenario from the emulator.
You can only remove user-added scenarios.
To remove a scenario:
1.
If the emulator is running a scenario, click
2.
In the Available Scenarios list, scroll to the scenario you want to remove.
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3.
Click the
button next to the scenario you want to remove.
The scenario is removed from the emulator.
Using Replay Protection
Making changes to certain settings on the Scan page causes the emulator to flush replay data. The
Replay Protection option protects replay data by preventing changes to settings that affect replay
data. Settings that do not affect replay data can be changed.
If you try to uncheck Replay Protection, you must confirm that you want to disable it.
Replay Protection is on by default.
Stopping and Restarting the Emulator
To stop the emulator:
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Click Stop Emulation.
Stopping the emulator returns you to the launch screen.
To restart the emulator when it is running:
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Click Restart Emulation.
Restarting the emulator restarts the currently running simulation.
Running the Emulator in Default Browser
When you use the /browser command line parameter, the emulator application launches normally but
also launches in your default browser. This provides additional flexibility when using the emulator. For
example, you can resize the emulator running in a browser window.
To run the emulator in your default browser:
1.
In Windows Explorer (Windows 7) or File Explorer (Windows 8 or 10), browse to the location of the emulator.
The emulator is under bin\win64, in the location in which you installed the emulator.
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2.
Press and hold Shift, right-click the win64 folder containing the emulator, and choose Open command
window here.
3.
In the command prompt, type GoEmulator.exe /browser, followed by an IPV4 address.
After the emulator application starts, the emulator also launches in your default browser.
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 214.
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:
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.
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To save a job:
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Click the Save button
.
The job is saved to the emulator.
To load (switch) jobs:
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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 finetuning measurements, but can also be helpful during setup.
Playback is controlled 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, you must uncheck Replay Protection.
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.
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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.
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 123.
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 200.
To clear replay data:
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Click the Clear Replay Data button
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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.
Click the Download button
.
2.
In the File Download dialog, click Save.
3.
In the Save As... dialog, choose a location, optionally change the name (keeping the .rec extension), and click
Save.
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To upload replay data:
1.
Click the Upload button
.
The Upload menu appears.
2.
In the Upload menu, choose one of the following:
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Upload: Unloads the current job and creates a new unsaved and untitled job from the content of the
replay data file.
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Upload and merge: Uploads the replay data and merges the data's associated job with the current
job. Specifically, the settings on the Scan page are overwritten, but all other settings of the current
job are preserved, including any measurements.
If you have unsaved changes in the current job, the firmware asks whether you want to discard the
changes.
3.
4.
Do one of the following:
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Click Discard to discard any unsaved changes.
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Click Cancel to return to the main window to save your changes.
If you clicked Discard, navigate to the replay data to upload from the client computer and click OK.
The replay data is loaded, and a new unsaved, untitled job is created.
Replay data can be exported using the CSV format. If you have enabled Acquire Intensity in the Scan
Mode panel on the Scan page, the exported CSV file includes intensity data.
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To export replay data in the CSV format:
1.
In the Scan Mode panel, switch to Range or Profile.
2.
Click the Export button
and select All Data as CSV.
In Profile mode, all data in the record buffer is exported. 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 211.
3.
(Optional) Convert exported data to another format using the CSV Converter Tool. For information on
this tool, see CSV Converter Tool on page 399.
The decision values in the exported data depend on the current state of the job, not the state
during recording. For example, if you record data when a measurment returns a pass decision,
change the measurement's settings so that a fail decision is returned, and then export to CSV,
you will see a fail decision in the exported data.
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 format:
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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 211.
To export video data to a BMP file:
1.
In the Scan Mode panel, switch to Video mode.
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 211.
2.
Click the Export button
and select Video data as BMP.
Downloading and Uploading Jobs
The Jobs category on the Manage page lets you manage the jobs in the emulator.
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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 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
Setting a different job as the default is not persistent in the emulator. The job set as default when the
button
support file (used to create a virtual sensor) was downloaded is used as the default whenever the
emulator is started.
Download...
Downloads the selected job to the client computer.
button
Upload...
Uploads a job from the client computer.
button
Unsaved jobs are indicated by "[unsaved]".
Changes to job files in the emulator are not persistent (they are lost when you close or restart
the emulator). However, you can keep modified jobs by first saving them and then downloading
them to a client computer.
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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 indicate in the log that the setting can't be changed because the
change would clear the buffer. For more information on Replay Protection, see Using Replay Protection
on page 209.
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 and filters on
the X axis. Note that modifying the Y filters causes the buffer to be cleared. (For more information on
these features, see the Gocator Laser Profile Sensors user manual.)
For information on creating models and setting up part matching, see Models and Part Matching in the
Gocator 2100, 2300 and 2880 user manual. For information on adding and configuring measurement
tools, see Measurement on page 123.
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 95 for more information on
active area.)
Similarly, you can adjust exposure on the Exposure tab on the Sensor panel to see how this affects the
maximum frame rate. (See Exposure on page 98 for more information on exposure.)
To adjust active area in the emulator, Replay Protection must be turned off. See Using Replay
Protection on page 209 for more information.
Saving changes to active area causes replay data to be flushed.
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Protocol Output
The emulator simulates output for all of Gocator's Ethernet-based protocols.
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Gocator
ASCII
Modbus
EtherNet/IP
Clients (such as PLCs) can connect to the emulator to access the simulated output and use the protocols
as they would with a physical sensor.
The emulator allows connections to emulated sensors on localhost (127.0.0.1). You can also allow
connections to emulated sensors on your computer's network card; for more information, see Remote
Operation below.
Remote Operation
You can specify the IP address of one of your computer's network cards to allow clients to connect
remotely to an emulated sensor using the /ip command line parameter. When the /ip parameter is not
used, emulated sensors are only available on the local machine (that is, 127.0.0.1 or localhost).
Clients can only connect to emulated sensors, not to the emulator's launch page.
You may need to contact your network administrator to allow connections to the computer
running the emulated sensor.
To allow remote connections to an emulated sensor:
1.
In Windows Explorer (Windows 7) or File Explorer (Windows 8 or 10), browse to the location of the emulator.
The emulator is under bin\win64, in the location in which you installed the emulator.
2.
Press and hold Shift, right-click the win64 folder containing the emulator, and choose Open command
window here.
3.
In the command prompt, type GoEmulator.exe /ip, followed by an IPV4 address, for example:
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The emulator application starts.
The emulator does not check that the IP address is valid.
4.
From the emulator launch page, start a scenario.
For more information, see Running a Scenario on page 207.
5.
Provide the IP address you used with the /ip parameter, followed by port number 3191, to users who want
to connect to the emulated sensor, for example:
192.168.1.42:3191
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Gocator Accelerator
The Gocator Accelerator improves a Gocator system's processing capability by transferring the
processing to a PC in the system. It can accelerate one or more standalone sensors or multi-sensor
systems.
You can implement acceleration capabilities in client applications that you create using the Gocator SDK.
LMI also provides a standalone utility (GoAccelerator.exe) that you can use to accelerate systems.
The web interface on an accelerated sensor is identical to the interface on an unaccelerated sensor. The
Ethernet-based output protocols (Gocator, EtherNet/IP, ASCII, and Modbus) are also identical to those
found on an unaccelerated sensor, and are fully supported.
The Gocator Accelerator does not currently support digital, analog, or serial output.
The firmware version of the sensor you want to accelerate must match the version of the
SDK used to build an accelerator-based application (or the version of the GoAccelerator utility).
When a sensor is accelerated, it sends data directly to the accelerating application. Users access the
Gocator web interface using the IP address of the computer running the application, rather than the
IP of the sensor.
Some health indicators behave differently when a sensor is accelerated. For information on
which indicators in the Dashboard that acceleration affects, see State and Health Information on
page 200. For information on which indicators available through the Gocator protocol
acceleration affects, see Health Results on page 340.
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Once a system is accelerated, an SDK application can interface to the accelerator application the same
way as is possible with a physical sensor, although the IP of the accelerating PC must be used for the
connection.
System Requirements
The following are the system requirements for the software:
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Processor: Intel Core i3 or equivalent (32- or 64-bit)
RAM: 4 GB
Hard drive: 500 GB
Operating system: Windows 7, 8, or 10 (32- or 64-bit)
Benefits
Accelerated sensors provide several benefits.
Acceleration is completely transparent: because the output protocols of an accelerated sensor are
identical to those of an unaccelerated sensor, SDK and PLC applications require no changes whatsoever
for controlling accelerated sensors and receiving health information and data.
Measurement latency is reduced on accelerated sensors, which results in shorter cycle times. This means
a sensor can scan more targets in a given time period.
The memory of accelerated sensors is limited only by the memory of the PC on which the Accelerator is
running.
Installation
To get the necessary packages, go to http://lmi3d.com/support, choose your product from the Product
Downloads section, and download it from the Download Center.
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For the GoAccelerator utility, download the 14405-X.X.X.X_SOFTWARE_GO_Tools.zip package.
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For the SDK libraries and DLL for integrating acceleration into a client application, download the
14400-X.X.X.X_SOFTWARE_GO_SDK.zip.
Gocator Accelerator Utility
The Gocator Accelerator utility accelerates the standalone sensors or multi-sensor systems you choose.
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To accelerate a sensor using the Gocator Accelerator utility:
1.
Power up the sensor system you want to accelerate.
2.
Launch the Gocator Accelerator utility.
3.
If a Windows Security alert asks whether you want to allow GoAccelerator.exe to communicate on networks,
make sure Public and Private are checked, and then click Allow Access.
4.
In the Sensors list, click the sensor you want to accelerate.
If you do not see the sensor, you may need to wait a few seconds and then click the Refresh button (
).
In multi-sensor systems, only the Main sensor is listed.
5.
(Optional) In the IP drop-down, choose an IP or choose Any to let the application choose.
6.
(Optional) Set Web Port to a port for use with the accelerated sensor's URL.
If port 8080 is already in use, set Web Port to an unused port.
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7.
(Optional) If you are accelerating multiple systems, click on another sensor in the Sensors list, and repeat
the steps above.
The application uses Base Port as an offset for several communication port numbers.
To avoid port conflicts, you should increment the base port number by at least 10 for each accelerated
sensor.
Port 3190 is the default base port number, allowing connections from SDK-based applications and the web
UI without manually specifying ports.
8.
Click Start.
The sensor system is now accelerated. An icon appears next to the accelerated sensor in the Sensors list to
indicate this.
9.
To open the accelerated sensor's web interface, in the Gocator Accelerator application, click the link next to
URL.
When a sensor is accelerated, a "rocket" icon appears in the metrics area.
If you restart an accelerated sensor, the sensor will continue to be accelerated when it restarts.
To stop an accelerated sensor in the Gocator Accelerator application:
1.
Select the sensor in the Sensors list.
2.
Click Stop.
To exit the Gocator Accelerator application:
1.
Right-click the icon Gocator Accelerator icon (
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) in the notification tray.
Gocator Accelerator • 222
Clicking the X icon in the application only minimizes the application.
2.
Choose Exit.
Dashboard and Health Indicators
After a sensor is accelerated, the values of some health indicators come from the accelerating PC instead
of the sensor. Others come from a combination of the accelerated sensor and the accelerating PC.
l
For information on which indicators are affected in the Dashboard in the web interface, see State and
Health Information on page 200.
l
For information on which indicators accessed through the Gocator protocol are affected, see Health
Results on page 340.
SDK Application Integration
Gocator acceleration can be fully integrated into an SDK application. Users simply need to instantiate the
GoAccelerator object and connect it to a sensor object.
GoAccelerator accelerator = kNULL;
// obtain GoSensor object by sensor IP address
if ((status = GoSystem_FindSensorByIpAddress(system, &ipAddress, &sensor)) != kOK)
{
printf("Error: GoSystem_FindSensorByIpAddress:%d\n", status);
return;
}
// construct accelerator
if ((status = GoAccelerator_Construct(&accelerator, kNULL)) != kOK)
{
printf("Error: GoAccelerator_Construct:%d\n", status);
return;
}
// start accelerator
if ((status = GoAccelerator_Start(accelerator)) != kOK)
{
printf("Error: GoAccelerator_Start:%d\n", status);
return;
}
printf ("GoAccelerator_Start completed\n");
if ((status = GoAccelerator_Attach(accelerator, sensor)) != kOK)
{
printf("Error: GoAccelerator_Attach:%d\n", status);
return;
}
// create connection to GoSensor object
if ((status = GoSensor_Connect(sensor)) != kOK)
{
printf("Error: GoSensor_Connect:%d\n", status);
return;
}
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After, the SDK application can control an accelerated sensor in the same way as an unaccelerated sensor.
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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:
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 File Structure on the next page.
_live.cfg
Read/Write
A standalone representation of the Configuration component contained in _
live.job. Used primarily for backwards compatibility.
_live.tfm
Read/Write
If Alignment Reference of the active job is set to Dynamic:
A copy of the Transform component 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
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.
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To access the log file, use the Read File command, passing "_live.log" to the command. The log file is readonly.
Log Child Elements
Element
Type
Description
@idStart
64s
Identifier of the first log.
@idEnd
64s
Identifier of the final log.
List of (Info | Warning |
List
An ordered list of log entries. This list is empty if idEnd < idStart.
Error)
Log/Info | Log/Warning | Log/Error Elements
Element
Type
Description
@time
64u
Log time, in uptime (µs).
@source
32u
The serial number of the sensor the log was produced by.
@id
32u
The Indentifier, or index, of the log
@value
String
Log content; may contain printf-style format specifiers (e.g. %u).
List of (IntArg | FloatArg |
List
An ordered list of arguments:
Arg)
IntArg – Integer argument
FloatArg – Floating-point argument
Arg – Generic argument
The arguments are all sent as strings and should be applied in order to the format specifiers found in the
content.
Job File Structure
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 transformations associated with the job. It is stored in volatile storage.
l
Other job files that are stored in non-volatile storage.
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:
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Job File Components
Component
Path
Description
Configuration
config.xml
The job's configurations. This component is always present.
Transform
transform.xml
Transformation values. Present only if Alignment Reference is set to
Dynamic.
Elements in the components contain three types of values: settings, constraints, and properties. Settings
are input values that can be edited. Constraints are 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 Configuration 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.
Configuration Child Elements
Element
Type
Description
@version
32u
Configuration version (101).
@versionMinor
32u
Configuration minor version (9).
Setup
Section
For a description of the Setup elements, see Setup on the next page.
Replay
Section
Contains settings related to recording filtering (see Replay on page 248).
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Element
Type
Description
Streams
Section
Read-only collection of available data streams (see Streams/Stream
(Read-only) on page 249).
ToolOptions
Section
List of available tool types and their information. See ToolOptions on
page 250 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 252.
Tools.options
String (CSV)
Deprecated. Replaced by ToolOptions.
Outputs
Section
For a description of the Output elements, see Output on page 280.
Setup
The Setup element contains settings related to system and sensor setup.
Setup Child Elements
Element
Type
Description
TemperatureSafetyEnabled
Bool
Enables laser temperature safety control.
TemperatureSafetyEnabled.
Bool
Whether or not this property is used.
ScanMode
32s
The default scan mode.
ScanMode options
String (CSV)
List of available scan modes.
OcclusionReductionEnabled
Bool
Enables occlusion reduction.
used
OcclusionReductionEnabled. Bool
Whether or not property is used.
used
OcclusionReductionEnabled. Bool
Actual value used if not configurable.
value
OcclusionReductionAlg
32s
The Algorithim to use for occlusion reduction:
0 – Standard
1 – High Quality
OcclusionReductionAlg.used Bool
Whether or not property is used
OcclusionReductionAlg.value Bool
Actual value used if not configurable
UniformSpacingEnabled
Enables uniform spacing.
Bool
UniformSpacingEnabled.use Bool
Whether or not property is used.
d
UniformSpacingEnabled.valu Bool
Actual value used if not configurable.
e
IntensityEnabled
Bool
Enables intensity data collection.
IntensityEnabled.used
Bool
Whether or not property is used.
IntensityEnabled.value
Bool
Actual value used if not configurable.
FlickerFreeModeEnabled
Bool
Enables flicker-free operation.
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Element
Type
FlickerFreeModeEnabled.use Bool
Description
Whether flicker-free operation can be used on this sensor.
d
ExternalInputZPulseEnabled Bool
Enables the External Input based encoder Z Pulse feature.
Filters
Section
See Filters below. Used by Gocator profile and snapshot sensors.
Trigger
Section
See Trigger on page 232.
Layout
Section
See Layout on page 233.
Alignment
Section
See Alignment on page 234.
Devices
Collection
A collection of two Device sections (with roles main and buddy). See
Devices / Device on page 236.
SurfaceGeneration
Section
See SurfaceGeneration on page 242. Used by Gocator profile sensors.
SurfaceSections
Section
See SurfaceSections on page 243. Used by Gocator profile and snapshot
sensors.
ProfileGeneration
Section
See ProfileGeneration on page 243.
PartDetection
Section
See PartDetection on page 244.
PartMatching
Section
See PartMatching on page 246. Used by Gocator profile and snapshot
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 profile and snapshot sensors.
XSmoothing
XSmoothing Child Elements
Element
Type
Description
@used
Bool
Whether or not this field is used
Enabled
Bool
Enables filtering.
Window
64f
Window size (mm).
Window.min
64f
Minimum window size (mm).
Window.max
64f
Maximum window size (mm).
Element
Type
Description
@used
Bool
Whether or not this field is used
Enabled
Bool
Enables filtering.
Window
64f
Window size (mm).
Window.min
64f
Minimum window size (mm).
Window.max
64f
Maximum window size (mm).
YSmoothing
YSmoothing Child Elements
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XGapFilling
XGapFilling Child Elements
Element
Type
Description
@used
Bool
Whether or not this field is used
Enabled
Bool
Enables filtering.
Window
64f
Window size (mm).
Window.min
64f
Minimum window size (mm).
Window.max
64f
Maximum window size (mm).
Element
Type
Description
@used
Bool
Whether or not this field is used
Enabled
Bool
Enables filtering.
Window
64f
Window size (mm).
Window.min
64f
Minimum window size (mm).
Window.max
64f
Maximum window size (mm).
Element
Type
Description
@used
Bool
Whether or not this field is used
Enabled
Bool
Enables filtering.
Window
64f
Window size (mm).
Window.min
64f
Minimum window size (mm).
Window.max
64f
Maximum window size (mm).
Element
Type
Description
@used
Bool
Whether or not this field is used
Enabled
Bool
Enables filtering.
Window
64f
Window size (mm).
Window.min
64f
Minimum window size (mm).
Window.max
64f
Maximum window size (mm).
YGapFilling
YGapFilling Child Elements
XMedian
XMedian Child Elements
YMedian
YMedian Child Elements
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XDecimation
XDecimation Child Elements
Element
Type
Description
@used
Bool
Whether or not this field is used
Enabled
Bool
Enables filtering.
Window
64f
Window size (mm).
Window.min
64f
Minimum window size (mm).
Window.max
64f
Maximum window size (mm).
Element
Type
Description
@used
Bool
Whether or not this field is used
Enabled
Bool
Enables filtering.
Window
64f
Window size (mm).
Window.min
64f
Minimum window size (mm).
Window.max
64f
Maximum window size (mm).
YDecimation
YDecimation Child Elements
XSlope
This filter is only available on displacement sensors.
XSlope Child Elements
Element
Type
Description
@used
Bool
Whether or not this field is used
Enabled
Bool
Enables filtering.
Window
64f
Window size (mm).
Window.min
64f
Minimum window size (mm).
Window.max
64f
Maximum window size (mm).
YSlope
This filter is only available on displacement sensors.
YSlope Child Elements
Element
Type
Description
@used
Bool
Whether or not this field is used
Enabled
Bool
Enables filtering.
Window
64f
Window size (mm).
Window.min
64f
Minimum window size (mm).
Window.max
64f
Maximum window size (mm).
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Trigger
The Trigger element contains settings related to trigger source, speed, and encoder resolution.
Gocator 1300 series sensors are limited to sending data at 10 kHz over the analog output
channel.
Therefore, if you configure a sensor so that it runs at a speed higher than 10 kHz, and configure
a measurement to be sent on the analog channel, you will get analog data drops.
To achieve a 10 kHz analog output rate, you must enable and configure scheduled output.
Trigger Child Elements
Element
Type
Description
Source
32s
Trigger source:
0 – Time
1 – Encoder
2 – Digital Input
3 – Software
Source.options
32s (CSV)
List of available source options.
Units
32s
Sensor triggering units when source is not clock or encoder:
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
MaxFrameRateEnabled
Bool
Enables maximum frame rate (ignores FrameRate).
EncoderSpacing
64f
Encoder spacing for encoder trigger (mm).
EncoderSpacing.min
64f
Minimum encoder spacing (mm).
EncoderSpacing.max
64f
Maximum encoder spacing (mm).
EncoderSpacing.minSource
32s
Source of minimum encoder spacing:
0 – Resolution
1 – Surface generation
EncoderSpacing.used
Bool
Whether or not this parameter is configurable.
EncoderTriggerMode
32s
Encoder triggering mode:
0 – Tracking backward
1 – Bidirectional
2 – Ignore backward
Delay
64f
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Trigger delay (µs or mm).
Gocator Device Files • 232
Element
Type
Description
Delay.min
64f
Minimum trigger delay (µs or mm).
Delay.max
64f
Maximum trigger delay (µs 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.
BurstEnabled
Bool
Enables burst triggering.
BurstEnabled.Used
Bool
Whether or not this parameter is configurable.
BurstCount
32u
Number of scans to take during burst triggering.
BurstCount.used
Bool
Whether or not this parameter is configurable.
BurstCount.max
32u
Maximum burst count.
ReversalDistanceAutoEnabled
Bool
Whether or not to use auto-calculated value.
ReversalDistanceAutoEnabled.u Bool
Whether or not this parameter can be configured.
sed
ReversalDistance
64f
Encoder reversal threshold (for jitter handling)
ReversalDistance.used
Bool
Whether or not this parameter is used.
ReversalDistance.value
64f
Actual value.
LaserSleepMode.used
Bool
Whether or not this feature can be configured
LaserSleepMode/Enabled
Bool
Enables or disables the feature.
LaserSleepMode/IdleTime
64u
Idle time before laser is turned off (µs).
LaserSleepMode/WakupEncode 64u
Minimum amount of encoder movement before laser turns on (mm).
rTravel
Layout
Layout Child Elements
Element
Type
Description
DataSource
32s
Data source of the layout output (read-only):
0 – Top
1 – Bottom
2 – Top left
3 – Top right
4 – Top Bottom
5 – Left 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
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Element
Type
Description
3 – Grid
Grid
Grid
Grid representation of the multi-sensor layout.
Orientation.options
32s (CSV)
List of available orientation options.
Orientation.value
32s
Actual value used if not configurable.
MultiplexBuddyEnabled
Bool
Enables multiplexing for buddies.
MultiplexSingleEnabled
Bool
Enables multiplexing for a single sensor configuration.
MultiplexSingleExposureDur 64f
Exposure duration in µs (currently rounded to integer when read by the
ation
sensor)
MultiplexSingleDelay
64f
Delay in µs. (Currently gets rounded up when read by the sensor.)
MultiplexSinglePeriod
64f
Period in µs. (Currently gets rounded up when read by the sensor.)
MultiplexSinglePeriod.min
64f
Minimum period in µs.
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).
ZAngle
64f
Z Angle start (degrees).
ZAngle.used
Bool
Whether or not this property is used.
Element
Type
Description
ColumnCount
32u
Column count.
ColumnCount.value
32u
Column count value.
Region3D Child Elements
Grid Elements
Alignment
The Alignment element contains settings related to alignment and encoder calibration.
Alignment Child Elements
Element
Type
Description
@used
Bool
Whether or not this field is used
InputTriggerEnabled
Bool
Enables digital input-triggered alignment operation.
InputTriggerEnabled.used
Bool
Whether or not this feature can be enabled. This feature is available only
on some sensor models.
InputTriggerEnabled.value
Bool
Actual feature status.
Type
32s
Type of alignment operation:
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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 stationary alignment targets.
MovingTarget
32s
Moving alignment target:
1 – Disk
2 – Bar
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.
Element
Type
Description
Diameter
64f
Disk diameter (mm).
Height
64f
Disk height (mm).
Element
Type
Description
Width
64f
Bar width (mm).
Height
64f
Bar height (mm).
HoleCount
32u
Number of holes.
HoleCount.value
32u
Actual number of holes expected by system.
HoleCount.used
Bool
Whether the hole count with be used in the bar alignment proceudure.
HoleDistance
64f
Distance between holes (mm).
HoleDistance.used
Bool
Whether the hole distance will be used in the bar alignment procedure.
HoleDiameter
64f
Diameter of holes (mm).
HoleDiameter.used
Bool
Whether the hold diameter will be used in the bar alignment procedure.
DegreesOfFreedom
32s
Degrees of freedom (DOF) to align:
Disk
Disk Child Elements
Bar
Bar Child Elements
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Element
Type
Description
42 – 3 DOF: x, z, y angle
58 – 4 DOF: x, y, z, y angle
59 – 5 DOF: x, y, z, y angle, z angle
Plate
Plate Child Elements
Element
Type
Description
Height
64f
Plate height (mm).
HoleCount
32u
Number of holes.
RefHoleDiameter
64f
Diameter of reference hole (mm).
SecHoleDiameter
64f
Diameter of secondary hole(s) (mm).
Devices / Device
Devices / Device Child Elements
Element
Type
Description
@index
32u
Ordered index of devices in device list.
@role
32s
Sensor role:
0 – Main
1 – Buddy
Layout
Layout
Multiplexing bank settings.
DataSource
32s
Data source of device output (read-only):
0 – Top
1 – Bottom
2 – Top Left
3 – Top Right
XSpacingCount
32u
Number of resampled points along X (read-only).
YSpacingCount
32u
Number of resampled points along Y (read-only).
ActiveArea
Region3D
Active area. (Contains min and max attributes for each element.)
TransformedDataRegion
Region3D
Active area after transformation (read-only).
FrontCamera
Window
Front camera window (read-only).
BackCamera
Window
Back camera window (read-only).
BackCamera.used
Bool
Whether or not this field is used.
PatternSequenceType
32s
The projector pattern sequence to display when a projector equipped
device is running. The following types are possible:
-1 – None
0 – Default
100 – Nine Lines
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Element
Type
Description
PatternSequenceType.optio
32s
List of available pattern sequence types.
PatternSequenceType.used
Bool
Whether or not this field is used.
PatternSequenceCount
32u
Number of frames in the active sequence (read-only).
ExposureMode
32s
Exposure mode:
ns
0 – Single exposure
2 – Dynamic exposure
ExposureMode.options
32s (CSV)
List of available exposure modes.
Exposure
64f
Single exposure (µs).
Exposure.min
64f
Minimum exposure (µs).
Exposure.max
64f
Maximum exposure (µs).
Exposure.used
Bool
Whether or not this field is used.
DynamicExposureMin
64f
Dynamic exposure range minimum (µs).
DynamicExposureMax
64f
Dynamic exposure range maximum (µs).
ExposureSteps
64f (CSV)
Mutiple exposure list (µs).
ExposureSteps.countMin
32u
Minimum number of exposure steps.
ExposureSteps.countMax
32u
Maximum number of exposure steps.
IntensitySource
32s
Intensity source:
0 – Both cameras
1 – Front camera
2 – Back camera
IntensitySource.options
32s (CSV)
List of available intensity sources.
IntensityMode
32s
Intensity Mode:
0 – Auto
1 - Preserve
IntensityMode.used
Bool
Whether intensity mode is used
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
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Element
Type
Description
2 – Maximum speed
3 – Custom
SpacingIntervalType.used
Bool
Whether or not this field is used.
Tracking
Section
See Tracking on the next page.
Material
Section
See Material on the next page.
IndependentExposures
Section
See IndependentExposures on page 241
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).
ZAngle
64f
Z Angle start (degrees).
ZAngle.used
Bool
Whether or not this property is used.
Element
Type
Description
X
32u
X start (pixels).
Y
32u
Y start (pixels).
Width
32u
X extent (pixels).
Height
32u
Y extent (pixels).
Element
Type
Description
Grid
Grid
Layout grid information.
MultiplexingBank
32u
Multiplexing bank ID
MultiplexingBank.used
32u
Whether or not this field can be specified
MultiplexingBank.value
32u
Actual value used by system
Element
Type
Description
@used
Bool
Whether or not this section is used.
Row
32s
Device row position in grid layout.
Row.value
32s
Value in use by the sensor, useful for determining value when used is
Region3D Child Elements
Window Child Elements
Layout Child Elements
Grid Child Elements
false.
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Element
Type
Description
Column
32s
Device column position in grid layout.
Column.value
32s
Value in use by the sensor, useful for determining value when used is
false.
Direction
32s
Sensor orientation direction.
Direction.value
32s
Value in use by the sensor, useful for determining value when used is
false.
Tracking
Tracking is only available on Gocator 2300 and 2400 series sensors.
Tracking Child Elements
Element
Type
Description
Enabled
Bool
Enables tracking.
Enabled.used
Bool
Whether or not this field is used.
SearchThreshold
64f
Percentage of spots that must be found to remain in track.
Height
64f
Tracking window height (mm).
Height.min
64f
Minimum tracking window height (mm).
Height.max
64f
Maximum tracking window height (mm).
Material
Material Child Elements
Element
Type
Description
Type
32s
Type of Material settings to use.
0 – Custom
1 – Diffuse
3 – Reflective
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.
Type.options
32u
List of available material types.
(CSV)
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.
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Element
Type
Description
SpotWidthMax.min
32s
Minimum allowed spot detection maximum value.
SpotWidthMax.max
32s
Maximum allowed spot detection maximum value.
SpotSelectionType
32s
Spot selection type
0 – Best. Picks the strongest spot in a given column.
1 – Top. Picks the spot which is most Top/Left on the imager
2 – Bottom. Picks the spot which is most Bottom/Right on the
imager
3 – None. All spots are available. This option may not be available
in some configurations.
4 – Continuity. Picks the most continuous spot.
SpotSelectionType.used
Bool
Determines if the setting’s value is currently used.
SpotSelectionType.value
32s
Value in use by the sensor, useful for determining value when
used is false.
SpotSelectionType.options
32s
List of available spot selection types.
(CSV)
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 number, the exposure will be increased.
DynamicThreshold.used
Bool
Determines if the setting’s value is currently used.
DynamicThreshold.value
32s
Value in use by the sensor, useful for determining value when
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Element
Type
Description
used is false.
DynamicThreshold.min
32s
Minimum value.
DynamicThreshold.max
32s
Maximum value.
SensitivityCompensationEnabled
Bool
Sensitivity compensation toggle. Used in determining analog and
digital gain, along with exposure scale.
SensitivityCompensationEnabled.used
Bool
Determines if the setting’s value is currently used.
SensitivityCompensationEnabled.value
Bool
Value in use by the sensor, useful for determining value when
used is false.
GammaType
32s
Gamma type.
GammaType used
Bool
Determines if the setting’s value is currently used.
GammaType value
32s
Value in use by the sensor. Useful for determining value when
used is false.
SpotContinuitySorting
Section See SpotContinuitySorting Child Elements below.
SurfaceEncoding
32s
Surface encoding type:
0 – Standard
1 – Interreflection (advanced users only)
SurfaceEncoding.used
Bool
Determines if the setting’s value is currently used.
SurfaceEncoding.value
Bool
Value in use by the sensor, useful for determining value when
used is false.
SurfacePhaseFilter
32s
Surface phase filter (correction type)
0 – None
1 – Reflective
2 - Translucent
SurfacePhaseFilter.used
Bool
Determines if the setting’s value is currently used.
SurfacePhaseFilter.value
Bool
Value in use by the sensor, useful for determining value when
used is false.
SpotContinuitySorting Child Elements
Element
Type
Description
MinimumSegmentSize
32u
Smallest continuous segment considered in continuity sorting.
SearchWindow/X
32u
X component of continuity sorting search window size.
SearchWindow/Y
32u
Y component of continuity sorting search window size.
IndependentExposures
IndependentExposures Child Elements
Element
Type
Description
@used
Bool
Whether this field is used
Enabled
Bool
Whether to allow using separate exposure values for each
camera
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Element
Type
Description
FrontCameraExposure
64f
The exposure value to use for the front camera
FrontCameraExposure.min
64f
The minimum exposure value possible for front camera
FrontCameraExposure.max
64f
The maximum exposure value possible for back camera
BackCameraExposure
64f
The exposure value to use for the front camera
BackCameraExposure.min
64f
The minimum exposure value possible for front camera
BackCameraExposure.max
64f
The maximum exposure value possible for back camera
SurfaceGeneration
The SurfaceGeneration element contains settings related to surface generation.
This element is used by Gocator laser profile sensors.
SurfaceGeneration Child Elements
Element
Type
Description
Type
32s
Surface 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 on the next page.
Element
Type
Description
StartTrigger
32s
Start trigger condition:
FixedLength
FixedLength Child Elements
0 – Sequential
1 – Digital input
Length
64f
Surface length (mm).
Length.min
64f
Minimum surface length (mm).
Length.max
64f
Maximum surface length (mm).
VariableLength
VariableLength Child Elements
Element
Type
Description
MaxLength
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).
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Rotational
Rotational Child Elements
Element
Type
Description
Circumference
64f
Circumference (mm).
Circumference.min
64f
Minimum circumference (mm).
Circumference.max
64f
Maximum circumference (mm).
SurfaceSections
SurfaceSections Child Elements
Element
Type
Description
@xMin
64f
The minimum valid X value to be used for section definition.
@xMax
64f
The maximum valid X value to be used for section definition.
@yMin
64f
The minimum valid Y value to be used for section definition.
@yMax
64f
The maximum valid Y value to be used for section definition.
Section
Collection
A series of Section elements.
Element
Type
Description
@id
32s
The ID assigned to the surface section.
@name
String
The name associated with the surface section.
StartPoint
Point64f
The beginning point of the surface section.
EndPoint
Point64f
The end point of the surface section.
Section Child Elements
CustomSpacingIntervalEnabl Bool
Indicates whether a user specified custom spacing interval is to be used
ed
for the resulting section.
SpacingInterval
64f
The user specified spacing interval.
SpacingInterval.min
64f
The spacing interval limit minimum.
SpacingInterval.max
64f
The spacing interval limit maximum.
SpacingInterval.value
64f
The current spacing interval used by the system.
ProfileGeneration
The ProfileGeneration element contains settings related to profile generation.
ProfileGeneration Child Elements
Element
Type
Description
Type
32s
Profile generation type:
0 – Continuous
1 – Fixed length
2 – Variable length
3 – Rotational
FixedLength
Section
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See FixedLength on the next page.
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Element
Type
Description
VariableLength
Section
See VariableLength below.
Rotational
Section
See Rotational below.
Element
Type
Description
StartTrigger
32s
Start trigger condition:
FixedLength
FixedLength Child Elements
0 – Sequential
1 – Digital input
Length
64f
Profile length (mm).
Length.min
64f
Minimum profile length (mm).
Length.max
64f
Maximum profile length (mm).
VariableLength
VariableLength Child Elements
Element
Type
Description
MaxLength
64f
Maximum surface length (mm).
MaxLength.min
64f
Minimum value for maximum profile length (mm).
MaxLength.max
64f
Maximum value for maximum profile length (mm).
Element
Type
Description
Circumference
64f
Circumference (mm).
Circumference.min
64f
Minimum circumference (mm).
Circumference.max
64f
Maximum circumference (mm).
Element
Type
Description
Enabled
Bool
Enables part detection.
Enabled.used
Bool
Whether or not this field is used.
Enabled value
Bool
Actual value used if not configurable.
MinArea
64f
Minimum area (mm 2).
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.
Rotational
Rotational Child Elements
PartDetection
PartDetection Child Elements
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Element
Type
Description
GapWidth
64f
Gap width (mm).
GapWidth.min
64f
Minimum gap width (mm).
GapWidth.max
64f
Maximum gap width (mm).
GapWidth.used
Bool
Whether or not this field is used.
GapLength
64f
Gap length (mm).
GapLength.min
64f
Minimum gap length (mm).
GapLength.max
64f
Maximum gap length (mm).
GapLength.used
Bool
Whether or not this field is used.
PaddingWidth
64f
Padding width (mm).
PaddingWidth.min
64f
Minimum padding width (mm).
PaddingWidth.max
64f
Maximum padding width (mm).
PaddingWidth.used
Bool
Whether or not this field is used.
PaddingLength
64f
Padding length (mm).
PaddingLength.min
64f
Minimum padding length (mm).
PaddingLength.max
64f
Maximum padding length (mm).
PaddingLength.used
Bool
Whether or not this field is used.
MinLength
64f
Minimum length (mm).
MinLength.min
64f
Minimum value of minimum length (mm).
MinLength.max
64f
Maximum value of minimum length (mm).
MinLength.used
Bool
Whether or not this field is used.
MaxLength
64f
Maximum length (mm).
MaxLength.min
64f
Minimum value of maximum length (mm).
MaxLength.max
64f
Maximum value of maximum length (mm).
MaxLength.used
Bool
Whether or not this field is used.
Threshold
64f
Height threshold (mm).
Threshold.min
64f
Minimum height threshold (mm).
Threshold.max
64f
Maximum height threshold (mm).
ThresholdDirection
32u
Threshold direction:
0 – Above
1 – Below
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.
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Element
Type
Description
IncludeSinglePointsEnabled
Bool
Enables preservation of single data points in Top+Bottom layout
IncludeSinglePointsEnabled. Bool
Whether or nto this field is available to be modified
used
Section
See EdgeFiltering below. (Not used by G1 sensors.)
Element
Type
Description
@used
Bool
Whether or not this section is used.
Enabled
Bool
Enables edge filtering.
PreserveInteriorEnabled
Bool
Enables preservation of interior.
ElementWidth
64f
Element width (mm).
ElementWidth.min
64f
Minimum element width (mm).
ElementWidth.max
64f
Maximum element width (mm).
ElementLength
64f
Element length (mm).
ElementLength.min
64f
Minimum element length (mm).
ElementLength.max
64f
Maximum element length (mm).
EdgeFiltering
EdgeFiltering
EdgeFiltering Child Elements
PartMatching
The PartMatching element contains settings related to part matching. This element is used by Gocator
profile and snapshot sensors.
PartMatching Child Elements
Element
Type
Description
Enabled
Bool
Enables part matching.
Enabled.used
Bool
Whether or not this field is used.
MatchAlgo
32s
Match algorithm.
0 – Edge points
1 – Bounding Box
2 – Ellipse
Edge
Section
See Edge below.
BoundingBox
Section
See BoundingBox on the next page.
Ellipse
Section
See Ellipse on the next page.
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
Edge Child Elements
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BoundingBox
BoundingBox Child Elements
Element
Type
Description
ZAngle
64f
Z rotation to apply to bounding box (degrees).
AsymmetryDetectionType
32s
Determine whether to use asymmetry detection and, if enabled,
which dimension is the basis of detection. The possible values are:
0 – None
1 – Length
2 - Width
Acceptance/Width/Min
64f
Minimum width (mm).
Acceptance/Width/Max
64f
Maximum width (mm).
Acceptance/Width/Tolerance
64f
Width acceptance tolerance value
Acceptance/Width/Tolerance.dep Bool
Whether this tolerance field is deprecated
recated
Acceptance/Length/Min
64f
Minimum length (mm).
Acceptance/Length/Max
64f
Maximum length (mm).
Acceptance/Length/Tolerance
64f
Length acceptance tolerance value
Acceptance/Length/Tolerance.de
Bool
Whether this tolerance field is deprecated
X
64f
X value
X.deprecated
Bool
Whether this X field is deprecated
Y
64f
Y value
Y.deprecated
Bool
Whether this Y field is deprecated
Width
64f
Width value
Width.deprecated
Bool
Whether this width field is deprecated
Length
64f
Length value
Length.deprecated
Bool
Whether this length field is deprecated
Element
Type
Description
ZAngle
64f
Z rotation to apply to ellipse (degrees).
AsymmetryDetectionType
32s
Determine whether to use asymmetry detection and, if enabled,
precated
Ellipse
Ellipse Child Elements
which dimension is the basis of detection. The possible values are:
0 – None
1 – Major
2 - Minor
Acceptance/Major/Min
64f
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Minimum major length (mm).
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Element
Type
Description
Acceptance/Major/Max
64f
Maximum major length (mm).
Acceptance/Major/Tolerance
64f
Major acceptance tolerance value
Acceptance/Major/Tolerance.dep Bool
Whether this tolerance field is deprecated
recated
Acceptance/Minor/Min
64f
Minimum minor length (mm).
Acceptance/Minor/Max
64f
Maximum minor length (mm).
Acceptance/Minor/Tolerance
64f
Minor acceptance tolerance value
Acceptance/Minor/Tolerance.dep Bool
Whether this tolerance field is deprecated
recated
X
64f
X value
X.deprecated
Bool
Whether this X field is deprecated
Y
64f
Y value
Y.deprecated
Bool
Whether this Y field is deprecated
Width
64f
Width value
Width.deprecated
Bool
Whether this width field is deprecated
Length
64f
Length value
Length.deprecated
Bool
Whether this length field is deprecated
Replay
Contains settings related to recording filtering.
RecordingFiltering
RecordingFiltering Child Elements
Element
Type
Description
ConditionCombineType
32s
0 – Any: If any enabled condition is satisfied, the current frame is
recorded.
1 – All: All enabled conditions must be satisfied for the current frame to
be recorded.
Conditions
Collection
A collection of AnyMeasurement, AnyData, or Measurement
conditions.
Conditions/AnyMeasurement
Conditions/AnyMeasurement Elements
Element
Type
Description
Enabled
Bool
Indicates whether the condition is enabled.
Result
32s
The measurement decision criteria to be included in the filter. Possible
values are:
0 – Pass
1 – Fail
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Element
Type
Description
2 – Valid
3 – Invalid
Conditions/AnyData
Conditions/AnyData Elements
Element
Type
Description
Enabled
Bool
Indicates whether the condition is enabled.
RangeCountCase
32s
The case under which to record data:
0 – Range count at or above threshold of valid data points.
1 – Range count below threshold.
RangeCountThreshold
32u
The threshold for the number of range points that are valid.
Conditions/Measurement
Conditions/Measurement Elements
Element
Type
Description
Enabled
Bool
Indicates whether the condition is enabled.
Result
32s
The measurement decision criteria for the selected ID to be included in
the filter. Possible values are:
0 – Pass
1 – Fail
2 – Valid
3 – Invalid
Ids
32s
The ID of the measurement to filter.
Streams/Stream (Read-only)
Streams/Stream Child Elements
Element
Type
Description
Step
32s
The data step of the stream being described. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section
Id
32u
The stream ID.
CadenceId
32u
Represents a stage in the data processing pipeline. The greater the
number, the farther removed from the initial acquisition stage. One of
the following:
0 – Primary
1 – Auxiliary
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Element
Type
Description
10 - Diagnostic
DataType
32s
The stream data type
0 – None
4 – Uniform Profile
16 – Uniform Surface
ColorEncoding
32s
The color encoding type. Only appears for Video stream steps (1).
0 – None
1 – Bayer BGGR
2 – Bayer GBRG
3 – Bayer RGGB
4 – Bayer GRBG
IntensityEnabled
Bool
Whether the stream includes intensity data
Sources
Collection
A collection of Source elements as described below.
Element
Type
Description
Id
32s
The ID of the data source. Possible values are:
Source Child Elements
0 – Top
1 – Bottom
2 – Top Left
3 – Top Right
4 – Top Bottom
5 – Left Right
Capability
32s
The capability of the data stream source. Possible values are:
0 – Full
1 – Diagnostic only
2 - Virtual
Region
Region3d
The region of the given stream source.
AdditionalRegions
Collection
Collection of additional regions (for example, for the second camera).
AdditionalRegions/Region
Region3d
Additional regions.
ToolOptions
The ToolOptions element contains a list of available tool types, their measurements, and settings for
related information.
ToolOptions Child Elements
Element
Type
Description
<Tool Names>
Collection
A collection of tool name elements. An element for each
tool type is present.
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Tool Name Child Elements
Element
Type
Description
@displayName
String
Display name of the tool.
@isCustom
Bool
Reserved for future use.
@format
32s
Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool
MeasurementOptions
Collection
See MeasurementOptions below
FeatureOptions
Collection
See FeatureOptions below.
StreamOptions
Collection
See StreamOptions on the next page.
MeasurementOptions
MeasurementOptions Child Elements
Element
Type
Description
<Measurement Names>
Collection
A collection of measurement name elements. An element
for each measurement is present.
<Measurement Name> Child Elements
Element
Type
Description
@displayName
String
Display name of the tool.
@minCount
32u
Minimum number of instances in a tool.
@maxCount
32u
Maximum number of instances in a tool.
Element
Type
Description
<Feature Names>
Collection
A collection of feature name elements. An element for each
FeatureOptions
FeatureOptions Child Elements
measurement is present.
<Feature Name> Child Elements
Element
Type
Description
@displayName
String
Display name of the feature.
@minCount
32u
Minimum number of instances in a tool.
@maxCount
32u
Maximum number of instances in a tool.
@dataType
String
The data type of the feature. One of:
– PointFeature
– LineFeature
– CircleFeature
– PlaneFeature
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StreamOptions
StreamOptions Child Elements
Element
Type
Description
@step
32s
The data step of the stream being described. Possible values
are:
1 – Video
2 – Range
3 – Surface
4 – Section
@ids
CSV
A list representing the available IDs associated with the given
step.
Tools
The Tools element contains measurement tools. The following sections describe each tool and its
available measurements.
Tools Child Elements
Element
Type
Description
@options
String (CSV)
A list of the tools available in the currently selected scan
mode.
<ToolType>
Section
An element for each added tool.
Profile Types
The following types are used by various measurement tools.
ProfileFeature
An element of type ProfileFeature defines the settings for detecting a feature within an area of interest.
ProfileFeature Child Elements
Element
Type
Description
Type
32s
Determine how the feature is detected within the area:
0 – Max Z
1 – Min Z
2 – Max X
3 – Min X
4 – Corner
5 – Average
6 – Rising Edge
7 – Falling Edge
8 – Any Edge
9 – Top Corner
10 – Bottom Corner
11 – Left Corner
12 – Right Corner
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Element
Type
Description
13 – Median
RegionEnabled
Bool
Indicates whether feature detection applies to the defined
Region or to the entire active area.
Region
ProfileRegion2D
Element for feature detection area.
ProfileLine
An element of type ProfileLine defines measurement areas used to calculate a line.
ProfileLine Child Elements
Element
Type
Description
RegionCount
32s
Count of the regions.
Regions
(Collection)
The regions used to calculate a line. Contains one or two Region elements
of type ProfileRegion2D, with RegionEnabled fields for each.
ProfileRegion2d
An element of type ProfileRegion2d defines a rectangular area of interest.
ProfileRegion2d Child Elements
Element
Type
Description
X
64f
Setting for profile region X position (mm).
Z
64f
Setting for profile region Z position (mm).
Width
64f
Setting for profile region width (mm).
Height
64f
Setting for profile region height (mm).
Geometric Feature Types
The Geometric Feature type is used by various measurement tools.
Feature Child Elements
Element
Type
Description
@id
32s
The identifier of the geometric feature. -1 if unassigned.
@dataType
String
The data type of the feature. One of:
– PointFeature
– LineFeature
@type
String
Type name of feature.
Name
String
The display name of the feature.
Enabled
Bool
Whether the given feature output is enabled.
Parameters
Collection
Collection of GdkParam elements.
Parameter Types
The following types are used by internal and custom (user-created) GDK-based tools.
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GDK Parameter Child Elements
Element
Type
Description
@label
String
Parameter label.
@type
String
Type of parameter. It is one of the following (see tables
below for elements found in each type):
- Bool
- Int
- Float
- ProfileRegion
- SurfaceRegion2d
- SurfaceRegion3d
- GeometricFeature
@options
Variant (CSV)
Options available for this parameter.
@optionNames
String (CSV)
Names
Type
Description
Bool
Boolean value of parameter.
Type
Description
32s
Integer value of parameter of integer type.
Type
Description
64f
Floating point value of parameter.
Type
Description
String
String value of parameter.
GDK Parameter Bool Type
Element
GDK Parameter Int Type
Element
GDK Parameter Float Type
Element
GDK Parameter String Type
Element
GDK Parameter Profile Region Type
Element
Type
Description
X
64f
X value of region.
Z
64f
Z value of region.
Width
64f
Width value of region.
Height
64f
Height value of region.
GDK Parameter Surface Region 2D Type
Element
Type
Description
X
64f
X value of region.
X
64f
X value of region.
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Element
Type
Description
Y
64f
Y value of region.
Width
64f
Width value of region.
Length
64f
Length value of region.
GDK Parameter Surface Region 3D Type
Element
Type
Description
X
64f
X value of region.
Y
64f
Y value of region.
Z
64f
Z value of region.
Width
64f
Width value of region.
Length
64f
Length value of region.
Height
64f
Height value of region.
ZAngle
64f
ZAngle value of region.
GDK Parameter Geometric Feature Type
Element
Type
Description
32s
Geometric feature Id for parameter.
RangePosition
A RangePosition element defines settings for a range position tool and its measurement.
RangePosition Child Elements
Element
Type
Description
Name
String
Tool name.
Features
Collection
Not used.
Source
32s
Range source.
Anchor\Z
String (CSV)
The Z measurements (IDs) used for anchoring.
Anchor\Z.options
String (CSV)
The Z measurements (IDs) available for anchoring.
StreamOptions
Collection
Not used.
Stream\Step
32s
Not used.
Stream\Id
32u
Not used.
Measurements\Z
Position tool
Z measurement. Determines the Z axis position of the laser
measurement
range.
Element
Type
Description
@id
32s
Measurement ID. Optional (measurement disabled if not
Position Tool Measurement
set).
Name
String
Gocator Point Profile Sensors: User Manual
Measurement name.
Gocator Device Files • 255
Element
Type
Description
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
PreserveInvalidsEnabled
Boolean
Preserve invalid measurements enable state
0 – Disable
1 – Enable
SmoothingWindow
32u
Smoothing window.
Scale
64f
Output scaling factor.
Offset
64f
Output offset factor.
DecisionMin
64f
Minimum decision threshold.
DecisionMax
64f
Maximum decision threshold.
RangeThickness
A RangeThickness element defines settings for a range thickness tool and its measurement.
RangeThickness Child Elements
Element
Type
Description
Name
String
Tool name.
Features
Collection
Not used.
Source
32s
Range source.
Anchor\Z
String (CSV)
The Z measurements (IDs) used for anchoring.
Anchor\Z.options
String (CSV)
The Z measurements (IDs) available for anchoring.
StreamOptions
Collection
Not used.
Stream\Step
32s
Not used
Stream\Id
32u
Not used.
Absolute
Boolean
Setting for selecting absolute or signed result:
0 – Signed
1 – Absolute
Measurements\Thickness
Thickness tool
Thickness measurement.
measurement
Gocator Point Profile Sensors: User Manual
Gocator Device Files • 256
Thickness Tool Measurement
Element
Type
Description
@id
32s
Measurement ID. Optional (measurement disabled if not
set).
Name
String
Measurement name.
Enabled
Boolean
Measurement enable state:
0 – Disable
1 – Enable
HoldEnabled
Boolean
Output hold enable state:
0 – Disable
1 – Enable
SmoothingEnabled
Boolean
Smoothing enable state:
0 – Disable
1 – Enable
PreserveInvalidsEnabled
Boolean
Preserve invalid measurements 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.
ProfileArea
A ProfileArea element defines settings for a profile area tool and one or more of its measurements.
ProfileArea Child Elements
Element
Type
Description
Name
String
Tool name.
Features
Collection
Collection of geometric feature outputs available in the tool.
See ProfileArea above.
Source
32s
Profile 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\Z
String (CSV)
The Z measurements (IDs) used for anchoring.
Anchor\Z.options
String (CSV)
The Z measurements (IDs) available for anchoring.
StreamOptions
Collection
A collection of StreamOptions on page 252 elements.
Stream\Step
32s
The stream source step. Possible values are:
1 – Video
Gocator Point Profile Sensors: User Manual
Gocator Device Files • 257
Element
Type
Description
2 – Range
3 – Surface
4 – Section
Stream\Id
32u
The stream source ID.
Type
Boolean
Area to measure:
0 – Object (convex shape above the baseline)
1 – Clearance (concave shape below the baseline)
Type.used
Boolean
Whether or not field is used.
Baseline
Boolean
Baseline type:
0 – X-axis
1 – Line
Baseline.used
Boolean
Whether or not field is used.
RegionEnabled
Boolean
If enabled, the defined region is used for measurements.
Otherwise, the full active area is used.
Region
ProfileRegion2d
Measurement region.
Line
ProfileLine
Line definition when Baseline is set to Line.
Measurements\Area
Area tool
Area measurement.
measurement
Measurements\CentroidX
Area tool
CentroidX measurement.
measurement
Measurements\CentroidZ
Area tool
CentroidZ measurement.
measurement
GeometricFeature
CenterPoint PointFeature.
Element
Type
Description
@id
32s
Measurement ID. Optional (measurement disabled if not
Features\CenterPoint
Area Tool Measurement
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
Gocator Point Profile Sensors: User Manual
Gocator Device Files • 258
Element
Type
Description
PreserveInvalidsEnabled
Boolean
Preserve invalid measurements enable state
0 – Disable
1 – Enable
SmoothingWindow
32u
Smoothing window.
Scale
64f
Output scaling factor.
Offset
64f
Output offset factor.
DecisionMin
64f
Minimum decision threshold.
DecisionMax
64f
Maximum decision threshold.
ProfileBoundingBox
A ProfileBoundingBox element defines settings for a profile bounding box tool and one or more of its
measurements.
ProfileBoundingBox Child Elements
Element
Type
Description
Name
String
Tool name.
Features
Collection
Collection of geometric feature outputs available in the tool.
See ProfileBoundingBox above.
Source
32s
Profile 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\Z
String (CSV)
The Z measurements (IDs) used for anchoring.
Anchor\Z.options
String (CSV)
The Z measurements (IDs) available for anchoring.
StreamOptions
Collection
A collection of StreamOptions on page 252 elements.
Stream\Step
32s
The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section
Stream\Id
32u
The stream source ID.
RegionEnabled
Bool
Whether or not to use the region. If the region is disabled,
all available data is used.
Region
ProfileRegion2d
Measurement region.
Measurements\X
Bounding Box tool
X measurement.
measurement
Measurements\Z
Bounding Box tool
Z measurement.
measurement
Measurements\Width
Bounding Box tool
Width measurement.
measurement
Gocator Point Profile Sensors: User Manual
Gocator Device Files • 259
Element
Type
Description
Measurements\Height
Bounding Box tool
Height measurement.
measurement
Measurements\GlobalX
Bounding Box tool
GlobalX measurement
measurement
Measurements\GlobalY
Bounding Box tool
GlobalY measurement
measurement
Measurements\GlobalAngle
Bounding Box tool
GlobalAngle measurement
measurement
Features\CenterPoint
GeometricFeature
CenterPoint PointFeature.
Features\CornerPoint
GeometricFeature
CornerPoint PointFeature.
Bounding Box Tool Measurement
Element
Type
Description
@id
32s
Measurement ID. Optional (measurement disabled if not
set).
Name
String
Measurement name.
Enabled
Boolean
Measurement enable state:
0 – Disable
1 – Enable
HoldEnabled
Boolean
Output hold enable state:
0 – Disable
1 – Enable
SmoothingEnabled
Boolean
Smoothing enable state:
0 – Disable
1 – Enable
PreserveInvalidsEnabled
Boolean
Preserve invalid measurements 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.
ProfileCircle
A ProfileCircle element defines settings for a profile circle tool and one or more of its measurements.
Gocator Point Profile Sensors: User Manual
Gocator Device Files • 260
ProfileCircle Child Elements
Element
Type
Description
Name
String
Tool name.
Features
Collection
Collection of geometric feature outputs available in the tool.
See ProfileCircle on the previous page.
Source
32s
Profile 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\Z
String (CSV)
The Z measurements (IDs) used for anchoring.
Anchor\Z.options
String (CSV)
The Z measurements (IDs) available for anchoring.
StreamOptions
Collection
A collection of StreamOptions on page 252 elements.
Stream\Step
32s
The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section
Stream\Id
32u
The stream source ID.
RegionEnabled
Bool
Whether or not to use the region. If the region is disabled,
all available data is used.
Region
ProfileRegion2d
Measurement region.
Measurements\X
Circle tool
X measurement.
measurement
Measurements\Z
Circle tool
Z measurement.
measurement
Measurements\Radius
Circle tool
Radius measurement.
measurement
GeometricFeature
CenterPoint PointFeature.
Element
Type
Description
@id
32s
Measurement ID. Optional (measurement disabled if not
Features\CenterPoint
Circle Tool Measurement
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
Gocator Point Profile Sensors: User Manual
Smoothing enable state:
Gocator Device Files • 261
Element
Type
Description
0 – Disable
1 – Enable
PreserveInvalidsEnabled
Boolean
Preserve invalid measurements 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.
ProfileDimension
A ProfileDimension element defines settings for a profile dimension tool and one or more of its
measurements.
ProfileDimension Child Elements
Element
Type
Description
Name
String
Tool name.
Features
Collection
Not used.
Source
32s
Profile 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\Z
String (CSV)
The Z measurements (IDs) used for anchoring.
Anchor\Z.options
String (CSV)
The Z measurements (IDs) available for anchoring.
StreamOptions
Collection
A collection of StreamOptions on page 252 elements.
Stream\Step
32s
The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section
Stream\Id
32u
The stream source ID.
RefFeature
ProfileFeature
Reference measurement region.
Feature
ProfileFeature
Measurement region.
Measurements\Width
Dimension tool
Width measurement.
measurement
Measurements\Height
Dimension tool
Height measurement.
measurement
Measurements\Distance
Dimension tool
Distance measurement.
measurement
Gocator Point Profile Sensors: User Manual
Gocator Device Files • 262
Element
Type
Description
Measurements\CenterX
Dimension tool
CenterX measurement.
measurement
Measurements\CenterZ
Dimension tool
CenterZ measurement.
measurement
Dimension Tool Measurement
Element
Type
Description
@id
32s
Measurement ID. Optional (measurement disabled if not
set).
Name
String
Measurement name.
Enabled
Boolean
Measurement enable state:
0 – Disable
1 – Enable
HoldEnabled
Boolean
Output hold enable state:
0 – Disable
1 – Enable
SmoothingEnabled
Boolean
Smoothing enable state:
0 – Disable
1 – Enable
PreserveInvalidsEnabled
Boolean
Preserve invalid measurements enable state
0 – Disable
1 – Enable
SmoothingWindow
32u
Smoothing window.
Scale
64f
Output scaling factor.
Offset
64f
Output offset factor.
DecisionMin
64f
Minimum decision threshold.
DecisionMax
64f
Maximum decision threshold.
Absolute
Boolean
Setting for selecting absolute or signed result:
(Width and Height
measurements only)
0 – Signed
1 – Absolute
ProfileGroove
A ProfileGroove element defines settings for a profile groove tool and one or more of its measurements.
The profile groove tool is dynamic, meaning that it can contain multiple measurements of the same type
in the Measurements element.
ProfileGroove Child Elements
Element
Type
Description
Name
String
Tool name.
Gocator Point Profile Sensors: User Manual
Gocator Device Files • 263
Element
Type
Description
Features
Collection
Not used.
Source
32s
Profile 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\Z
String (CSV)
The Z measurements (IDs) used for anchoring.
Anchor\Z.options
String (CSV)
The Z measurements (IDs) available for anchoring.
StreamOptions
Collection
A collection of StreamOptions on page 252 elements.
Stream\Step
32s
The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section
Stream\Id
32u
The stream source ID.
Shape
32s
Shape:
0 – U-shape
1 – V-shape
2 – Open
MinDepth
64f
Minimum depth.
MinWidth
64f
Minimum width.
MaxWidth
64f
Maximum width.
RegionEnabled
Bool
Whether or not to use the region. If the region is disabled,
all available data is used.
Region
ProfileRegion2d
Measurement region.
Measurements\X
Groove tool
X measurement.
measurement
Measurements\Z
Groove tool
Z measurement.
measurement
Measurements\Width
Groove tool
Width measurement.
measurement
Measurements\Depth
Groove tool
Depth measurement.
measurement
Groove Tool Measurement
Element
Type
Description
@id
32s
Measurement ID. Optional (measurement disabled if not
set).
Name
String
Measurement name.
Enabled
Boolean
Measurement enable state:
0 – Disable
Gocator Point Profile Sensors: User Manual
Gocator Device Files • 264
Element
Type
Description
1 – Enable
HoldEnabled
Boolean
Output hold enable state:
0 – Disable
1 – Enable
SmoothingEnabled
Boolean
Smoothing enable state:
0 – Disable
1 – Enable
PreserveInvalidsEnabled
Boolean
Preserve invalid measurements 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.
SelectType
32s
Method of selecting a groove when multiple grooves are
found:
0 – Max depth
1 – Ordinal, from left
2 – Ordinal, from right
SelectIndex
32s
Index when SelectType is set to 1 or 2.
Location
32s
Setting for groove location to return from:
(X and Z measurements only)
0 – Bottom
1 – Left corner
2 – Right corner
ProfileIntersect
A ProfileIntersect element defines settings for a profile intersect tool and one or more of its
measurements.
ProfileIntersect Child Elements
Element
Type
Description
Name
String
Tool name.
Features
Collection
Collection of geometric feature outputs available in the tool.
See ProfileIntersect above.
Source
32s
Profile source.
Anchor\X
String (CSV)
The X measurements (IDs) used for anchoring.
Anchor\X.options
String (CSV)
The X measurements (IDs) available for anchoring.
Gocator Point Profile Sensors: User Manual
Gocator Device Files • 265
Element
Type
Description
Anchor\Z
String (CSV)
The Z measurements (IDs) used for anchoring.
Anchor\Z.options
String (CSV)
The Z measurements (IDs) available for anchoring.
RefType
32s
Reference line type:
0 – Fit
1 – X Axis
StreamOptions
Collection
A collection of StreamOptions on page 252 elements.
Stream\Step
32s
The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section
Stream\Id
32u
The stream source ID.
RefLine
ProfileLine
Definition of reference line. Ignored if RefType is not 0.
Line
ProfileLine
Definition of line.
Measurements\X
Intersect tool
X measurement.
measurement
Measurements\Z
Intersect tool
Z measurement.
measurement
Measurements\Angle
Intersect tool
Angle measurement.
measurement
Features\IntersectPoint
GeometricFeature
IntersectPoint PointFeature.
Features\Line
GeometricFeature
Line LineFeature.
Features\BaseLine
GeometricFeature
BaseLine LineFeature.
Element
Type
Description
@id
32s
Measurement ID. Optional (measurement disabled if not
Intersect Tool Measurement
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
Gocator Point Profile Sensors: User Manual
Gocator Device Files • 266
Element
Type
Description
PreserveInvalidsEnabled
Boolean
Preserve invalid measurements enable state
0 – Disable
1 – Enable
SmoothingWindow
32u
Smoothing window.
Scale
64f
Output scaling factor.
Offset
64f
Output offset factor.
DecisionMin
64f
Minimum decision threshold.
DecisionMax
64f
Maximum decision threshold.
Absolute
Boolean
Setting for selecting the angle range:
(Angle measurement only)
0 – A range of -90 to 90 degrees is used.
1 – A range of 0 to 180 degrees is used.
ProfileLine
A ProfileLine element defines settings for a profile line tool and one or more of its measurements.
ProfileLine Child Elements
Element
Type
Description
Name
String
Tool name.
Features
Collection
Collection of geometric feature outputs available in the tool.
See ProfileLine above.
Source
32s
Profile 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\Z
String (CSV)
The Z measurements (IDs) used for anchoring.
Anchor\Z.options
String (CSV)
The Z measurements (IDs) available for anchoring.
StreamOptions
Collection
A collection of StreamOptions on page 252 elements.
Stream\Step
32s
The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section
Stream\Id
32u
The stream source ID.
RegionEnabled
Bool
Whether or not to use the region. If the region is disabled,
all available data is used.
Region
ProfileRegion2d
Measurement region.
FittingRegions
ProfileLine
ProfileLine describing up to 2 regions to fit to.
FittingRegionsEnabled
Bool
Whether the fitting regions are enabled.
Measurements\StdDev
Line tool
StdDev measurement.
Gocator Point Profile Sensors: User Manual
Gocator Device Files • 267
Element
Type
Description
measurement
Measurements\MaxError
Line tool
MaxError measurement.
measurement
Measurements\MinError
Line tool
MinError measurement.
measurement
Measurements\Percentile
Line tool
Percentile measurement.
measurement
Measurements\Offset
Line tool
Offset measurement.
measurement
Measurements\Angle
Line tool
Angle measurement.
measurement
Measurements\MinErrorX
Line tool
Minimum Error in Z measurement.
measurement
Measurements\MinErrorZ
Line tool
Minimum Error in Z measurement.
measurement
Measurements\MaxErrorX
Line tool
Maximum Error in X measurement.
measurement
Measurements\MaxErrorZ
Line tool
Maximum Error in Z measurement.
measurement
Features\Line
GeometricFeature
Line LineFeature.
Features\ErrorMinPoint
GeometricFeature
ErrorMinPoint PointFeature.
Features\ErrorMaxPoint
GeometricFeature
ErrorMaxPoint PointFeature.
Element
Type
Description
@id
32s
Measurement ID. Optional (measurement disabled if not
Line Tool Measurement
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
PreserveInvalidsEnabled
Boolean
Preserve invalid measurements enable state
0 – Disable
1 – Enable
Gocator Point Profile Sensors: User Manual
Gocator Device Files • 268
Element
Type
Description
SmoothingWindow
32u
Smoothing window.
Scale
64f
Output scaling factor.
Offset
64f
Output offset factor.
DecisionMin
64f
Minimum decision threshold.
DecisionMax
64f
Maximum decision threshold.
Percent
64f
Error percentile.
(Percentile measurement only)
ProfilePanel
A ProfilePanel element defines settings for a profile panel tool and one or more of its measurements.
ProfilePanel Child Elements
Element
Type
Description
Name
String
Tool name.
Features
Collection
Not used.
Source
32s
Profile 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\Z
String (CSV)
The Z measurements (IDs) used for anchoring.
Anchor\Z.options
String (CSV)
The Z measurements (IDs) available for anchoring.
StreamOptions
Collection
A collection of StreamOptions on page 252 elements.
Stream\Step
32s
The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section
Stream\Id
32u
The stream source ID.
RefSide
32s
Setting for reference side to use.
MaxGapWidth
64f
Setting for maximum gap width (mm).
LeftEdge
ProfilePanelEdge
Element for left edge configuration.
RightEdge
ProfilePanelEdge
Element for right edge configuration.
Measurements\Gap
Gap/Flush
measurement
Gap measurement.
Measurements\Flush
Gap/Flush
Flush measurement.
measurement
Measurements\LeftGapX
Gap/Flush
Left Gap X measurement.
measurement
Measurements\LeftGapZ
Gap/Flush
Gocator Point Profile Sensors: User Manual
Left Gap Z measurement.
Gocator Device Files • 269
Element
Type
Description
measurement
Measurements\LeftFlushX
Gap/Flush
Left Flush X measurement.
measurement
Measurements\LeftFlushZ
Gap/Flush
Left Flush Z measurement.
measurement
Measurements\LeftSurfaceAngl Gap/Flush
e
measurement
Measurements\RightGapX
Gap/Flush
Left Surface Angle measurement.
Right Gap X measurement.
measurement
Measurements\RightGapZ
Gap/Flush
Right Gap Z measurement.
measurement
Measurements\RightFlushX
Gap/Flush
Right Flush X measurement.
measurement
Measurements\RightFlushZ
Gap/Flush
Right Flush Z measurement.
measurement
Measurements\RightSurfaceAn Gap/Flush
gle
Right Surface Angle measurement.
measurement
ProfilePanelEdge
Element
Type
Description
EdgeType
32s
Edge type:
0 – Tangent
1 – Corner
MinDepth
64f
Minimum depth.
MaxVoidWidth
64f
Maximum void width.
SurfaceWidth
64f
Surface width.
SurfaceOffset
64f
Surface offset.
NominalRadius
64f
Nominal radius.
EdgeAngle
64f
Edge angle.
RegionEnabled
Bool
Whether or not to use the region. If the region is disabled,
all available data is used.
ProfileRegion2d
Edge region.
Element
Type
Description
@id
32s
Measurement ID. Optional (measurement disabled if not
Region
Gap/Flush Measurement
set).
Name
String
Measurement name.
Enabled
Boolean
Measurement enable state:
0 – Disable
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Gocator Device Files • 270
Element
Type
Description
1 – Enable
HoldEnabled
Boolean
Output hold enable state:
0 – Disable
1 – Enable
SmoothingEnabled
Boolean
Smoothing enable state:
0 – Disable
1 – Enable
PreserveInvalidsEnabled
Boolean
Preserve invalid measurements enable state
0 – Disable
1 – Enable
SmoothingWindow
32u
Smoothing window.
Scale
64f
Output scaling factor.
Offset
64f
Output offset factor.
DecisionMin
64f
Minimum decision threshold.
DecisionMax
64f
Maximum decision threshold.
Axis
32s
Measurement axis:
(Gap measurement only)
0 – Edge
1 – Surface
2 – Distance
Absolute
Boolean
(Flush measurement only)
Setting for selecting absolute or signed result:
0 – Signed
1 – Absolute
ProfilePosition
A ProfilePosition element defines settings for a profile position tool and one or more of its
measurements.
ProfilePosition Child Elements
Element
Type
Description
Name
String
Tool name.
Features
Collection
Collection of geometric feature outputs available in the tool.
See ProfilePosition above.
Source
32s
Profile 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\Z
String (CSV)
The Z measurements (IDs) used for anchoring.
Anchor\Z.options
String (CSV)
The Z measurements (IDs) available for anchoring.
StreamOptions
Collection
A collection of StreamOptions on page 252 elements.
Gocator Point Profile Sensors: User Manual
Gocator Device Files • 271
Element
Type
Description
Stream\Step
32s
The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section
Stream\Id
32u
The stream source ID.
Feature
ProfileFeature
Element for feature detection.
Measurements\X
Position tool
X measurement.
measurement
Measurements\Z
Position tool
Z measurement.
measurement
Features\Point
GeometricF
Point PointFeature
FeatureTypes.htm
eature
Position Tool Measurement
Element
Type
Description
id (attribute)
32s
Measurement ID. Optional (measurement disabled if not
set).
Name
String
Measurement name.
Enabled
Boolean
Measurement enable state:
0 – Disable
1 – Enable
HoldEnabled
Boolean
Output hold enable state:
0 – Disable
1 – Enable
SmoothingEnabled
Boolean
Smoothing enable state:
0 – Disable
1 – Enable
PreserveInvalidsEnabled
Boolean
Preserve invalid measurements enable state
0 – Disable
1 – Enable
SmoothingWindow
32u
Smoothing window.
Scale
64f
Output scaling factor.
Offset
64f
Output offset factor.
DecisionMin
64f
Minimum decision threshold.
DecisionMax
64f
Maximum decision threshold.
Gocator Point Profile Sensors: User Manual
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ProfileRoundCorner
A ProfileRoundCorner element defines settings for a profile round corner tool and one or more of its
measurements.
ProfileRoundCorner Child Elements
Element
Type
Description
Name
String
Tool name.
Features
Collection
Not used.
Source
32s
Profile 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\Z
String (CSV)
The Z measurements (IDs) used for anchoring.
Anchor\Z.options
String (CSV)
The Z measurements (IDs) available for anchoring.
StreamOptions
Collection
A collection of StreamOptions on page 252 elements.
Stream\Step
32s
The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section
Stream\Id
32u
The stream source ID.
RefDirection
32s
Setting for reference side to use:
0 – Left
1 – Right
Edge
ProfilePanelEdge
Element for edge configuration
Measurements\X
Round Corner tool
X measurement.
measurement
Measurements\Z
Round Corner tool
Z measurement.
measurement
Measurements\Angle
Round Corner tool
Angle measurement.
measurement
ProfilePanelEdge
Element
Type
Description
EdgeType
32s
Edge type:
0 – Tangent
1 – Corner
MinDepth
64f
Minimum depth.
MaxVoidWidth
64f
Maximum void width.
SurfaceWidth
64f
Surface width.
SurfaceOffset
64f
Surface offset.
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Element
Type
Description
NominalRadius
64f
Nominal radius.
EdgeAngle
64f
Edge angle.
RegionEnabled
Bool
Whether or not to use the region. If the region is disabled,
all available data is used.
Region
ProfileRegion2d
Edge region.
Round Corner Tool 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
PreserveInvalidsEnabled
Boolean
Preserve invalid measurements 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.
ProfileStrip
A ProfileStrip element defines settings for a profile strip tool and one or more of its measurements.
The profile strip tool is dynamic, meaning that it can contain multiple measurements of the same type in
the Measurements element.
ProfileStrip Child Elements
Element
Type
Description
Name
String
Tool name.
Features
Collection
Not used.
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Element
Type
Description
Source
32s
Profile 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\Z
String (CSV)
The Z measurements (IDs) used for anchoring.
Anchor\Z.options
String (CSV)
The Z measurements (IDs) available for anchoring.
StreamOptions
Collection
A collection of StreamOptions on page 252 elements.
Stream\Step
32s
The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section
Stream\Id
32u
The stream source ID.
BaseType
32s
Setting for the strip type:
0 – None
1 – Flat
LeftEdge
Bitmask
Setting for the left edge conditions:
1 – Raising
2 – Falling
4 – Data End
8 – Void
RightEdge
Bitmask
Setting for the right edge conditions:
1 – Raising
2 – Falling
4 – Data End
8 – Void
TiltEnabled
Boolean
Setting for tilt compensation:
0 – Disabled
1 – Enabled
SupportWidth
64f
Support width of edge (mm).
TransitionWidth
64f
Transition width of edge (mm).
MinWidth
64f
Minimum strip width (mm).
MinHeight
64f
Minimum strip height (mm).
MaxVoidWidth
64f
Void max (mm).
Region
ProfileRegion2d
Region containing the strip.
Measurements\X
Strip tool
X measurement.
measurement
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Element
Type
Description
Measurements\Z
Strip tool
Z measurement.
measurement
Measurements\Width
Strip tool
Width measurement.
measurement
Measurements\Height
Strip tool
Width measurement.
measurement
Strip Tool Measurement
Element
Type
Description
@id
32s
Measurement ID. Optional (measurement disabled if not
set).
Name
String
Measurement name.
Enabled
Boolean
Measurement enable state:
0 – Disable
1 – Enable
HoldEnabled
Boolean
Output hold enable state:
0 – Disable
1 – Enable
SmoothingEnabled
Boolean
Smoothing enable state:
0 – Disable
1 – Enable
PreserveInvalidsEnabled
Boolean
Preserve invalid measurements 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.
SelectType
32s
Method of selecting a groove when multiple grooves are
found:
0 – Best
1 – Ordinal, from left
2 – Ordinal, from right
SelectIndex
32s
Index when SelectType is set to 1 or 2.
Location
32s
Setting for groove location to return from:
(X, Z, and Height measurements
0 – Left
only)
1 – Right
2 – Center
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Script
A Script element defines settings for a script measurement.
Script Child Elements
Element
Type
Description
Name
String
Tool name.
Code
String
Script code.
Measurements\Output
(Collection)
Dynamic list of Output elements.
Output
Element
Type
Description
@id
32s
Measurement ID. Optional (measurement disabled if not
set).
Name
String
Measurement name.
Tool
A Tool element of type FeatureDimension defines settings for a feature dimension tool and one or more
of its measurements.
Tool Child Elements
Element
Type
Description
@type
String
Type name of the tool.
@version
String
Version string for custom tool.
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.
Parameters\RefPoint
GdkParamGeometricFeature Reference point feature.
Parameters\Feature
GdkParamGeometricFeature
Reference feature.
Measurements\Measurement
Dimension Measurement
Width measurement.
Dimension Measurement
Length measurement.
Dimension Measurement
Width measurement.
Dimension Measurement
Distance measurement.
Dimension Measurement
Plane distance measurement.
@type=Width
Measurements\Measurement
@type=Length
Measurements\Measurement
@type=Height
Measurements\Measurement
@type=Distance
Measurements\Measurement
@type=PlaneDistance
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Dimension Measurement Child Elements
@id
32s
Measurement ID. Optional (measurement disabled if not
set).
@type
String
Type name of measurement.
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
PreserveInvalidsEnabled
Boolean
Preserve invalid measurements 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.
Parameters\WidthAbsolute
GdkParamBool
Absolute width enabled boolean.
GdkParamBool
Absolute length enabled boolean.
GdkParamBool
Absolute height enabled boolean.
(Width measurement only)
Parameters\LengthAbsolute
(Length measurement only)
Parameters\HeightAbsolute
(Height measurement only)
Tool
A Tool element of type FeatureIntersect defines settings for a feature intersection tool and one or more
of its measurements.
Tool Child Elements
Element
Type
Description
@type
String
Type name of the tool.
@version
String
Version string for custom tool.
Name
String
Tool name.
Source
32s
Surface source.
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Element
Type
Description
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.
Parameters\Line
GdkParamGeometricFeature Line feature input.
Parameters\RefLine
GdkParamGeometricFeature
Reference line feature input.
Measurements\Measurement
Intersect Measurement
X measurement.
Intersect Measurement
Y measurement.
Intersect Measurement
Z measurement.
Intersect Measurement
Angle measurement.
GDK Feature
Intersect point feature.
@type=\X
Measurements\Measurement
@type=Y
Measurements\Measurement
@type=Z
Measurements\Measurement
@type=Angle
Features\IntersectPoint
Intersect Measurement Child Elements
@id
32s
Measurement ID. Optional (measurement disabled if not
set).
@type
String
Type name of measurement.
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
PreserveInvalidsEnabled
Boolean
Preserve invalid measurements enable state
0 – Disable
1 – Enable
SmoothingWindow
32u
Smoothing window.
Scale
64f
Output scaling factor.
Offset
64f
Output offset factor.
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DecisionMin
64f
Minimum decision threshold.
DecisionMax
64f
Maximum decision threshold.
Parameters\AngleRange
GdkParamInt
Angle range option choice. Is one of:
0 – -180 To 180
1 – 0 To 360
Custom
A Custom element defines settings for a user-created GDK-based tool and one or more of its
measurements.
Custom Child Elements
Element
Type
Description
@type
String
Type name of the tool.
@version
String
Version string for custom tool.
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.
Parameters
GDK Parameter
Collection of parameters. The element name in the
job file is the name of the parameter.
Measurements
GDK Measurement
Collection of measurements.
Features
GDK Feature
Collection of features.
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 (Range Position Z) will be sent to output.
<RangePosition> ...
<Measurements>
<Z id="2"> ...
<RangeThickness> ...
<Measurements>
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<Thickness id="3"> ...
<Output>
<Ethernet> ...
<Measurements options="2,3">2</Measurements>
Ethernet
The Ethernet element defines settings for Ethernet output.
In the Ethernet element, the source identifiers used for video, range, profile, and surface output, as well
as range, profile, and surface intensity outputs, correspond to the sensor that provides the data. For
example, in the XML below, the options attribute of the Ranges element shows that only two sources are
available (see the table below for the meanings of these values). The value in this element—0—indicates
that only data from that source will be sent to output.
<Output>
<Ethernet>
...
<Ranges options="0,1">0</Ranges>
<Profiles options=""/>>
<Surfaces options=""/>
...
Ethernet Child Elements
Element
Type
Description
Protocol
32s
Ethernet protocol:
0 – Gocator
1 – Modbus
2 – EtherNet/IP
3 – ASCII
TimeoutEnabled
Boolean
Enable or disable auto-disconnection timeout. Applies only to the
Gocator protocol.
Timeout
64f
Disconnection timeout (seconds). Used when TimeoutEnabled is true and
the Gocator protocol is selected.
Ascii
Section
See Ascii on page 283.
EIP
Section
See EIP on page 283.
Modbus
Section
See Modbus on page 284.
Videos
32s (CSV)
Selected video sources:
0 – Top
1 – Bottom
2 – Top left
3 – Top right
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Element
Type
Description
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
3 – Top right
Profiles.options
32s (CSV)
List of available profile sources (see above).
Surfaces
32s (CSV)
Selected surface sources:
0 – Top
1 – Bottom
2 – Top left
3 – Top right
Surfaces.options
32s (CSV)
List of available surface sources (see above).
SurfaceSections
32s (CSV)
Selected surface section sources.
SurfaceSections.options
32s (CSV)
List of available surface section sources.
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.
SurfaceIntensities.options
32s (CSV)
List of available surface intensity sources (see above).
SurfaceSectionIntensities
32s (CSV)
Selected surface section intensity sources
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Element
Type
SurfaceSectionIntensities.opti 32s (CSV)
Description
List of available surface section intensity sources.
ons
Tracheids
32s (CSV)
Selected tracheid sources
Tracheids.options
32s (CSV)
List of available tracheid sources.
Measurements
32u (CSV)
Selected measurement sources.
Measurements.options
32u (CSV)
List of available measurement sources.
Events
32u (CSV)
Selected events
Events.Options
32u (CSV)
CSV list of possible event options:
0 – Exposure Begins
1 – Exposure Ends
Features
32u (CSV)
Selected feature sources.
Features.options
32u (CSV)
List of available feature sources.
ToolData
32u (CSV)
Selected tool data sources.
ToolData.options
32u (CSV)
List of available tool data sources.
Ascii
Ascii Child Elements
Element
Type
Description
Operation
32s
Operation mode:
0 – Asynchronous
1 – Polled
ControlPort
32u
Control service port number.
HealthPort
32u
Health service port number.
DataPort
32u
Data service port number.
Delimiter
String
Field delimiter.
Terminator
String
Line terminator.
InvalidValue
String
String for invalid output.
CustomDataFormat
String
Custom data format.
CustomFormatEnabled
Bool
Enables custom data format.
StandardFormatMode
32u
The formatting mode used if not a custom format:
0 – Standard
1 – Standard with Stamp
EIP
EIP Child Elements
Element
Type
Description
BufferEnabled
Bool
Enables EtherNet/IP output buffering.
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Element
Type
Description
EndianOutputType
32s
Endian output type:
0 – Big endian
1 – Little endian
ImplicitOutputEnabled
Bool
Enables Implict (I/O) Messaging.
ImplicitTriggerOverride
32s
Override requested trigger type by client:
0 – No override
1 – Cyclic
2 – Change of State
Modbus
Modbus Child Elements
Element
Type
Description
BufferEnabled
Bool
Enables Modbus output buffering.
Digital0 and Digital1
The Digital0 and Digital1 elements define settings for the Gocator's two digital outputs.
Digital0 and Digital1 Child Elements
Element
Type
Description
Event
32s
Triggering event:
0 – None (disabled)
1 – Measurements
2 – Software
3 – Alignment state
4 – Acquisition start
5 – Acquisition end
SignalType
32s
Signal type:
0 – Pulse
1 – Continuous
ScheduleEnabled
Bool
Enables scheduling.
PulseWidth
64f
Pulse width (µs).
PulseWidth.min
64f
Minimum pulse width (µs).
PulseWidth.max
64f
Maximum pulse width (µs).
PassMode
32s
Measurement pass condition:
0 – AND of measurements is true
1 – AND of measurements is false
2 – Always assert
Delay
64f
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Output delay (µs or mm, depending on delay domain defined below).
Gocator Device Files • 284
Element
Type
Description
DelayDomain
32s
Output delay domain:
0 – Time (µs)
1 – Encoder (mm)
Inverted
Bool
Whether the sent bits are flipped.
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.
Gocator 1300 series sensors are limited to sending data at 10 kHz over the analog output
channel.
Therefore, if you configure a sensor so that it runs at a speed higher than 10 kHz, and configure
a measurement to be sent on the analog channel, you will get analog data drops.
To achieve a 10 kHz analog output rate, you must enable and configure scheduled output.
Analog Child Elements
Element
Type
Description
Event
32s
Triggering event:
0 – None (disabled)
1 – Measurements
2 – Software
ScheduleEnabled
Bool
Enables scheduling.
CurrentMin
64f
Minimum current (mA).
CurrentMin.min
64f
Minimum value of minimum current (mA).
CurrentMin.max
64f
Maximum value of minimum current (mA).
CurrentMax
64f
Maximum current (mA).
CurrentMax.min
64f
Minimum value of maximum current (mA).
CurrentMax.max
64f
Maximum value of maximum current (mA).
CurrentInvalidEnabled
Bool
Enables special current value for invalid measurement value.
CurrentInvalid
64f
Current value for invalid measurement value (mA).
CurrentInvalid.min
64f
Minimum value for invalid current (mA).
CurrentInvalid.max
64f
Maximum value for invalid current (mA).
DataScaleMax
64f
Measurement value corresponding to maximum current.
DataScaleMin
64f
Measurement value corresponding to minimum current.
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Element
Type
Description
Delay
64f
Output delay (µs or mm, depending on delay domain defined below).
DelayDomain
32s
Output delay domain:
0 – Time (µs)
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.
Serial Child Elements
Element
Type
Description
Protocol
32s
Serial protocol:
0 – ASCII
1 – Selcom
Protocol.options
32s (CSV)
List of available protocols.
Selcom
Section
See Selcom below.
Ascii
Section
See Ascii on the next page.
Measurements
32u (CSV)
Selected measurement sources.
Measurements.options
32u (CSV)
List of available measurement sources.
Element
Type
Description
Rate
32u
Output bit rate.
Rate.options
32u (CSV)
List of available rates.
Format
32s
Output format:
Selcom
Selcom Child Elements
0 – 12-bit
1 – 12-bit with search
2 – 14-bit
3 – 14-bit with search
Format.options
32s (CSV)
List of available formats.
DataScaleMin
64f
Measurement value corresponding to minimum word value.
DataScaleMax
64f
Measurement value corresponding to maximum word value.
Delay
64u
Output delay in µs.
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Ascii
Ascii Child Elements
Element
Type
Description
Delimiter
String
Field delimiter.
Terminator
String
Line terminator.
InvalidValue
String
String for invalid output.
CustomDataFormat
String
Custom data format.
CustomFormatEnabled
Bool
Enables custom data format.
StandardFormatMode
32u
The formatting mode used if not a custom format:
0 – Standard
1 – Standard with Stamp
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:
<?xml version="1.0" encoding="UTF-8"?>
<Transform version="100">
<EncoderResolution>1</EncoderResolution>
<Speed>100</Speed>
<Devices>
<Device role="0">
<X>-2.3650924829</X>
<Y>0.0</Y>
<Z>123.4966803469</Z>
<XAngle>5.7478302588</XAngle>
<YAngle>3.7078302555</XAngle>
<ZAngle>2.7078302556</XAngle>
</Device>
<Device id="1">
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<X>0</X>
<Y>0.0</Y>
<Z>123.4966803469</Z>
<XAngle>5.7478302588</XAngle>
<YAngle>3.7078302555</XAngle>
<ZAngle>2.7078302556</XAngle>
</Device>
</Devices>
</Transform>
The Transform element contains the alignment record for both the Main and the Buddy sensor.
Transform Child Elements
Element
Type
Description
@version
32u
Major transform version (100).
@versionMinor
32u
Minor transform version (0).
EncoderResolution
64f
Encoder Resolution (mm/tick).
Speed
64f
Travel Speed (mm/s).
Devices
(Collection)
Contains two Device 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):
Device Child Elements
Element
Type
Description
@role
32s
Role of device described by this section:
0 – Main
1 – Buddy
X
64f
Translation on the X axis (mm).
Y
64f
Translation on the Y axis (mm).
Z
64f
Translation on the Z axis (mm).
XAngle
64f
Rotation around the X axis (degrees).
YAngle
64f
Rotation around the Y axis (degrees).
ZAngle
64f
Rotation around the Z axis (degrees).
The rotation (counter-clockwise in the X-Z plane) is performed before the translation.
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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
l
l
l
Gocator
Modbus
EtherNet/IP
ASCII
Protocols Available over Serial
l
l
ASCII
Selcom
Gocator Protocol
This section describes the TCP and UDP commands and data formats used by a client computer to
communicate with Gocator sensors using the Gocator protocol. It also describes the connection types
(Discovery, Control, Upgrade, Data, and Health), and data types. The protocol enables the client to:
l
Discover Main and Buddy sensors on an IP network and re-configure their network addresses.
l
Configure Main and Buddy sensors.
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 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 GoSDK on page
374.
For information on configuring the protocol using the Web interface, see Ethernet Output on page 189.
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For information on job file structures (for example, if you wish to create job files programmatically), see
Job File Structure on page 226.
Data Types
The table below defines the data types and associated type identifiers used in this section.
All values except for IP addresses are transmitted in little endian format (least significant byte first)
unless stated otherwise. The bytes in an IP address "a.b.c.d" will always be transmitted in the order a, b,
c, d (big endian).
Data Types
Type
Description
Null Value
char
Character (8-bit, ASCII encoding)
-
byte
Byte.
-
8s
8-bit signed integer.
-128
8u
8-bit unsigned integer.
255U
16s
16-bit signed integer.
-32768 (0x8000)
16u
16-bit unsigned integer.
65535 (0xFFFF)
32s
32-bit signed integer.
-2147483648 (0x80000000)
32u
32-bit unsigned integer.
4294967295 (0xFFFFFFFF)
64s
64-bit signed integer.
-9223372036854775808 (0x8000000000000000)
64u
64-bit unsigned integer.
18446744073709551615 (0xFFFFFFFFFFFFFFFF)
64f
64-bit floating point
-1.7976931348623157e+308
Point16s
Two 16-bit signed integers
-
Point64f
Two 64-bit floating point values
-
Point3d64f
Three 64-bit floating point values
-
Rect64f
Four 64-bit floating point values
-
Rect3d64f
Eight 64-bit floating point values
-
Commands
The following sections describe the commands available on the Discovery (page 291), Control (page
294), and Upgrade (page 330) 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:
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Status Codes
Label
Value
Description
OK
1
Command succeeded.
Failed
0
Command failed.
Invalid State
-1000
Command is not valid in the current state.
Item Not Found
-999
A required item (e.g., file) was not found.
Invalid Command
-998
Command is not recognized.
Invalid Parameter
-997
One or more command parameters are incorrect.
Not Supported
-996
The operation is not 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 Address and Set Address commands to modify a sensor's network configuration. These
commands are UDP broadcast messages:
Destination Address
Destination Port
255.255.255.255
3220
When a sensor accepts a discovery command, it will send a UDP broadcast response:
Destination Address
Destination Port
255.255.255.255
Port of command sender.
The use of UDP broadcasts for discovery enables a client computer to locate a sensor when the senor
and client are configured for different subnets. All you need to know is the serial number of the sensor in
order to locate it on an IP network.
Get Address
The Get Address command is used to discover Gocator sensors across subnets.
Command
Field
Type
Offset
Description
length
64s
0
Command length.
type
64s
8
Command type (0x1).
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Field
Type
Offset
Description
signature
64s
16
Message signature (0x0000504455494D4C)
deviceId
64s
24
Serial number of the device whose address information is
queried. 0 selects all devices.
Reply
Field
Type
Offset
Description
length
64s
0
Reply length.
type
64s
8
Reply type (0x1001).
status
64s
16
Operation status.
signature
64s
24
Message signature (0x0000504455494D4C)
deviceId
64s
32
Serial number.
dhcpEnabled
64s
40
0 – Disabled 1 – Enabled
reserved[4]
byte
48
Reserved.
address[4]
byte
52
The IP address in left to right order.
reserved[4]
byte
56
Reserved.
subnetMask[4]
byte
60
The subnet mask in left to right order.
reserved[4]
byte
64
Reserved.
gateway[4]
byte
68
The gateway address in left to right order.
reserved[4]
byte
72
Reserved.
reserved[4]
byte
76
Reserved.
Set Address
The Set Address command modifies the network configuration of a Gocator sensor. On receiving the
command, the Gocator will perform a reset. You should wait 30 seconds before re-connecting to the
Gocator.
Command
Field
Type
Offset
Description
length
64s
0
Command length.
type
64s
8
Command type (0x2).
signature
64s
16
Message signature (0x0000504455494D4C)
deviceId
64s
24
Serial number of the device whose address information is
queried. 0 selects all devices.
dhcpEnabled
64s
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.
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Field
Type
Offset
Description
gateway[4]
byte
60
The gateway address in left to right order.
reserved[4]
byte
64
Reserved.
reserved[4]
byte
68
Reserved.
Field
Type
Offset
Description
length
64s
0
Reply length.
type
64s
8
Reply type (0x1002).
status
64s
16
Operation status. For a list of status codes, see Commands on
Reply
page 290.
signature
64s
24
Message signature (0x0000504455494D4C).
deviceId
64s
32
Serial number.
Get Info
The Get Info command is used to retrieve sensor information.
Command
Field
Type
Offset
Description
length
64s
0
Command length.
type
64s
8
Command type (0x5).
signature
64s
16
Message signature (0x0000504455494D4C).
deviceId
64s
24
Serial number of the device whose address information is
queried. 0 selects all devices.
Reply
Field
Type
Offset
Description
length
64s
0
Reply length.
type
64s
8
Reply type (0x1005).
status
64s
16
Operation status. For a list of status codes, see Commands on
page 290.
signature
64s
24
Message signature (0x0000504455494D4C).
attrCount
16u
32
Byte count of the attributes (begins after this field and ends
before propertyCount).
id
32u
34
Serial number.
version
32u
38
Version as a 4-byte integer (encoded in little-endian).
uptime
64u
42
Sensor uptime (microseconds).
ipNegotiation
byte
50
IP negotiation type:
0 – Static
1 – DHCP
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Field
Type
Offset
Description
addressVersion
byte
51
IP address version (always 4).
address[4]
byte
52
IP address.
reserved[12]
byte
56
Reserved.
prefixLength
32u
68
Subnet prefix length (in number of bits).
gatewayVersion
byte
72
Gateway address version (always 4).
gatewayAddress[4]
byte
73
Gateway address.
reserved[12]
byte
77
Reserved.
controlPort
16u
89
Control channel port.
upgradePort
16u
91
Upgrade channel port.
healthPort
16u
93
Health channel port.
dataPort
16u
95
Data channel port.
webPort
16u
97
Web server port.
propertyCount
8u
99
Number of sensor ID properties.
properties
Property
100
List of sensor ID properties.
[propertyCount]
Property
Field
Type
Description
nameLength
8u
Length of the name.
name[nameLength]
char
Name string.
valueLength
8u
Length of the value.
value[valueLength]
char
Value string.
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. For more
information on Upgrade commands, see Upgrade Commands on page 330.
States
A Gocator system can be in one of three states: Conflict, Ready, or Running. The client sends the Start
and Stop control commands to change the system's current state to Running and Ready, respectively.
The sensor can also be configured to boot in either the Ready or Running state, by enabling or disabling
autostart, respectively, using the Set Auto Start Enabled command.
In the Ready state, a sensor can be configured. In the Running state, a sensor responds to input signals,
performs measurements, drives its outputs, and sends data messages to the client.
The state of the sensor can be retrieved using the Get States or Get System Info command.
The Conflict state indicates that a sensor has been configured with a Buddy sensor but the Buddy sensor
is not present on the network. The sensor will not accept some commands until the Set Buddy
command is used to remove the configured Buddy.
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Progressive Reply
Some commands send replies progressively, as multiple messages. This allows the sensor to stream data
without buffering it first, and allows the client to obtain progress information on the stream.
A progressive reply begins with an initial, standard reply message. If the status field of the reply indicates
success, the reply is followed by a series of “continue” reply messages.
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.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4511)
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
Reply
290.
majorVersion
8u
10
Major version.
minorVersion
8u
11
Minor version.
Get Address
The Get Address command is used to get a sensor address.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x3012)
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x3012).
status
32s
6
Reply status. For a list of status codes, see Commands on page
Reply
290.
dhcpEnabled
byte
10
0 – DHCP not used
1 – DHCP used
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Field
Type
Offset
Description
address[4]
byte
11
IP address (most significant byte first).
subnetMask[4]
byte
15
Subnet mask.
gateway[4]
byte
19
Gateway address.
Set Address
The Set Address command modifies the network configuration of a Gocator sensor. On receiving the
command, the Gocator will perform a reset. You should wait 30 seconds before re-connecting to the
Gocator.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x3013)
dhcpEnabled
byte
6
0 – DHCP not used
1 – DHCP used
address[4]
byte
7
IP address (most significant byte first).
subnetMask[4]
byte
11
Subnet mask.
gateway[4]
byte
15
Gateway address.
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x3013).
status
32s
6
Reply status. For a list of status codes, see Commands on page
Reply
290.
Get System Info V2
The Get System Info command reports information about the local node, remote nodes and assigned
buddies.
Firmware version refers to the version of the Gocator's firmware installed on each individual sensor. The
client can upgrade the Gocator's firmware by sending the Start Upgrade command (see Start Upgrade on
page 331). 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
83.
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.
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Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4010)
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4010).
status
32s
6
Reply status. For a list of status codes, see Commands on page
Reply
290.
localInfoSize
16u
10
Size of localInfo structure. Current: 52.
localInfo
Device Info 12
Info for this device.
remoteCount
32u
-
Number of discovered sensors.
remoteInfoSize
16u
-
Size of remoteInfo structure. Current 60.
remoteInfo
Remote
-
List of info for discovered sensors.
[remoteCount]
Info
buddyInfoCount
32u
-
Number of buddies assigned (can be 0).
buddyInfoSize
16u
-
Size of buddyInfo structure. Current: 8.
Buddies[buddyCount]
Buddy Info -
List of info for the assigned buddies.
Field
Type
Offset
Description
deviceId
32u
0
Serial number of the device.
address[4]
byte
4
IP address (most significant byte first).
modelName[32]
char
8
Model name.
firmwareVersion[4]
byte
40
Firmware version (most significant byte first).
state
32s
44
Sensor state
Sensor Info
-1 – Conflict
0 – Ready
1 – Running
For more information on states, see Control Commands on page
294.
role
32s
48
Sensor role
0 – Main
1 – Buddy
Remote Info
Field
Type
Offset
Description
deviceId
32u
0
Serial number of the device.
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Field
Type
Offset
Description
address[4]
byte
4
IP address (most significant byte first).
modelName[32]
char
8
Model name.
firmwareVersion[4]
byte
40
Firmware version (most significant byte first).
state
32s
44
Sensor state
-1 – Conflict
0 – Ready
1 – Running
For more information on states, see Control Commands on page
294.
role
32s
48
Sensor role
0 – Main
1 – Buddy
mainId
32u
52
Serial number of the main device, or zero.
buddyableStatus
32s
56
Whether or not the device can be buddied:
1 – Can be buddied
Errors:
0 – Unbuddiable (General Error)
-100 – Already buddied
-99 – Invalid State (e.g. running)
-98 – Version Mismatch
-97 – Model Mismatch
Buddy Info
Field
Type
Offset
Description
deviceId
32u
2
Serial number of the device.
state
k32s
6
Buddy state
2 - Connecting
1 – Connected
Errors:
0 – Unbuddiable (General Error)
-100 – Already buddied
-99 – Invalid State (e.g. running)
-98 – Version Mismatch
-97 – Model Mismatch
-95 – Device Missing
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Get System Info
This version of the Get System Info command is deprecated. Use Get System Info (v2) instead.
The Get System Info command reports information for sensors that are visible in the system.
Firmware version refers to the version of the Gocator's firmware installed on each individual sensor. The
client can upgrade the Gocator's firmware by sending the Start Upgrade command (see Start Upgrade on
page 331). 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
83.
Every Gocator sensor contains factory backup firmware. If a firmware upgrade command fails (e.g.,
power is interrupted), the factory backup firmware will be loaded when the sensor is reset or power
cycled. In this case, the sensors will fall back to the factory default IP address. To avoid IP address
conflicts in a multi-sensor system, connect to one sensor at a time and re-attempt the firmware upgrade.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4002)
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
Reply
290.
localInfo
Sensor
Info
10
Info for this device.
remoteCount
32u
66
Number of discovered sensors.
remoteInfo
Sensor
Info
70
List of info for discovered sensors.
Field
Type
Offset
Description
deviceId
32u
0
Serial number of the device.
address[4]
byte
4
IP address (most significant byte first).
modelName[32]
char
8
Model name.
firmwareVersion[4]
byte
40
Firmware version (most significant byte first).
state
32s
44
Sensor state
[remoteCount]
Sensor Info
-1 – Conflict
0 – Ready
1 – Running
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Field
Type
Offset
Description
For more information on states, see Control Commands on page
294.
role
32s
48
Sensor role
0 – Main
1 – Buddy
buddyId
32s
52
Serial number of paired device (main or buddy). 0 if unpaired.
Get States
The Get States command returns various system states.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4525)
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
Reply
290.
count
32u
10
Number of state variables.
sensorState
32s
14
Sensor state
-1 – Conflict
0 – Ready
1 – Running
For more information on states, see Control Commands on page
294.
loginState
32s
18
Device login state
0 – No user
1 – Administrator
2 – Technician
alignmentReference
32s
22
Alignment reference
0 – Fixed
1 – Dynamic
alignmentState
32s
26
Alignment state
0 – Unaligned
1 – Aligned
recordingEnabled
32s
30
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Field
Type
Offset
Description
0 – Disabled
1 – Enabled
playbackSource
32s
34
Playback source
0 – Live data
1 – Recorded data
uptimeSec
32s
38
Uptime (whole seconds component)
uptimeMicrosec
32s
42
Uptime (remaining microseconds component)
playbackPos
32s
46
Playback position
playbackCount
32s
50
Playback frame count
autoStartEnabled
32s
54
Auto-start enable (boolean)
Log In/Out
The Log In/Out command is used to log in or out of a sensor.
Command
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
char
10
Password (required for log-in only).
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
password[64]
Reply
290.
Change Password
The Change Password command is used to change log-in credentials for a user.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4004).
user type
32s
6
Defines the user type
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Field
Type
Offset
Description
0 – None (log out)
1 – Administrator
2 – Technician
password[64]
char
10
New password.
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4004).
status
32s
6
Reply status. For a list of status codes, see Commands on page
Reply
290.
Passwords can only be changed if a user is logged in as an administrator.
Assign Buddies
The Assign Buddies command is used to set the list of buddies assigned to the system.
This command can be used to both add and remove buddies by changing the list of buddies. A serial
number of 0 can be used to add device slots that are not assigned a physical sensor. Collections
associated with the devices (e.g. <Device> element in the configuration) grow or shrink accordingly.
Items are added to or removed from the end of these collections. For example: the system starts with 2
devices, [A, B]. A new list [A, B, C] is sent. The configuration for A and B are preserved, and a new record is
created for C. If now the system changes back to [A, B], the record for C is deleted. Adding or removing
items in the middle of the list has the same behaviour. Example: the system starts with 3 devices, [A, B,
C]. A new list [A, C] is sent. The configuration for B is now used for C, and the configuration for C is
deleted. To ensure consistency when adding and removing devices, add only to the end of the list and
remove using the Remove Buddies command.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4011).
buddyCount
32u
6
Number of buddies or 0 to unbuddy all devices.
buddies[buddyCount]
32u
10
Serial Numbers of the buddies to assign (can be 0).
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4011).
status
32s
6
Reply status. For a list of status codes, see Commands on page
Reply
290.
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Remove Buddies
The Remove Buddies command is used to remove one or more buddies using 0-based buddy indices.
Use this command to remove a buddy devices along with its associated configuration resources. If the
system starts with 3 devices: [A, B, C], and this command is called to remove B, the configuration items
for A and C remain unchanged.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4013).
buddyCount
32u
6
Number of buddies.
buddyIds[buddyCount]
32u
10
Indices of the buddies to remove. Note that the first buddy has
index 0 (i.e. it's the index of buddies, not all devices including the
main).
Reply
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4013).
status
32s
6
Reply status. For a list of status codes, see Commands on page
290.
Set Buddy
The Set Buddy command is used to assign or unassign a Buddy sensor.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4005).
buddyId
32u
6
Id of the sensor to acquire as buddy. Set to 0 to remove buddy.
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4005).
status
32s
6
Reply status. For a list of status codes, see Commands on page
Reply
290.
List Files
The List Files command returns a list of the files in the sensor's file system.
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Command
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.
Reply
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x101A).
status
32s
6
Reply status. For a list of status codes, see Commands on page
290.
count
32u
10
Number of file names.
fileNames[count][64]
char
14
File names.
Copy File
The Copy File command copies a file from a source to a destination within the connected sensor (a .job
file, a component of a job file, or another type of file; for more information, see Job File Structure on page
226).
To make a job active (to load it), copy a saved job to "_live.job".
To "save" the active job, copy from "_live.job" to another file.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x101B).
source[64]
char
6
Source file name.
destination[64]
char
70
Destination file name.
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
Reply
290.
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 File Structure on page 226).
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To download the live configuration, pass "_live.job" in the name field.
To read the configuration of the live configuration only, pass "_live.job/config.xml" in the name field.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x1007).
name[64]
char
6
Source file name.
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x1007).
status
32s
6
Reply status. For a list of status codes, see Commands on page
Reply
290.
length
32u
10
File length.
data[length]
byte
14
File contents.
Write File
The Write File command uploads a file to the connected sensor (a .job file, a component of a job file, or
another type of file; for more information, see Job File Structure on page 226).
To make a job file live, write to "_live.job". Except for writing to the live file, the file is permanently stored
on the sensor.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x1006).
name[64]
char
6
Source file name.
length
32u
70
File length.
data[length]
byte
74
File contents.
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
Reply
290.
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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 File Structure on page 226).
Command
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.
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
Reply
290.
User Storage Used
The User Storage Used command returns the amount of user storage that is used.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x1021).
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x1021).
status
32s
6
Reply status.
spaceUsed
64u
10
The used storage space in bytes.
Reply
User Storage Free
The User Storage Free command returns the amount of user storage that is free.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x1022).
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Reply
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x1022).
status
32s
6
Reply status.
spaceFree
64u
10
The free storage space in bytes.
Get Default Job
The Get Default Job command gets the name of the job the sensor loads when it powers up.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4100).
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
Reply
290.
name[64]
char
10
The file name (null-terminated) of the job the sensor loads when
it powers up.
Set Default Job
The Set Default Job command sets the job the sensor loads when it powers up.
Command
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 the sensor loads when it
powers up.
Reply
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4101).
status
32s
6
Reply status. For a list of status codes, see Commands on page
290.
Get Loaded Job
The Get Loaded Job command returns the name and modified status of the currently loaded file.
Gocator Point Profile Sensors: User Manual
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Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4512).
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
Reply
290.
fileName[64]
char
10
Name of the currently loaded job.
changed
8u
74
Whether or not the currently loaded job has been changed (1: yes;
0: no).
Get Alignment Reference
The Get Alignment Reference command is used to get the sensor's alignment reference.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4104).
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
Reply
290.
reference
32s
10
Alignment reference
0 – Fixed
1 – Dynamic
Set Alignment Reference
The Set Alignment Reference command is used to set the sensor's alignment reference.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4103).
reference
32s
6
Alignment reference
0 – Fixed
1 – Dynamic
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Reply
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
290.
Clear Alignment
The Clear Alignment command clears sensor alignment.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4102).
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
Reply
290.
Get Timestamp
The Get Timestamp command retrieves the sensor's timestamp, in clock ticks. All devices in a system are
synchronized with the system clock; this value can be used for diagnostic purposes, or used to
synchronize the start time of the system.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x100A).
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
Reply
290.
timestamp
64u
10
Timestamp, in clock ticks.
Get Encoder
This command retrieves the current system encoder value.
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Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x101C).
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x101C).
status
32s
6
Reply status. For a list of status codes, see Commands on page
Reply
290.
encoder
64s
10
Current encoder position, in ticks.
Reset Encoder
The Reset Encoder command is used to reset the current encoder value.
The encoder value can be reset only when the encoder is connected directly to a sensor. When
the encoder is connected to the master, the value cannot be reset via this command.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x101E).
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
Reply
290.
Start
The Start command starts the sensor system (system enters the Running state). For more information
on states, see Control Commands on page 294.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x100D).
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
Reply
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Field
Type
Offset
Description
id
16u
4
Reply identifier (0x100D).
status
32s
6
Reply status. For a list of status codes, see Commands on page
290.
Scheduled Start
The scheduled start command starts the sensor system (system enters the Running state) at target time
or encoder value (depending on the trigger mode). For more information on states, see Control
Commands on page 294.
Command
Field
Type
Offset
Description
length
32u
0
Command size – in bytes.
id
16u
4
Command identifier (0x100F).
target
64s
6
Target scheduled start value (in ticks or µs, depending on the
trigger type).
Reply
Field
Type
Offset
Description
length
32u
0
Reply size – in bytes.
id
16u
4
Reply identifier (0x100F).
status
32s
6
Reply status. For a list of status codes, see Commands on page
290.
Stop
The Stop command stops the sensor system (system enters the Ready state). For more information on
states, see Control Commands on page 294.
Command
Field
Type
Type
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x1001).
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
Reply
290.
Get Auto Start Enabled
The Get Auto Start Enabled command returns whether the system automatically starts after booting.
Gocator Point Profile Sensors: User Manual
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Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x452C).
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x452C).
status
32s
6
Reply status. For a list of status codes, see Commands on page
Reply
290.
enable
8u
10
0: disabled
1: enabled
Set Auto Start Enabled
The Set Auto Start Enabled command sets whether the system automatically starts after booting (enters
Running state; for more information on states, see Control Commands on page 294).
Command
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
Reply
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x452B).
status
32s
6
Reply status. For a list of status codes, see Commands on page
290.
Get Voltage Settings
The Get Voltage Settings command returns the sensor’s voltage and cable length settings.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4539).
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Reply
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4539).
Voltage
k16u
10
0: 48 Volts; 1: 24 Volts.
Cable Length
k16u
12
0 – 100: Meters
Set Voltage Settings
The Set Voltage Settings command sets the sensor’s voltage and cable length settings.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4538).
Voltage
k16u
6
0: 48 Volts; 1: 24 Volts.
Cable Length
k16u
8
0 – 100: Meters
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4538).
status
32s
6
Reply status. For a list of status codes, see Commands on page
Reply
290.
Get Quick Edit Enabled
The Get Quick Edit Enabled command returns whether Quick Edit mode is enabled on the sensor.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4541).
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4541).
status
32s
6
Reply status. For a list of status codes, see Commands on page
Reply
290.
Enable
8u
10
0: disabled; 1: enabled.
Set Quick Edit Enabled
The Set Quick Edit Enabled command enables or disables Quick Edit mode on the sensor.
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Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4540).
enable
8u
6
0: disabled; 1: enabled.
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4540).
status
32s
6
Reply status. For a list of status codes, see Commands on page
Reply
290.
Start Alignment
The Start Alignment command is used to start the alignment procedure on a sensor.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4600).
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
Reply
290.
opId
32u
10
Operation ID. Use this ID to correlate the command/reply on the
Command channel with the correct Alignment Result message
on the Data channel. A unique ID is returned each time the client
uses this command.
Start Exposure Auto-set
The Start Exposure Auto-set command is used to start the exposure auto-set procedure on a sensor.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4601).
role
32s
6
Role of sensors to auto-set.
0 – Main
1 – Buddy
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Reply
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
290.
opId
32u
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.
Software Trigger
The Software Trigger command causes the sensor to take a snapshot while in software mode and in the
Running state.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4510).
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4510).
status
32s
6
Reply status. For a list of status codes, see Commands on page
Reply
290.
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.
Command
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 (µm) at which the
digital output event should happen.
The target value is ignored if ScheduleEnabled is set to false.
(Scheduled is unchecked in Digital in the Output panel.) The
output will be triggered immediately.
value
8u
16
Specifies the target state:
0 – Set to low (continuous)
Gocator Point Profile Sensors: User Manual
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Field
Type
Offset
Description
1 – Set to high (continuous)
Ignored if output type is pulsed.
Reply
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4518).
status
32s
6
Reply status. For a list of status codes, see Commands on page
290.
Schedule Analog Output
The Schedule Analog Output command schedules an analog output event. The analog output must be
configured to accept software-scheduled commands and be in the Running state.
Command
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 (microamperes).
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
Reply
290.
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 Point Profile Sensors: User Manual
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Command
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).
Field
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
Reply
290.
If a non-zero value is specified for timeout, the client must send another ping command before
the timeout elapses; otherwise the server would close the connection. The timer is reset and
updated with every command.
Reset
The Reset command reboots the Main sensor and any Buddy sensors. All sensors will automatically reset
3 seconds after the reply to this command is transmitted.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4300).
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
Reply
290.
Backup
The Backup command creates a backup of all files stored on the connected sensor and downloads the
backup to the client.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x1013).
Gocator Point Profile Sensors: User Manual
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Reply
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x1013).
status
32s
6
Reply status. For a list of status codes, see Commands on page
290.
length
32u
10
Data length.
data[length]
byte
14
Data content.
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.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x1014).
length
32u
6
Data length.
data[length]
byte
10
Data content.
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
Reply
290.
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.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4301).
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Field
Type
Offset
Description
resetIp
8u
6
Specifies whether IP address should be restored to default:
0 – Do not reset IP
1 – Reset IP
Reply
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4301).
status
32s
6
Reply status. For a list of status codes, see Commands on page
290.
Get Recording Enabled
The Get Recording Enabled command retrieves whether recording is enabled.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4517).
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
Reply
290.
enable
8u
10
0: disabled; 1: enabled.
Set Recording Enabled
The Set Recording Enabled command enables recording for replay later.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4516).
enable
8u
6
0: disabled; 1: enabled.
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
Reply
290.
Gocator Point Profile Sensors: User Manual
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Clear Replay Data
The Clear Replay Data command clears the sensors replay data..
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4513).
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
Reply
290.
Get Playback Source
The Get Playback Source command gets the data source for data playback.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4524).
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
Reply
290.
source
32s
10
Source
0 – Live
1 – Replay buffer
Set Playback Source
The Set Playback Source command sets the data source for data playback.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4523).
source
32s
6
Source
0 – Live
1 – Replay buffer
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Reply
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4523).
status
32s
6
Reply status. For a list of status codes, see Commands on page
290.
Simulate
The Simulate command simulates the last frame if playback source is live, or the current frame if
playback source is the replay buffer.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4522).
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
Reply
290.
bufferValid
8u
10
Whether or not the buffer is valid.
A reply status of -996 means that the current configuration (mode, sensor type, etc.) does not
support simulation.
A reply status of -992 means that the simulation buffer is empty. Note that the buffer can be
valid even if the simulation buffer is actually empty due to optimization choices. This scenario
means that the simulation buffer would be valid if data were recorded.
Seek Playback
The Seek Playback command seeks to any position in the current playback dataset. The frame is then
sent.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4503).
frame
32u
6
Frame index.
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
Reply
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Field
Type
Offset
Description
id
16u
4
Reply identifier (0x4503).
status
32s
6
Reply status. For a list of status codes, see Commands on page
290.
Step Playback
The Step Playback command advances playback by one frame.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4501).
direction
32s
6
Define step direction
0 – Forward
1 – Reverse
Reply
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4501).
status
32s
6
Reply status. For a list of status codes, see Commands on page
290.
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.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4502).
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4502).
status
32s
6
Reply status. For a list of status codes, see Commands on page
Reply
290.
Frame Index
32u
10
Current frame index (starts from 0).
Frame Count
32u
14
Total number of available frames/objects.
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Clear Measurement Stats
The Clear Measurement Stats command clears the sensor's measurement statistics.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4526).
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
Reply
290.
Read Live Log
The Read Live Log command returns an XML file containing the log messages between the passed start
and end indexes.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x101F).
Start
32u
6
First log to read
End
32u
10
Last log to read
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x101F).
status
32s
6
Reply status.
length
32u
10
File length
data[length]
byte
14
XML Log File
Reply
Clear Log
The Clear Log command clears the sensor's log.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x101D).
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Reply
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x101D).
status
32s
6
Reply status. For a list of status codes, see Commands on page
290.
Simulate Unaligned
The Simulate Unaligned command simulates data before alignment transformation.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x452A).
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
Reply
290.
Acquire
The Acquire command acquires a new scan.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4528).
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
Reply
290.
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.
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Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4527).
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
Reply
290.
The command returns after the scan has been captured and transmitted.
Create Model
The Create Model command creates a new part model from the active simulation scan.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4602).
modelName[64]
char
6
Name of the new model (without .mdl extension)
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
Reply
290.
Detect Edges
The Detect Edges command detects and updates the edge points of a part model.
Command
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
16u
70
Sensitivity (in thousandths).
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Reply
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4604).
status
32s
6
Reply status. For a list of status codes, see Commands on page
290.
Add Tool
The Add Tool command adds a tool to the live job.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4530).
typeName[64]
char
6
Type name of the tool (e.g., ProfilePosition)
name[64]
char
70
User-specified name for tool instance
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4530).
status
32s
6
Reply status. For a list of status codes, see Commands on page
Reply
290.
Add Measurement
The Add Measurement command adds a measurement to a tool instance.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4531).
toolIndex
32u
6
Index of the tool instance the new measurement is added to.
typeName[64]
char
10
Type name of the measurement (for example, X).
name[64]
char
74
User-specified name of the measurement instance.
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4531).
status
32s
6
Reply status. For a list of status codes, see Commands on page
Reply
290.
Gocator Point Profile Sensors: User Manual
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This command can only be used with dynamic tools (tools with a dynamic list of measurements).
The maximum number of instances for a given measurement type can be found in the
ToolOptions node. For dynamic tools, the maximum count is greater than one, while for static
tools it is one.
Read File (Progressive)
The progressive Read File command reads the content of a file as a stream.
This command returns an initial reply, followed by a series of "continue" replies if the initial reply's status
field indicates success. The continue replies contain the actual data, and have 0x5000 as their identifier.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4529).
name[64]
char
6
Source file name.
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
Initial Reply
290.
progressTotal
32u
10
Progress indicating completion (100%).
progress
32u
14
Current progress.
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
Continue Reply
290.
progressTotal
32u
10
Progress indicating completion (100%).
progress
32u
14
Current progress.
size
32u
18
Size of the chunk in byes.
data[size]
byte
22
Chunk data.
Export CSV (Progressive)
The progressive Export CSV command exports replay data as a CSV stream.
This command returns an initial reply, followed by a series of "continue" replies if the initial reply's status
field indicates success. The continue replies contain the actual data, and have 0x5000 as their identifier.
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Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4507).
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
Initial Reply
290.
progressTotal
32u
10
Progress indicating completion (100%).
progress
32u
14
Current progress.
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
Continue Reply
290.
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.
All recorded range or profile data 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.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4508).
type
32s
6
Data type:
0 – Range or video
1 – Intensity
source
32s
10
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Data source to export.
Protocols • 328
Initial Reply
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4508).
status
32s
6
Reply status. For a list of status codes, see Commands on page
290.
progressTotal
32u
10
Progress indicating completion (100%).
progress
32u
14
Current progress.
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
Continue Reply
290.
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.
Get Runtime Variable Count
The Get Runtime Variable Count command gets the number of runtime variables that can be accessed.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4537).
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4537).
status
32s
6
Reply status.
valueLength
32u
10
The count of runtime variables.
Reply
Set Runtime Variables
The Set Runtime Variables command sets the runtime variables at the given index for the given length.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
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Field
Type
Offset
Description
id
16u
4
Command identifier (0x4536).
index
32u
6
The starting index of the variables to set.
length
32u
10
The number of values to set from the starting index.
values[length]
32s
14
The runtime variable values to set.
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4536).
status
32s
6
Reply status.
Reply
Get Runtime Variables
The Get Runtime Variables command gets the runtime variables for the given index and length.
Command
Field
Type
Offset
Description
length
32u
0
Command size including this field, in bytes.
id
16u
4
Command identifier (0x4535).
index
32u
6
The starting index of the variables to retrieve.
length
32u
10
The number of values to retrieve from the starting index.
Field
Type
Offset
Description
length
32u
0
Reply size including this field, in bytes.
id
16u
4
Reply identifier (0x4535).
status
32s
6
Reply status.
index
32u
10
The starting index of the variables being returned.
length
32u
14
The number of values being returned.
values[length]
32s
18
The runtime variable values.
Reply
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. For more
information on Control commands, see Control Commands on page 294.
After connecting to a Gocator sensor, you can use the 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.
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Start Upgrade
The Start Upgrade command begins a firmware upgrade for the sensors in a system. All sensors
automatically reset 3 seconds after the upgrade process is complete.
Command
Field
Type
Offset
Description
length
64s
0
Command size including this field, in bytes.
id
64s
8
Command identifier (0x0000).
length
64s
16
Length of the upgrade package (bytes).
data[length]
byte
24
Upgrade package data.
Field
Type
Offset
Description
length
64s
0
Reply size including this field, in bytes.
id
64s
8
Reply identifier (0x0000).
status
64s
16
Reply status. For a list of status codes, see Commands on page
Reply
290.
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.
Command
Field
Type
Offset
Description
length
64s
0
Command size including this field, in bytes.
id
64s
8
Command identifier (0x0003).
skipValidation
64s
16
Whether or not to skip validation (0 – do not skip, 1 – skip).
length
64s
24
Length of the upgrade package (bytes).
data[length]
byte
32
Upgrade package data.
Field
Type
Offset
Description
length
64s
0
Reply size including this field, in bytes.
id
64s
8
Reply identifier (0x0003).
status
64s
16
Reply status. For a list of status codes, see Commands on page
Reply
290.
Get Upgrade Status
The Get Upgrade Status command determines the progress of a firmware upgrade.
Command
Field
Type
Offset
Description
length
64s
0
Command size including this field, in bytes.
id
64s
8
Command identifier (0x1)
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Reply
Field
Type
Offset
Description
length
64s
0
Reply size including this field, in bytes.
id
64s
8
Reply identifier (0x1).
status
64s
16
Reply status. For a list of status codes, see Commands on page
290.
state
64s
24
Upgrade state:
-1 – Failed
0 – Completed
1 – Running
2 – Completed, but should run again
progress
64s
32
Upgrade progress (valid when in the Running state)
Get Upgrade Log
The Get Upgrade Log command can retrieve an upgrade log in the event of upgrade problems.
Command
Field
Type
Offset
Description
length
64s
0
Command size including this field, in bytes.
id
64s
8
Command identifier (0x2)
Field
Type
Offset
Description
length
64s
0
Reply size including this field, in bytes.
id
64s
8
Reply identifier (0x2).
status
64s
16
Reply status. For a list of status codes, see Commands on page
Reply
290.
length
64s
24
Length of the log (bytes).
log[length]
char
32
Log content.
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 340.
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,
Gocator Point Profile Sensors: User Manual
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followed by a variable-length, message-specific content section. The structure of the GDP message is
defined below.
Gocator Data Protocol
Field
Type
Offset
Description
size
32u
0
Count of bytes in message (including this field).
control
16u
4
Bit 15: Last Message flag
Bits 0-14: Message type identifier. (See individual data result
sections.)
GDP messages are always sent in groups. The Last Message flag in the control field is used to indicate the
final message in a group. If there is only one message per group, this bit will be set in each message.
Stamp
Field
Type
Offset
Description
size
32u
0
Count of bytes in message (including this field).
control
16u
4
Bit 15: Last message flag.
Bits 0-14: Message type identifier. For this message, set to 1.
count (C)
32u
6
Count of stamps in this message.
size
16u
10
Stamp size, in bytes (min: 56, current: 56).
source
8u
12
Source (0 – Main, 1 – Buddy).
reserved
8u
13
Reserved.
stamps[C]
Stamp
14
Array of stamps (see below).
Field
Type
Offset
Description
frameIndex
64u
0
Frame index (counts up from zero).
timestamp
64u
8
Timestamp (µs).
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:
Stamp
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. (In a dual-sensor system, the serial number
of the main sensor.)
reserved[2]
32u
44
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Reserved.
Protocols • 333
Video
Field
Type
Offset
Description
size
32u
0
Count of bytes in message (including this field).
control
16u
4
Bit 15: Last message flag.
Bits 0-14: Message type identifier. For this message, set to 2.
attributesSize
16u
6
Size of attributes, in bytes (min: 20, current: 20).
height (H)
32u
8
Image height, in pixels.
width (W)
32u
12
Image width, in pixels.
pixelSize
8u
16
Pixel size, in bytes.
pixelFormat
8u
17
Pixel format:
1 – 8-bit greyscale
2 – 8-bit color filter
3 – 8-bits-per-channel color (B, G, R, X)
colorFilter
8u
18
Color filter array alignment:
0 – None
1 – Bayer BG/GR
2 – Bayer GB/RG
3 – Bayer RG/GB
4 – Bayer GR/BG
source
8u
19
Source
0 – Top
1 – Bottom
2 – Top Left
3 – Top Right
cameraIndex
8u
20
Camera index.
exposureIndex
8u
21
Exposure index.
exposure
32u
22
Exposure (ns).
flippedX
8u
26
Indicates whether the video data must be flipped horizontally to
match up with profile data.
flippedY
8u
27
Indicates whether the video data must be flipped vertically to
match up with profile data.
pixels[H][W]
(Variable)
28
Image pixels. (Depends on pixelSize above.)
Field
Type
Offset
Description
size
32u
0
Count of bytes in message (including this field).
control
16u
4
Bit 15: Last message flag.
Range
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Field
Type
Offset
Description
Bits 0-14: Message type identifier. For this message, set to 3.
attributeSize
16u
6
Size of attributes, in bytes (min: 20, current: 20).
count (C)
32u
8
Number of profile arrays.
zScale
32u
12
Z scale (nm).
zOffset
32s
16
Z offset (µm).
source
8u
20
Source
0 – Top
1 – Bottom
2 – Top Left
3 – Top Right
exposure
32u
21
Exposure (ns).
reserved[3]
8u
25
Reserved.
range[C]
16s
28
Range values.
Field
Type
Offset
Description
size
32u
0
Count of bytes in message (including this field).
control
16u
4
Bit 15: Last message flag.
Range Intensity
Bits 0-14: Message type identifier. For this message, set to 4.
attributeSize
16u
6
Size of attributes, in bytes (min: 12, current: 12).
count (C)
32u
8
Number of profile arrays.
source
8u
12
Source
0 – Top
1 – Bottom
2 – Top Left
3 – Top Right
exposure
32u
13
Exposure (ns).
reserved[3]
8u
17
Reserved.
range[C]
8u
20
Range intensity values.
Field
Type
Offset
Description
size
32u
0
Count of bytes in message (including this field).
control
16u
4
Bit 15: Last message flag.
Profile
Bits 0-14: Message type identifier. For this message, set to 5.
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Field
Type
Offset
Description
attributeSize
16u
6
Size of attributes, in bytes (min: 32, current: 32).
count (C)
32u
8
Number of profile arrays.
width (W)
32u
12
Number of points per profile array.
xScale
32u
16
X scale (nm).
zScale
32u
20
Z scale (nm).
xOffset
32s
24
X offset (µm).
zOffset
32s
28
Z offset (µm).
Source
8u
32
Source
0 – Top
1 – Bottom
2 – Top Left
3 – Top Right
exposure
32u
33
Exposure (ns).
cameraIndex
8u
37
Camera index.
reserved[2]
8u
38
Reserved.
ranges[C][W]
Point16s
40
Profile ranges.
Field
Type
Offset
Description
size
32u
0
Count of bytes in message (including this field).
control
16u
4
Bit 15: Last message flag.
Profile Intensity
Bits 0-14: Message type identifier. For this message, set to 7.
attributesSize
16u
6
Size of attributes, in bytes (min: 24, current: 24).
count (C)
32u
8
Number of profile intensity arrays.
width (W)
32u
12
Number of points per profile intensity array.
xScale
32u
16
X scale (nm).
xOffset
32s
20
X offset (µm).
source
8u
24
Source
0 – Top
1 – Bottom
2 – Top Left
3 – Top Right
exposure
32u
25
Exposure (ns).
cameraIndex
8u
29
Camera index.
reserved[2]
8u
30
Reserved.
points[C][W]
8u
32
Intensity arrays.
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Resampled Profile 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 7.
attributesSize
16u
6
Size of attributes, in bytes (min: 24, current: 24).
count (C)
32u
8
Number of profile intensity arrays.
width (W)
32u
12
Number of points per profile intensity array.
xScale
32u
16
X scale (nm).
xOffset
32s
20
X offset (µm).
source
8u
24
Source
0 – Top
1 – Bottom
2 – Top Left
3 – Top Right
exposure
32u
25
Exposure (ns).
reserved[3]
8u
29
Reserved.
points[C][W]
8u
32
Intensity arrays.
Measurement
Field
Type
Offset
Description
size
32u
0
Count of bytes in message (including this field).
control
16u
4
Bit 15: Last message flag.
Bits 0-14: Message type identifier. For this message, set to 10.
count (C)
32u
6
Count of measurements in this message.
reserved[2]
8u
10
Reserved.
id
16u
12
Measurement identifier.
measurements[C]
Measurement
14
Array of measurements (see below).
Field
Type
Offset
Description
value
32s
0
Measurement value.
decision
8u
4
Measurement decision bitmask.
Measurement
Bit 0:
1 – Pass
0 – Fail
Bits 1-7:
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Field
Type
Offset
Description
0 – Measurement value OK
1 – Invalid value
2 – Invalid anchor
reserved[3]
8u
5
Reserved.
Operation 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
-997 – Invalid parameter
Exposure Calibration Result
Field
Type
Offset
Description
size
32u
0
Count of bytes in message (including this field).
control
16u
4
Bit 15: Last message flag.
Bits 0-14: Message type identifier. For this message, set to 12.
attributesSize
16u
6
Size of attributes, in bytes (min: 8, current: 8).
opId
32u
8
Operation ID.
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Field
Type
Offset
Description
status
32s
12
Operation status.
exposure
32u
16
Exposure result (ns).
Field
Type
Offset
Description
size
32u
0
Count of bytes in message (including this field).
control
16u
4
Bit 15: Last message flag.
Event
Bits 0-14: Message type identifier. For this message, set to 22.
attributesSize
16u
6
Size of attributes, in bytes (min: 8, current: 8).
eventType
32u
8
The type of event:
0 – Exposure Begin
1 – Exposure End
length
32u
12
The number of bytes containing additional data.
data[length]
8u
16
Additional data.
Field
Type
Offset
Description
size
32u
0
Count of bytes in message (including this field).
control
16u
4
Bit 15: Last message flag.
Feature Point
Bits 0-14: Message type identifier. For this message, set to 24.
id
16u
6
Feature Id
Point.x
64s
8
X Coordinate of Point (Scaled by 10^6)
Point.y
64s
16
Y Coordinate of Point (Scaled by 10^6)
Point.z
64s
24
Z Coordinate of Point (Scaled by 10^6)
Field
Type
Offset
Description
size
32u
0
Count of bytes in message (including this field).
control
16u
4
Bit 15: Last message flag.
Feature Line
Bits 0-14: Message type identifier. For this message, set to 25.
id
16u
6
Feature Id
Point.x
64s
8
X Coordinate of Point (Scaled by 10^6)
Point.y
64s
16
Y Coordinate of Point (Scaled by 10^6)
Point.z
64s
24
Z Coordinate of Point (Scaled by 10^6)
Direction.x
64s
32
X Component of Direction Vector (Scaled by 10^6)
Direction.y
64s
40
Y Component of Direction Vector (Scaled by 10^6)
Direction.z
64s
48
Z Component of Direction Vector (Scaled by 10^6)
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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 332.
Messages that are received on the Data and Health channels use a common structure, called Gocator
Data Protocol (GDP). Each GDP message consists of a 6-byte header, containing size and control fields,
followed by a variable-length, message-specific content section. The structure of the GDP message is
defined below.
Gocator Data Protocol
Field
Type
Offset
Description
size
32u
0
Count of bytes in message (including this field).
control
16u
4
Bit 15: Last Message flag
Bits 0-14: Message type identifier. (See individual data result
sections.)
GDP messages are always sent in groups. The Last Message flag in the control field is used to indicate the
final message in a group. If there is only one message per group, this bit will be set in each message.
A Health Result contains a single data block for health indicators. Each indicator reports the current
status of some aspect of the sensor system, such as CPU usage or network throughput.
Health Result Header
Field
Type
Offset
Description
size
32u
0
Count of bytes in message (including this field).
control
16u
4
Bit 15: Last message flag.
Bits 0-14: Message type identifier. Always 0.
count (C)
32u
6
Count of indicators in this message.
source
8u
10
Source (0 – Main, 1 – Buddy).
reserved[3]
8u
11
Reserved
indicators[C]
Indicator
14
Array of indicators (see format below).
The health indicators block contains a 2-dimensional array of indicator data. Each row in the array has
the following format:
Indicator Format
Field
Type
Offset
Description
id
32u
0
Unique indicator identifier (see Health Indicators on the next
page table below).
instance
32u
4
Indicator instance.
value
64s
8
Value (identifier-specific meaning).
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The following health indicators are defined for Gocator sensor systems.
When a sensor is accelerated, some health indicators report values from the PC that is
accelerating the sensor, or a combination of both. In the table below, values are reported from
the sensor unless otherwise indicated.
Undocumented indicators may be included in addition to the indicators defined below.
Health Indicators
Indicator
ID
Instance
Value
Encoder Value
1003
-
Current system encoder tick.
Encoder Frequency
1005
-
Current system encoder frequency (ticks/s).
App Version
2000
-
Firmware application version.
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 outbound network throughput
(bytes/s).
Net Out Link Status
2034
-
Current Ethernet link status.
Sync Source*
2043
-
Gocator synchronization source.
1 - FireSync Master device
2 - Sensor
Digital Inputs*
2024
-
Current digital input status (one bit per input).
Event Count
2102
-
Total number of events triggered.
Camera Search Count
2217
-
Number of search states. (Only important when
tracking is enabled.)
Camera Trigger Drops
2201
-
Number of dropped triggers.
Analog Output Drops
21014
Output Index
Number of dropped outputs.
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Indicator
ID
Instance
Value
Output Index
Number of dropped outputs.
Output Index
Number of dropped outputs.
-
Gocator sensor state.
(previously
2501)
Digital Output Drops
21015
(previously
2601)
Serial Output Drops
21016
(previously
2701)
Sensor State*
20000
-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.
Master Status*
20006
0 for main
Master connection status:
1 for buddy
0 – Not connected
1 – Connected
The indicator with instance = buddy does not exist
if the buddy is not connected.
Cast Start State*
20007
The state of the second digital input. (NOTE: Only
available on XLine capable licensed devices)
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.
Playback Position*
20023
-
The current replay playback position.
Playback Count*
20024
-
The number of frames present in the replay.
FireSync Version
20600
-
The FireSync version used by the Gocator build.
Processing Drops**
21000
-
Number of dropped frames. The sum of various
processing drop related indicators.
Last Processing Latency
21001
Gocator Point Profile Sensors: User Manual
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Last delay from camera exposure to availability of
Protocols • 342
Indicator
ID
Instance
Value
all results.
Max Processing Latency
21002
-
Maximum value of processing latency.
Ethernet Output
21003
-
Number of bytes transmitted.
Ethernet Rate
21004
-
The average number of bytes per second being
transmitted.
Ethernet Drops
21005
Trigger Drops**
21010
-
Number of dropped Ethernet packets.
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 number of bytes dropped by the ASCII
Ethernet data server. Not currently emitted.
Controlled Trigger Drops
21017
Trigger drops from the Controlled Triggering
System (Grouped with “Trigger Drops” indicator)
Surface Processing Time
21018
Processing Time of Frame on 35XX/32XX
(microseconds)
Max Frame Rate
21019
Max Configurable frame rate given above
Processing Time (scaled by 1x10-6)
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.
First Log Id
21301
ID of the first available log entry.
Last Log Id
21300
ID of the last available log entry. It is inclusive: for
example, if first = 3 and last = 5, the available log
IDs are 3, 4, 5. If no log is available, the last ID is less
than the first ID.
Z-Index Drop Count
22000
-
The number of dropped surfaces due to a lack of zencoder 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.
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Indicator
ID
Instance
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 single 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.
Tool Run Time
22004
Tool Index
The most recent time taken to execute the tool.
Part Total Emitted
22006
-
Total number of parts emitted by profile part
detection.
Part Length Limit
22007
-
Number of parts emitted due to reaching the
length limit.
Part Min Area Drops
22008
-
Number of parts dropped due to being smaller
than the minimum area.
Part Backtrack Drops
22009
-
Number of parts dropped due to backtracking.
Parts Currently Active
22010
-
Number of parts currently being tracked.
Part Length
22011
-
Length of largest active part.
Part Start Y
22012
-
Start Y position of the largest active part.
Part Tracking State
22013
-
Tracking state of the largest active part.
Part Capacity Exceeded
22014
-
Part detection part or run capacity has been
exceeded.
Part X Position
22015
-
Center X position of the largest active part.
* When the sensor is accelerated, the indicator's value is reported from the accelerating PC.
** When the sensor is accelerated, the indicator's value is the sum of the values reported from the
sensor and the accelerating PC.
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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 State on page 348) to advance the queue before reading the measurement results.
For information on configuring the protocol using the Web interface, see Ethernet Output on page 189.
Concepts
A PLC sends a command to start each Gocator. The PLC then periodically queries each Gocator for its
latest measurement results. In Modbus terminology, the PLC is a Modbus Client. Each Gocator is a
Modbus Server which serves the results to the PLC.
The Modbus 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:
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Modbus Application Protocol Header
Field
Length (Bytes)
Description
Transaction ID
2
Used for transaction pairing. The Modbus Client sets the value and
the Server (Gocator) copies the value into its responses.
Protocol ID
1
Always set to 0.
Length
1
Byte count of the rest of the message, including the Unit identifier
and data fields.
Unit ID
1
Used for intra-system routing purpose. The Modbus Client sets the
value and the Server (Gocator) copies the value into its responses.
Modbus Application Protocol Specification describes the standard function codes in detail. Gocator
supports the following function codes:
Modbus Function Code
Function Code
Name
Data Size (bits)
Description
3
Read Holding
16
Read multiple data values from the sensor.
Registers
4
Read Input Registers
16
Read multiple data values from the sensor.
6
Write Single Register
16
Send a command or parameter to the sensor.
16
Write Multiple
16
Send a command and parameters to the sensor.
Registers
The data payload contains the registers that can be accessed by Modbus TCP messages. If a message
accesses registers that are invalid, a reply with an exception is returned. Modbus Application Protocol
Specification defines the exceptions and describes the data payload format for each function code.
The Gocator data includes 16-bit, 32-bit, and 64-bit data. All data are sent in big endian format, with the
32-bit and 64-bit data spread out into two and four consecutive registers.
32-bit Data Format
Register
Name
Bit Position
0
32-bit Word 1
31 .. 16
1
32-bit Word 0
15 .. 0
64-bit Data Format
Register
Name
Bit Position
0
64-bit Word 3
63 .. 48
1
64-bit Word 2
47 .. 32
2
64-bit Word 1
31 .. 16
3
64-bit Word 0
15 .. 0
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 Point Profile Sensors: User Manual
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The output registers report the sensor states, stamps, and measurement values and decisions. You can
read multiple output registers using a single Read Holding Registers or a single Read Input Registers
command. Likewise, you can control the state of the sensor using a single Write Multiple Register
command.
Control registers are write-only, and output registers are read-only.
Register Map Overview
Register Address
Name
Read/Write
Description
0 - 124
Control Registers
WO
Registers for Modbus commands. See Control
Registers below for detailed descriptions.
300 - 899
Sensor States
RO
Report sensor states. See State on the next page for
detailed descriptions.
900 - 999
Stamps
RO
Return stamps associated with each range. See
State on the next page for detailed descriptions.
1000 - 1059
Measurements &
RO
20 measurement and decision pairs. See
Measurement Registers on page 350 for detailed
Decisions
descriptions.
Control Registers
Control registers are used to operate the sensor. Register 0 stores the command to be executed. Subsequent registers contain parameters for the commands if applicable. 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.
Control Register Map
Register
Address
0
Name
Read/Write
Description
Command Register
WO
Takes a 16-bit command. For a list of the available
commands, see table below.
1 – 64
Command Parameters
WO
For Load Job (5) command:
Null-terminated filename.
Each 16-bit register holds a single character.
Specifies the complete filename, including the file
extension ".job".
For Set Runtime Variables (6) command:
Registers 1-8 are used to set the values of the
runtime variables.
The 16-bit values used for Command Register are described below.
Command Register Values
Value
Name
Description
0
Stop Running
Stops the sensor. No effect if sensor is already stopped.
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Value
Name
Description
1
Start Running
Starts the sensor. No effect if sensor is already started.
2
Align (stationary target)
Starts the stationary alignment process. State register 301 will be set to
1 (busy). When the alignment process is complete, the register is set
back to zero.
3
Align (moving target)
Starts moving alignment process and also calibrate encoder resolution.
State register 301 will be set to 1 (busy). When the alignment process is
complete, the register is set back to zero.
4
Clear Alignment
Clears the alignment.
5
Load Job
Activates the specified job file.
Set registers 1-64 to the null-terminated filename, one filename
character per 16-bit register, including the null terminator character.
6
Set Runtime Variables
Sets the runtime variables.
Set registers 1 through 8 to the values of all four 32-bit runtime
variables.
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.
State Register Map
Register
Address
300
Name
Type
Description
Sensor State
16u
Sensor State:
0 - Stopped
1 - Running
301
Modbus Command in
16u
Progress
1 when the sensor is busy performing the last
command, 0 when done. Registers 302 and 311-371
below are only valid when there is no command in
progress.
302
Alignment State
16u
Current Alignment State:
0 - Not aligned
1- Aligned
(Valid when register 301 = 0.)
303 – 306
Encoder Value
64u
Current Encoder value (ticks).
307 – 310
Time
64s
Current time (µs).
311
Job File Name Length
16u
Number of characters in the current job file name.
(Valid when register 301 = 0.)
312 – 371
Live Job Name
Gocator Point Profile Sensors: User Manual
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Name of currently loaded job file. Does not include
Protocols • 348
Register
Address
Name
Type
Description
the extension. Each 16-bit register contains a single
character. (Valid when register 301 = 0.)
375
Runtime Variable 0 High
32s
Runtime variable value stored in two register
locations.
376
Runtime Variable 0 Low
...
...
...
...
381
Runtime Variable 3 High
32s
Runtime variable value stored in two register
locations.
382
Runtime Variable 3 Low
Stamp
Stamps contain trigger timing information used for synchronizing a PLC's actions. A PLC can also use this
information to match up data from multiple Gocator sensors.
Stamps are updated after each range data is processed.
Stamp Register Map
Register
Address
Name
Type
Description
960-975
reserved
Not used.
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
& Decisions in addresses 1000-1059.
977
Buffer Counter
16u
Number of buffered messages currently in the
queue.
978
Buffer Overflow Flag
16u
Buffer Overflow Indicator:
0 - No overflow
1 - Overflow. (Indicates data is being lost.)
979
Inputs
16u
Digital input state.
980
zPosition High
64u
Encoder value when the index is last triggered.
981
zPosition
982
zPosition
983
zPosition Low
984
Exposure High
32u
Laser exposure (µs).
985
Exposure Low
986
Temperature High
32u
Sensor temperature in degrees Celcius * 100
(centidegrees).
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Register
Address
Name
987
Temperature Low
988
Position High
989
Position
990
Position
991
Position Low
992
Time Low
993
Time
994
Time
995
Time Low
996
Frame Index High
Type
Description
64u
Encoder position
64u
Timestamp (µs).
64u
Frame counter. Each new sample is assigned a frame
number.
997
Frame Index
998
Frame Index
999
Fame Index Low
Measurement Registers
Measurement results are reported in pairs of values and decisions. Measurement values are 32 bits wide
and decisions are 8 bits wide.
The measurement ID defines the register address of each pair. The register address of the first word can
be calculated as (1000 + 3 * ID). For example, a measurement with ID set to 4 can be read from registers
1012 (high word) and, 1013 (low word), and the decision at 1015.
The measurement results are updated after each range data is processed.
Measurement Register Map
Register Address
Name
Type
Description
1000
Measurement 0 High
32u
Measurement value in µm (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
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Register Address
Name
1003
Measurement 1 High
1004
Measurement 1 Low
1005
Decision 1
1006
Measurement 2 High
1007
Measurement 2 Low
1008
Decision 2
...
...
1057
Measurement 19 High
1058
Measurement 19 Low
1059
Decision 19
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...
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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 189.
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 four assembly objects: the command assembly (32 bytes), the runtime variable
configuration assembly (64 bytes), the sensor state assembly (100 bytes), and the sample state
assembly object (380 bytes). The data attribute (0x03) of the assembly objects is a byte array containing
information about the sensor. The data attribute can be accessed with the GetAttribute and SetAttribute
commands.
The PLC sends a command to start a Gocator. The PLC then periodically queries the attributes of the
assembly objects for its latest measurement results. In EtherNet/IP terminology, the PLC is a scanner
and the Gocator is an adapter.
The Gocator supports unconnected or connected explicit messaging (with TCP). Implicit I/O messaging is
supported as an advanced setting. For more information, see
http://lmi3d.com/sites/default/files/APPNOTE_Implicit_Messaging_with_Allen-Bradley_PLCs.pdf.
The default EtherNet/IP ports are used. Port 44818 is used for TCP connections and UDP queries (e.g.,
list Identity requests). Port 2222 for UDP I/O Messaging is not supported.
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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
x.x
Byte 0 - Major revision
Get
USINT
USINT
Byte 1 - Minor revision
6
Serial number UDINT
32-bit value
Sensor serial number
Get
7
Product
SHORT
"Gocator"
Gocator product name
Get
Name
STRING
32
TCP/IP Object (Class 0xF5)
The TCP/IP Object contains read-only network configuration attributes such as IP Address. TCP/IP
configuration via Ethernet/IP is not supported. See Volume 2, Chapter 5-3 of the CIP Specification for a
complete listing of TCP/IP object attributes.
Attribute
Name
Type
Value
Description
Access
1
Status
UDINT
0
TCP interface status
Get
2
Configuration UINT
0
Get
Capability
3
Configuration UINT
0
Product code
Get
Get
Control
4
Physical Link
Structure (See
See 5.3.3.2.4 of CIP Specification Volume 2:
Object
description)
Path size (UINT)
Path (Padded EPATH)
5
Interface
Structure (See
Configuration description)
See 5.3.3.2.5 of CIP Specification Volume 2:
Get
IP address (UDINT)
Network mask (UDINT)
Gateway address (UDINT)
Name server (UDINT)
Secondary name (UDINT)
Domain name (UDINT)
Ethernet Link Object (Class 0xF6)
The Ethernet Link Object contains read-only attributes such as MAC Address (Attribute 3). See Volume 2,
Chapter 5-4 of the CIP Specification for a complete listing of Ethernet Link object attributes.
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Attribute
Name
Type
Value
Description
Access
1
Interface
UDINT
1000
Ethernet interface data rate (mbps)
Get
See 5.4.3.2.1 of CIP Specification Volume 2:
Get
Speed
2
Interface Flags UDINT
Bit 0: Link Status
0 – Inactive
1 - Active
Bit 1: Duplex
0 – Half Duplex
1 – Full Duplex
3
Physical
Array of
Address
6 USINTs
MAC address (for example: 00 16 20 00 2E 42)
Get
Assembly Object (Class 0x04)
The Gocator Ethernet/IP object model includes the following assembly objects: command, runtime
variable configuration, sensor state, and sample state, implicit messaging command, and implicit
messaging output.
All assembly object instances are static. Data in a data byte array in an assembly object are stored in the
big endian format.
Command Assembly
The command assembly object is used to start, stop, and align the sensor, and also to switch jobs on the
sensor.
Command Assembly
Information
Value
Class
0x4
Instance
0x310
Attribute Number
3
Length
32 bytes
Supported Service
0x10 (SetAttributeSingle)
Attributes 1 and 2 are not implemented, as they are not required for the static assembly object.
Attribute 3
Attribute Name
Type
Value
Description
Access
3
Byte
See Below
Command parameters
Get, Set
Command
Array
Byte 0 - Command.
See table below for specification of the values.
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Command Definitions
Value
Name
Description
0
Stop running
Stop the sensor. No action if the sensor is already stopped
1
Start Running
Start the sensor. No action if the sensor is already started.
2
Stationary Alignment
Start the stationary alignment process. Byte 1 of the sensor state assembly
will be set to 1 (busy) until the alignment process is complete, then back to
zero.
3
Moving Alignment
Start the moving alignment process. Byte 1 of the sensor state assembly
will be set to 1 (busy) until the alignment process is complete, then back to
zero.
4
Clear Alignment
Clear the alignment.
5
Load Job
Load the job. Set bytes 1-31 to the file name (one character per byte,
including the extension). File name must be null-terminated and end with
“.job”.
Runtime Variable Configuration Assembly
The runtime variable configuration assembly object contains the sensor's intended runtime variables.
Runtime Variable Configuration Assembly
Information
Value
Class
0x04
Instance
0x311
Attribute Number
3
Length
64 bytes
Supported Service
0x10 (SetAttributeSingle)
Attribute 3
Attribute Name
Type
Value
Description
Access
3
Byte
See below
Runtime variable configuration information. See
Get
Command
Array
below for more details.
Sensor State Information
Byte
Name
Type
Description
0-3
Runtime
32s
Stores the intended value of the Runtime Variable at index 0.
32s
Stores the intended value of the Runtime Variable at index 1.
32s
Stores the intended value of the Runtime Variable at index 2.
32s
Stores the intended value of the Runtime Variable at index 3.
Variable 0
4-7
Runtime
Variable 1
8-11
Runtime
Variable 2
12-15
Runtime
Variable 3
16-63
Reserved
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Sensor State Assembly
The sensor state assembly object contains the sensor's states, such as the current sensor temperature,
frame count, and encoder values.
Sensor State Assembly
Information
Value
Class
0x04
Instance
0x320
Attribute Number
3
Length
100 bytes
Supported Service
0x0E (GetAttributeSingle)
Attributes 1 and 2 are not implemented, as they are not required for the static assembly object.
Attribute 3
Attribute Name
Type
Value
Description
Access
3
Byte
See below
Sensor state information. See below for more
Get
Command
Array
details.
Sensor State Information
Byte
Name
Type
Description
0
Sensor
Sensor state:
State
0 - Stopped
1 - Running
1
EtherNet/IP
Command busy status:
Command
0 - Not busy
in Progress
1 - Busy performing the last command
Bytes 2 and 19-83 below are only valid when there is no
command in progress.
2
Alignment
Alignment status:
State
0 - Not aligned
1 - Aligned
The value is only valid when byte1 is set to 0.
3-10
Encoder
64s
Current encoder position
11-18
Time
64s
Current timestamp
19
Current Job 8u
Number of characters in the current job filename. (e.g., 11 for
Filename
"current.job"). The length includes the .job extension. Valid
Length
when byte 1 = 0.
Current Job
Name of currently loaded job, including the ".job" extension.
Filename
Each byte contains a single character. Valid when byte 1 = 0.
20-83
84-87
Runtime
32s
Runtime variable value at index 0
Variable 0
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Byte
Name
…
…
96-99
Runtime
Type
Description
32s
Runtime variable value at index 3
Variable 3
Sample State Assembly
The sample state object contains measurements and their associated stamp information.
Sample State Assembly
Information
Value
Class
0x04
Instance
0x321
Attribute Number
3
Length
380 bytes
Supported Service
0x0E (GetAttributeSingle)
Attribute 3
Attribute Name
Type
Value
Description
Access
3
Byte
See below
Sample state information. See below for more
Get
Command
Array
details.
Sample State Information
Byte
Name
Type
Description
0-1
Inputs
16u
Digital input state.
2-9
Z Index Position
64u
Encoder position at time of last index pulse.
10-13
Exposure
32u
Laser exposure in µs.
14-17
Temperature
32u
Sensor temperature in degrees Celsius * 100
(centidegrees).
18-25
Position
64u
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 Overflowing
8u
Buffer overflow indicator:
0 - No overflow
1 - Overflow
44 - 79
Reserved
80-83
Measurement 0
Reserved bytes.
32s
Measurement value in µm (0x80000000 if
invalid).
84
Decision 0
8u
Measurement decision. A bit mask, where:
Bit 0:
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Byte
Name
Type
Description
1 - Pass
0 - Fail
Bits 1-7:
0 - Measurement value OK
1 - Invalid value
2 - Invalid anchor
...
...
375-378
Measurement 59
32s
Measurement value in µm (0x80000000 if
invalid).
379
8u
Decision 59
Measurement decision. A bit mask, where:
Bit 0:
1 - Pass
0 - Fail
Bits 1-7:
0 - Measurement value OK
1 = Invalid value
2 = Invalid anchor
Measurement results are reported in pairs of values and decisions. Measurement values are 32 bits wide
and decisions are 8 bits wide.
The measurement ID defines the byte position of each pair within the state information. The position of
the first word can be calculated as (80 + 5 * ID). For example, a measurement with ID set to 4 can be
read from byte 100 (high word) to 103 (low word) and the decision at 104.
If buffering is enabled in the Ethernet Output panel, reading the Extended Sample State Assembly Object
automatically advances the buffer. See See Ethernet Output on page 189 for information on the Output
panel.
Implicit Messaging Command Assembly
Implicit Messaging Command Assembly
Information
Value
Class
0x04
Instance
0x64
Attribute Number
3
Length
32 bytes
Implicit Messaging Command Assembly Information
Byte
Name
Type
Description
0
Command
8u
A bit mask where setting the following bits
will only perform the action with highest
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Byte
Name
Type
Description
priority*:
1 – Stop sensor
2 – Start sensor
4 – Perform stationary alignment
8 – Perform moving alignment
16 – Clear alignment
32 – Set runtime variables
64 – Load job file
*The priority of commands is currently as
follows:
1. Stop sensor
2. Start sensor
3. Perform stationary alignment
4. Perform moving alignment
5. Clear alignment
6. Set runtime variables
7. Load job file
1-31
Reserved (except for
If you are setting the runtime variables, use
configuring runtime
bytes 4-19 to define the values of each of the
variables and loading job
four runtime variables in little endian format.
file)
If you are loading job file, use bytes 1-31 for
the filename, one character per byte. The
filename must be null terminated and must
end with ".job".
Implicit Messaging Output Assembly
Implicit Messaging Output Assembly
Information
Value
Class
0x04
Instance
0x322
Attribute Number
3
Length
376 bytes
Implicit Messaging Output Assembly Information
Byte
Name
Type
Description
0
Sensor State
8u
Sensor state is a bit mask where:
Bit 0:
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Byte
Name
Type
Description
1 – Running
0 – Stopped
Bits [1-7]:
0 – No state issue
Non-zero – Conflict
1
Alignment and
8u
Command state
A bit mask where:
Bit 0:
1 – Explicit or Implicit Command in progress
0 – No Explicit or Implicit command is in
progress
Bit 1
1 – Aligned
0 – Not aligned
2-3
Inputs
16u
Digital input state
4-11
Z Index Position
64u
Encoder position at time of last index pulse
12-15
Exposure
32u
Laser exposure in µs
16-19
Temperature
32u
Sensor temperature in degrees celsius * 100
(centidegrees)
20-27
Encoder Position
64s
Encoder position
28-35
Time
64u
Time
36-43
Scan Count
64u
Represents the number of scans
44-55
Reserved
56
Decision 0
8u
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
…
…
119
Decision 63
8u
Measurement decision is a bit mask where:
Bit 0:
1 – Pass
0 – Fail
Bits [1-7]:
0 – Measurement value OK
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Byte
Name
Type
Description
1 – Invalid Value
2 – Invalid Anchor
120-123
Measurement 0
32s
Measurement value in µm.
(0x80000000 if invalid)
…
…
372-375
Measurement 63
32s
Measurement value in µm.
(0x80000000 if invalid)
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 can use polling. For more information on polling commands, see Polling Operation
Commands (Ethernet Only) on the next page.
The protocol communicates using ASCII strings. The output result format from the sensor is userconfigurable.
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 189.
For information on configuring the protocol with the Web interface (when using the protocol over Serial),
see Serial Output on page 197.
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):
Ethernet Ports for ASCII
Name
Description
Default Port
Control
To send commands to control the
8190
sensor.
Data
To retrieve measurement output.
8190
Health
To retrieve specific health indicator
8190
values.
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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
connections, up to a total of 16 connections for all ports.
Serial Communication
Over serial, Gocator ASCII communication uses the following connection settings:
Serial Connection Settings for
ASCII
Parameter
Value
Start Bits
1
Stop Bits
1
Parity
None
Data Bits
8
Baud Rate (b/s)
115200
Format
ASCII
Delimiter
CR
Up to 16 users can connect to the sensor for ASCII interfacing at a time. Any additional connections will
remove the oldest connected user.
Polling Operation Commands (Ethernet Only)
On the Ethernet output, the Data channel can operate asynchronously or by polling.
Under asynchronous operation, measurement results are automatically sent on the Data channel when
the sensor is in the running state and results become available. The result is sent on all connected data
channels.
Under polling operation, a client can:
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
Command Channel on the next page).
The Data channel is used to receive and poll for measurement results. When the sensor receives a Result
command, it will send the latest measurement results on the same data channel that the request is
received on. See Data Channel on page 367 for more information.
The Health channel is used to receive health indicators (see Health Channel on page 369).
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Command and Reply Format
Commands are sent from the client to the Gocator. Command strings are not case sensitive. The
command format is:
<COMMAND><DELIMITER><PARAMETER><TERMINATION>
If a command has more than one parameter, each parameter is separated by the delimiter. Similarly, the
reply has the following format:
<STATUS><DELIMITER><OPTIONAL RESULTS><DELIMITER>
The status can either be "OK" or "ERROR". The optional results can be relevant data for the command if
successful, or a text based error message if the operation failed. If there is more than one data item,
each item is separated by the delimiter.
The delimiter and termination characters are configured in the Special Character settings.
Special Characters
The ASCII Protocol has three special characters.
Special Characters
Special Character
Explanation
Delimiter
Separates input arguments in commands and replies, or data items in results. Default value is
",".
Terminator
Terminates both commands and result output. Default value is "%r%n".
Invalid
Represents invalid measurement results. Default value is "INVALID"
The values of the special characters are defined in the Special Character settings. In addition to normal
ASCII characters, the special characters can also contain the following format values.
Format values for Special Characters
Format Value
Explanation
%t
Tab
%n
New line
%r
Carriage return
%%
Percentage (%) symbol
Command Channel
The following sections list the actions available on the command channel.
Optional parameters are shown in italic. The placeholder for data is surrounded by brackets (<>). 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).
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Formats
Message
Format
Command
Start,start target
The start target (optional) is the time or encoder position at which the sensor will be
started. The time and encoder target value should be set by adding a delay to the time
or encoder position returned by the Stamp command. The delay should be set such
that it covers the command response time of the Start command.
Reply
OK or ERROR, <Error Message>
Examples:
Command: Start
Reply: OK
Command: Start,1000000
Reply: OK
Command: Start
Reply: ERROR, Could not start the sensor
Stop
The stop command stops the sensor system (causes it to enter the Ready state). This command is valid
when the system is in the Ready or Running state.
Formats
Message
Format
Command
Stop
Reply
OK or ERROR, <Error Message>
Examples:
Command: Stop
Reply: OK
Trigger
The Trigger command triggers a single frame capture. This command is only valid if the sensor is
configured in the Software trigger mode and the sensor is in the Running state.
Formats
Message
Format
Command
Trigger
Reply
OK or ERROR, <Error Message>
Examples:
Command: Trigger
Reply: OK
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LoadJob
The Load Job command switches the active sensor configuration.
Formats
Message
Format
Command
LoadJob,job file name
If the job file name is not specified, the command returns the current job name. An
error message is generated if no job is loaded. ".job" is appended if the filename does
not have an extension.
Reply
OK or ERROR, <Error Message>
Examples:
Command: LoadJob,test.job
Reply: OK,test.job loaded successfully
Command: LoadJob
Reply: OK,test.job
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.
Formats
Message
Format
Command
Stamp,time,encoder,frame
If no parameters are given, time, encoder, and frame will be returned. There could be
more than one selection.
Reply
If no arguments are specified:
OK, time, <time value>, encoder, <encoder position>, frame, <frame count> ERROR,
<Error Message>
If arguments are specified, only the selected stamps will be returned.
Examples:
Command: Stamp
Reply: OK,Time,9226989840,Encoder,0,Frame,6
Command: Stamp,frame
Reply: OK,6
Clear Alignment
The Clear Alignment command clears the alignment record generated by the alignment process.
Formats
Message
Format
Command
ClearAlignment
Reply
OK or ERROR, <Error Message>
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Examples:
Command: ClearAlignment
Reply: OK
Moving Alignment
The Moving 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.
Formats
Message
Format
Command
MovingAlignment
Reply
If no arguments are specified
OK or ERROR, <Error Message>
Examples:
Command: MovingAlignment
Reply: OK
Command: MovingAlignment
Reply: ERROR, ALIGNMENT FAILED
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.
Formats
Message
Format
Command
StationaryAlignment
Reply
If no arguments are specified
OK or ERROR, <Error Message>
Examples:
Command: StationaryAlignment
Reply: OK
Command: StationaryAlignment
Reply: ERROR,ALIGNMENT FAILED
Set Runtime Variables
The Set Runtime Variables command sets the runtime variables, using the specified index, length, and
data. Values are integers.
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Formats
Message
Format
Command
setvars,index,length,data
Where data is the delimited integer values to be set.
Reply
OK or ERROR
Examples:
Command: setvars,0,4,1,2,3,4
Reply: OK
Get Runtime Variables
The Get Runtime Variables command gets the runtime variables, using the specified index and length.
Formats
Message
Format
Command
setvars,index,length
Reply
OK,data
Where data is the delimited data for the passed length.
Examples:
Command: getvars,0,4
Reply: OK,1,2,3,4
Data Channel
The following sections list the actions available on the data channel.
Optional parameters are shown in italic. The placeholder for data is surrounded by brackets (<>). In the
examples, the delimiter is set to ','.
Result
The Result command retrieves measurement values and decisions.
Formats
Message
Format
Command
Result,measurement ID,measurement ID...
Reply
If no arguments are specified, the custom format data string is used.
OK, <custom data string> ERROR, <Error Message>
If arguments are specified,
OK, <data string in standard format>
ERROR, <Error Message>
Examples:
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Standard data string for measurements ID 0 and 1:
Result,0,1
OK,M00,00,V151290,D0,M01,01,V18520,D0
Standard formatted measurement data with a non-existent measurement of ID 2:
Result,2
ERROR,Specified measurement ID not found. Please verify your input
Custom formatted data string (%time, %value[0], %decision[0]):
Result
OK,1420266101,151290,0
Value
The Value command retrieves measurement values.
Formats
Message
Format
Command
Value,measurement ID,measurement ID...
Reply
If no arguments are specified, the custom format data string is used.
OK, <custom data string> ERROR, <Error Message>
If arguments are specified,
OK, <data string in standard format, except that the decisions are not sent> ERROR,
<Error Message>
Examples:
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]):
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Value
OK, 1420266101, 151290
Decision
The Decision command retrieves measurement decisions.
Formats
Message
Format
Command
Decision,measurement ID,measurement ID...
Reply
If no arguments are specified, the custom format data string is used.
OK, <custom data string> ERROR, <Error Message>
If arguments are specified,
OK, <data string in standard format, except that the values are not sent> ERROR, <Error
Message>
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 Channel
The following sections list the actions available on the health channel.
Optional parameters are shown in italic. The placeholder for data is surrounded by brackets (<>). In the
examples, the delimiter is set to ','.
Health
The Health command retrieves health indicators. See Health Results on page 340 for details on health
indicators.
Formats
Message
Format
Command
Health,health indicator ID.Optional health indicator instance ...
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Message
Format
More than one health indicator can be specified. Note that the health indicator instance
is optionally attached to the indicator ID with a '.'. If the health indicator instance field is
used the delimiter cannot be set to '.'.
Reply
OK, <health indicator of first ID>, <health indicator of second ID>
ERROR, <Error Message>
Examples:
health,2002,2017
OK,46,1674
Health
ERROR,Insufficient parameters.
Standard Result Format
Gocator can send measurement results either in the standard format or in a custom format. In the
standard format, you select in the web interface which measurement values and decisions to send. For
each measurement the following message is transmitted:
M
t
n
,
i
,
n
V
v
n
,
D
d
1
CR
Field
Shorthand
Length
Description
MeasurementStart
M
1
Start of measurement frame.
Type
t
n
Hexadecimal value that identifies the type of
n
measurement. The measurement type is the same as
defined elsewhere (see Data Results on page 332).
Id
i
n
n
Decimal value that represents the unique identifier of
the measurement.
ValueStart
V
1
Start of measurement value.
Value
v
n
Measurement value, in decimal. The unit of the value
n
is measurement-specific.
DecisionStart
D
1
Start of measurement decision.
Decision
d
1
Measurement decision,
1
a bit mask where:
Bit 0:
1 – Pass
0 – Fail
Bits 1-7:
0 – Measurement value OK
1 – Invalid value
2 - Invalid anchor
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Custom Result Format
In the custom format, you enter a format string with place holders to create a custom message. The
default format string is "%time, %value[0], %decision[0]".
Result Placeholders
Format Value
Explanation
%time
Timestamp
%encoder
Encoder position
%frame
Frame number
%value[Measurement ID]
Measurement value of the specified measurement ID. The ID must correspond to an
existing measurement.
The value output will be displayed as an integer in micrometers.
%decision[Measurement ID] Measurement decision, where the selected measurement ID must correspond to an
existing measurement.
Measurement decision is a bit mask where:
Bit 0:
1 – Pass
0 – Fail
Bits 1-7:
0 – Measurement value OK
1 – Invalid value
2 - Invalid anchor
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Selcom Protocol
This section describes the Selcom serial protocol settings and message formats supported by Gocator
sensors.
To use the Selcom protocol, it must be enabled and configured in the active job.
For information on configuring the protocol using the Web interface, see Serial Output on page 197.
Units for data scales use the standard units (mm, mm2, mm3, and degrees).
Serial Communication
Data communication is synchronous using two unidirectional (output only) RS-485 serial channels: data
(Serial_Out0) and clock (Serial_Out1). See Serial Output on page 433 for cable pinout information.
Measurement results are sent on the serial output (data) in asynchronous mode. Measurement values
and decisions can be transmitted to an RS-485 receiver, but job handling and control operations must be
performed through the Gocator's web interface or through communications on the Ethernet output.
Connection Settings
The Selcom protocol uses the following connection settings:
Serial Connection Settings
Parameter
Value
Data Bits
16
Baud Rate (b/s)
96000, 512000, 1024000
Format
Binary
Message Format
The data channel is valid on the rising edge of the clock and data is output with the most significant bit
first, followed by control bits for a total of 16 bits of information per frame. The time between the start
of the camera exposure and the delivery of the corresponding range data is fixed to a deterministic
value.
The sensor can output data using one of four formats, illustrated below, where:
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l
l
MSB = most significant bit
LSB = least significant bit
C = data valid bit (high = invalid)
S = whether data is acquired in search mode or track mode (high = search mode)
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12-bit data format (SLS mode; "SLS" in Gocator web interface)
12-bit data format with Search/Track bit
14-bit data format
14-bit data format with Search/Track bit
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Development Kits
These sections describe the following development kits
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Software Development Kit (GoSDK)
Gocator Development Kit (GDK)
GoSDK
The Gocator Software Development Kit (GoSDK) includes open-source software libraries and
documentation that can be used to programmatically access and control Gocator sensors. To get the
latest version of the SDK, go to http://lmi3d.com/support, choose your product from the Product
Downloads section, and download it from the Download Center.
You can download the Gocator SDK from within the Web interface.
To download the SDK:
1.
Go to the Manage page and click on the Support category
2.
Next to Software Development Kit (SDK), click Download
3.
Choose the location for the SDK on the client computer.
Applications compiled with previous versions of the SDK are compatible with Gocator firmware if the
major version numbers of the protocols match. For example, an application compiled with version 4.0 of
the SDK (which uses protocol version 4.0) will be compatible with a Gocator running firmware version
4.1 (which uses protocol version 4.1). However, any new features in firmware version 4.1 would not be
available.
If the major version number of the protocol is different, for example, an application compiled using
SDK version 3.x being used with a Gocator running firmware 4.x, you must rewrite the application with
the SDK version corresponding to the sensor firmware in use.
The Gocator API, included in the SDK, is a C language library that provides support for the commands
and data formats used with Gocator sensors. The API is written in standard C to allow the code to be
compiled for any operating system. A pre-built DLL is provided to support 32-bit and 64-bit Windows
operating systems. Projects and makefiles are included to support other editions of Windows and Linux.
For Windows users, code examples explaining how to wrap the calls in C# and VB.NET are provided in
the tools package, which can be downloaded at go to http://lmi3d.com/support, choose your product
from the Product Downloads section, and download it from the Download Center.
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For more information about programming with the Gocator SDK, refer to the class reference and sample
programs included in the Gocator SDK.
Setup and Locations
Class Reference
The full SDK class reference is found by accessing 14400-4.x.x.xx_SOFTWARE_GO_SDK\GO_
SDK\doc\GoSdk\Gocator_1x00\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 go to http://lmi3d.com/support,
choose your product from the Product Downloads section, and download it from the Download Center.
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
<GoSdk/GoSdk.h>. The SDK header files also reference files from the kApi directory. The include path
must be set up for both the GoSdk and the kApi directories. For example, the sample projects set the
include path to $(GO_SDK_4)\Gocator\GoSdk and $(GO_SDK_4)\Platform\kApi.
Class Hierarchy
This section describes the class hierarchy of the Gocator 4.x SDK.
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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.
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.
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GoTools
The GoTools class is the base class of the measurement tools. The class provides functions for getting
and setting names, retrieving measurement counts, etc.
GoTransform
The GoTransform class represents a sensor transformation and provides functions to get and set
transformation information, as well as encoder-related information.
GoOutput
The GoOutput class represents output configuration and provides functions to get the specific types of
output (Analog, Digital, Ethernet, and Serial). Classes corresponding to the specific types of output
(GoAnalog, GoDigital, GoEthernet, and GoSerial) are available to configure these outputs.
Data Types
The following sections describe the types used by the SDK and the kApi library.
Value Types
GoSDK is built on a set of basic data structures, utilities, and functions, which are contained in the kApi
library.
The following basic value types are used by the kApi library.
Value Data Types
Type
Description
k8u
8-bit unsigned integer
k16u
16-bit unsigned integer
k16s
16-bit signed integer
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.
Output Data Types
Data Type
Description
GoAlignMsg
Represents a message containing an alignment result.
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Data Type
Description
GoBoundingBoxMatchMsg
Represents a message containing bounding box based part matching results.
GoDataMsg
Represents a base message sourced from the data channel. See GoDataSet Type below
for more information.
GoEdgeMatchMsg
Represents a message containing edge based part matching results.
GoEllipseMatchMsg
Represents a message containing ellipse based part matching results.
GoExposureCalMsg
Represents a message containing exposure calibration results.
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.
GoSectionMsg
Represents a data message containing a set of section arrays.
GoSectionIntensityMsg
Represents a data message containing a set of profile intensity 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.
Refer to the GoSdkSamples sample code for examples of acquiring data using these data types.
See Setup and Locations on page 375 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 (ranges or profiles), measurements, and results from
various operations. Data inside the GoDataSet object are represented as messages.
The following illustrates the content of a GoDataSet object of a range mode setup with two
measurements.
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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 377 for
more information on value types.
The following table lists the decisions that can be returned.
Measurement Decisions
Decision
Description
1
The measurement value is between the maximum and minimum decision values. This
is a pass decision.
0
The measurement value is outside the maximum and minimum. This is a fail decision.
-1
The measurement is invalid (for example, the target is not within range). Provides the
reason for the failure.
-2
The tool containing the measurement is anchored and has received invalid
measurement data from one of its anchors. Provides the reason for the failure.
Refer to the SetupMeasurement example for details on how to add and configure tools and
measurements. Refer to the ReceiveMeasurement example for details on how to receive measurement
decisions and values.
You should check a decision against <=0 for failure or invalid measurement.
Batching
One GoDataSet object can contain data from multiple frames. Each message has a Count property that
specifies how many frames of data are included. The following illustrates the data structure when three
frames of data are contained inside a GoDataSet object.
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The batching size is dynamically adjusted to ensure the sensor’s CPU keeps up with the messages
delivered with the shortest latency.
Operation Workflow
Applications created using the SDK typically use the following programming sequence:
See Setup and Locations on page 375 for more information on the code samples referenced below.
Sensors must be connected before the system can enable the data channel.
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All data functions are named Go<Object>_<Function>, for example, GoSensor_Connect. For property
access functions, the convention is Go<Object>_<Property Name> for reading the property and
Go<Object>_Set<Property Name> for writing it, for example, GoMeasurement_DecisionMax and
GoMeasurement_SetDecisionMax, respectively.
Initialize GoSdk API Object
Before the SDK can be used, the GoSdk API object must be initialized by calling GoSdk_Construct(api):
kAssembly api = kNULL;
if ((status = GoSdk_Construct(&api)) != kOK)
{
printf("Error: GoSdk_Construct:%d\n", status);
return;
}
When the program finishes, call GoDestroy(api) to destroy the API object.
Discover Sensors
Sensors are discovered when GoSystem is created, using GoSystem_Construct. You can use GoSystem_
SensorCount and GoSystem_SensorAt to iterate all the sensors that are on the network.
GoSystem_SensorCount returns the number of sensors physically in the network.
Alternatively, use GoSystem_FindSensorById or GoSystem_FindSensorByIpAddress to get the sensor by ID
or by IP address.
Refer to the Discover example for details on iterating through all sensors. Refer to other examples for
details on how to get a sensor handle directly from IP address.
Connect Sensors
Sensors are connected by calling GoSensor_Connect. You must first get the sensor object by using
GoSystem_SensorAt, GoSystem_FindSensorById, or GoSystem_FindSensorByIpAddress.
Configure Sensors
Some configuration is performed using the GoSensor object, such as managing jobs, uploading and
downloading files, scheduling outputs, setting alignment reference, etc. Most configuration is however
performed through the GoSetup object, for example, setting scan mode, exposure, exposure mode,
active area, speed, alignment, filtering, subsampling, etc. Surface generation is configured through the
GoSurfaceGeneration object and part detection settings are configured through the GoPartDetection
object.
See Class Hierarchy on page 375 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.
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Enable Data Channels
Use GoSystem_EnableData to enable the data channels of all connected sensors. Similarly, use GoSystem_
EnableHealth to enable the health channels of all connected sensors.
Perform Operations
Operations are started by calling GoSystem_Start, GoSystem_StartAlignment, and GoSystem_
StartExposureAutoSet.
Refer to the StationaryAlignment and MovingAlignment examples for details on how to perform
alignment operations. Refer to the ReceiveRange, ReceiveProfile, and ReceiveWholePart examples for
details on how to acquire data.
Example: Configuring and starting a sensor with the Gocator API
#include <GoSdk/GoSdk.h>
void main()
{
kIpAddress ipAddress;
GoSystem system = kNULL;
GoSensor sensor = kNULL;
GoSetup setup = kNULL;
//Construct the GoSdk library.
GoSdk_Construct(&api);
//Construct a Gocator system object.
GoSystem_Construct(&system, kNULL);
//Parse IP address into address data structure
kIpAddress_Parse(&ipAddress, SENSOR_IP);
//Obtain GoSensor object by sensor IP address
GoSystem_FindSensorByIpAddress(system, &ipAddress, &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, &contextPointer)
//Retrieve setup handle
setup = GoSensor_Setup(sensor);
//Reconfigure system to use time-based triggering.
GoSetup_SetTriggerSource(setup, GO_TRIGGER_TIME);
//Send the system a "Start" command.
GoSystem_Start(system);
//Data will now be streaming into the application
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//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, &dataset, RECEIVE_TIMEOUT)
//Send the system a "Stop" command.
GoSystem_Stop(system);
//Free the system object.
GoDestroy(system);
//Free the GoSdk library
GoDestroy(api);
}
Limiting Flash Memory Write Operations
Several operations and Gocator SDK functions write to the Gocator's flash memory. The lifetime of the
flash memory is limited by the number of write cycles. Therefore it is important to avoid frequent write
operation to the Gocator's flash memory when you design your system with the Gocator SDK.
Power loss during flash memory write operation will also cause Gocators to enter rescue
mode.
This topic applies to all Gocator sensors.
Gocator SDK Write-Operation Functions
Name
Description
GoSensor_Restore
Restores a backup of sensor files.
GoSensor_RestoreDefaults
Restores factory default settings.
GoSensor_CopyFile
Copies a file within the connected sensor.
The flash write operation does not occur if GoSensor_CopyFile
function is used to load an existing job file. This is accomplished by
specifying “_live” as the destination file name.
GoSensor_DeleteFile
Deletes a file in the connected sensor.
GoSensor_SetDefaultJob
Sets a default job file to be loaded on boot.
GoSensor_UploadFile
Uploads a file to the connected sensor.
GoSensor_Upgrade
Upgrades sensor firmware.
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.
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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.
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GDK
The Gocator Development Kit (GDK) is a framework for developing and testing custom Gocator
measurement tools containing your own algorithms, and then deploying them to Gocator sensors.
Custom tools created with the GDK act much like native Gocator measurement tools, running at native
speeds and taking advantage of features such as anchoring. The GDK supports all data types (range and
profile), and tools created with the GDK use the same data visualization as native tools.
Benefits
When you use the GDK to create custom measurement tools, you have complete control over how and
where your custom measurement tools can be used, which protects your intellectual property.
You can also easily troubleshoot and modify your tools on-site, letting you respond quickly to your
customers' urgent issues.
Supported Sensors
The GDK is available for free for the following Gocator sensors:
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Gocator 1300 series
Gocator 2300 series
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Gocator 2400 series
Gocator 3210 and 3506
Typical Workflow
The following is the typical workflow for creating and deploying custom measurement tools:
l
Develop and build measurement tools using the GDK project files and libraries in Microsoft Visual Studio, targeting Win32.
l
Debug the measurement tools using the emulator on a PC.
l
Build the measurement tools into a custom firmware binary.
l
Upload the custom firmware to a sensor.
Installation and Class Reference
The GDK project and library files are in the 14524-x.x.x.xxx_SOFTWARE_GDK.zip GDK package. You
can download the GDK package by going to go to http://lmi3d.com/support, choose your product from
the Product Downloads section, and download it from the Download Center, selecting a Gocator series,
and clicking on the Product User Area link.
After downloading the package, extract the package to a directory.
You can access full installation and setup instructions, as well as the complete class reference
documentation, by clicking the Guide shortcut under the root directory.
Required Tools
The GDK requires the following tools:
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Microsoft Visual Studio 2013
Python 3.4 or later
GCC ARM tools 4.9.3-p2 (for Gocator 2300C and 2400 series sensors)
Texas Instruments C6000 Code Generation Tools 7.4.13 (for Gocator 1300, 2300A, 2300B, 3210,
and 3506 series sensors)
You can download Microsoft Visual Studio 2013 from Microsoft's website.
The 14525_1.0.0.0_SOFTWARE_GDK_Prerequisites.zip package contains the installation files for
Python 5.2, the GCC ARM tools, and the Texas Instruments code generation tools. For information on
installing the package, see Installation and Class Reference above.
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Getting Started with the Example Code
The best way to get started is with the GDK sample code. You can find the sample projects under
Gocator\GDKSampleApp. This project is ready for you to build and use as a template for new projects.
Start by opening GDK.sln in Visual Studio 2013.
Building the Sample Code
You can build the sample code for working with either the emulator or a sensor. To do this, choose the
target and then build the solution
The following targets are available:
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Win32/x64 for debugging code and emulating a sensor to test tools (on a PC)
Arm7 for building for Gocator 2300C and 2400 series sensors
C64x for Gocator 1300, 2300A, 2300B, 3210, and 3506 series sensors
The Win32 target supports Debug and Release builds. The Arm7 and C64x targets (Gocator sensors) only
the support Release builds.
Tool Registration
For a tool to be available to a user in the Gocator web interface, you must add it to the project assembly
in Asm.c.
#include
#include
#include
#include
#include
#include
#include
#include
#include
<GdkSampleApp/Asm.h>
<GdkSampleApp/TestProfileSelect.h>
<GdkSampleApp/TestSurfaceSelect.h>
<GdkSampleApp/TestSurfaceConfiguration.h>
<GdkSampleApp/TestSurfaceGraphics.h>
<Gdk/GdkLib.h>
<GoSensor/Version.h>
<GoSensorAppLib/GsaDef.h>
<GoSensorAppLib/GsaAsm.h>
kBeginAssembly(Tool, ToolAsm, TOOL_VERSION, GOCATOR_VERSION)
kAddDependency(GdkLib)
kAddType(TestProfileSelect)
kAddType(TestSurfaceSelect)
kAddType(TestSurfaceConfiguration)
kAddType(TestSurfaceGraphics)
kEndAssembly()
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You can add multiple tools in a GDK project. As seen above, TestProfileSelect,
TestSurfaceSelect, TestSurfaceConfiguration , etc. will be available for users from the dropdown menu in the Tools panel in sensor's web interface.
Tool Definitions
You must add standard entry functions (methods) for each tool. The class table declares the entry
functions:
kBeginClass(Tool, TestTool, GdkTool)
kAddVMethod(TestTool, kObject, VRelease)
kAddVMethod(TestTool, GdkTool, VInit)
kAddVMethod(TestTool, GdkTool, VDescribe)
kAddVMethod(TestTool, GdkTool, VNewToolConfig)
kAddVMethod(TestTool, GdkTool, VNewMeasurementConfig)
kAddVMethod(TestTool, GdkTool, VUpdateConfig)
kAddVMethod(TestTool, GdkTool, VStart)
kAddVMethod(TestTool, GdkTool, VStop)
kAddVMethod(TestTool, GdkTool, VProcess)
kEndClass()
ToolFx (kStatus) TestTool_VDescribe(GdkToolInfo toolInfo)
{
GdkMeasurementInfo mmt;
GdkParamsInfo params;
GdkParamInfo paramInfo;
kCheck(GdkToolInfo_SetTypeName(toolInfo, TEST_PROFILE_SELECT_TOOL_NAME));
kCheck(GdkToolInfo_SetLabel(toolInfo, TEST_PROFILE_SELECT_TOOL_LABEL));
kCheck(GdkToolInfo_SetSourceType(toolInfo, GDK_DATA_TYPE_UNIFORM_PROFILE));
...
The function <Tool Name>_VDescribe describes the tool and its basic configuration. This function is
called during sensor start-up. For more information on entry functions, see Entry Functions below.
The VDescribe function for each tool is properly formed. Significant issues with this function
(for example, overwriting memory) could prevent the sensor from starting.
You should use the emulator to debug tools before deploying tools to sensors.
Entry Functions
The following table describes the main entry functions.
Function
Description
VDescribe
Defines the tool's name, data types, acceptable source options, configuration
parameters, and at least one measurement.
VStart
Called when the sensor starts running (that is, the user clicks the Run button). The
function gets parameters from GtTool. You typically allocate memory in this function.
VProcess
Called every time data is received while the sensor is running.
VStop
Called when the user clicks the Stop button.
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The TestSurfaceConfiguration example shows how to create and modify parameters based on
other user settings.
For full descriptions of these functions, see the GDK class reference documentation (see Installation and
Class Reference on page 386 for information on installing the documentation).
Parameter Configurations
Each tool has two levels of parameters: tool parameters and measurement parameters.
A tool can contain multiple measurements. In the image above, the Groove tool contains four
measurements: X, Z, Width, and Depth. Each tool has one set of tool parameters and each measurement
in a tool has one set of measurement parameters.
The following table lists the functions that provide advanced or interactive control for setting up tool
and measurement parameters:
Function
Description
VNewToolConfig
Advanced method for setting default values of tool parameters based on the current
sensor configuration (for example, active area). Called when a new tool is added in the
interface.
VNewMeasurementConfig
Advanced method for setting default values of measurement parameters based on the
current sensor configurations (for example, active area). Called when measurements in
a tool is are added in the interface.
VUpdateConfig
Advanced method for updating the configuration based on parameters set by users.
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For full descriptions of these functions, see the GDK class reference documentation (see Installation and
Class Reference on page 386 for information on installing the documentation).
Graphics Visualization
The GdkGraphic function supports points and lines.
Point graphics
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Line graphics
To create graphics:
1.
Use GdkGraphic_Construct to create a graphic object.
2.
Use GdkGraphicPointSet_Construct to create points or GdkGraphicLineSet_Construct to create
lines.
3.
Add the points and lines to the graphic object using GdkGraphic_AddPointSet and GdkGraphic_
AddLineSet.
4.
Output using GdkToolOutput_SetRendering.
The following illustrates the process:
kTest(GdkGraphic_Construct(&graphic, kObject_Alloc(tool)));
kTest(GdkGraphicPointSet_Construct(&pointSet, 4.0, kMARKER_SHAPE_CROSS, kCOLOR_LIME,
&point32f, 1, kObject_Alloc(tool)));
kTest(GdkGraphic_AddPointSet(graphic, pointSet));
kTest(GdkToolOutput_SetRendering(output, measurementIndex, graphic));
The GDK example TestSurfaceGraphics shows how to use the graphics functions.
Graphic functions take an array of kPoint3d32f. It does NOT accept kPoint3d64f.
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Debugging Your Measurement Tools
We highly recommend using the emulator to debug measurement tools you create with the GDK. By
using a Gocator support file and previously recorded scan data, downloaded from a physical sensor, you
can completely simulate standalone and dual-sensor configurations on a PC to test your tools.
To debug your tools in the emulator:
1.
Compile your code using the Win32 target (Debug or Release).
2.
In the output directory, rename the DLL with the same name as your project to GdkApp.dll.
For example, if your project is called MyGDKTools, the resulting DLL should be called MyGDKTools.dll. You
rename this DLL to GdkApp.dll.
The output directories are as follows:
Release: win32
Debug: win32d
3.
Launch the emulator from same output directory as in step 2.
4.
In the emulator, choose a scenario and start it.
5.
In Visual Studio, attach the debugger to the kFramework.exe process.
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kFramework.exe is only loaded after a user selects a scenario and starts the emulator
session.
Debugging Entry Functions
VStart, VProcess, and VStop are called whenever a data record is played back in the emulator (that is,
when a user clicks on the Next button or types the frame number in the frame field) with at least one
tool instance. For more information on playback controls, see Recording, Playback, and Measurement
Simulation in the Gocator user manual.
VDescribe however is called when the DLL loads, before the debugger can attached to the
kFramework.exe process. To debug VDescribe, we recommend testing the function calls by putting
them in VInit.
For information on building targets for testing in the emulator, see the GDK class reference
documentation.
Tips
The following sections provide useful information for creating custom measurement tools.
Backward Compatibility with Older Versions of Tools
When loading a recording or job file that contains a custom measurement tool, the parameters in the
loaded recording or job file must match those in the firmware.
By default, if declared parameters are missing from the configuration, a job file or a recording will fail to
load.
There are two ways to provide backward compatibility with older parameter sets.
Define new parameters as optional
Mark a parameter as optional with the function GdkParamInfo_SetIsOptional. When a parameter is
marked as optional, parameter parsing functions succeed even if the parameter is missing from the
configuration. The missing parameter is initialized with default value.
Configuration Versioning
Over the lifetime of a tool, you may need to make changes to its interface (for example, changing or
removing parameters). The user-defined aspects of a tool interface—its parameters and
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measurements—are captured by GDKToolVersionInfo objects.
By default, a tool has just one version (GdkToolInfo_FirstVersion), but more versions may be
added using GdkToolInfo_AddVersion. Whenever the interface of a tool has changed, a new version
can be registered so that the new interface can be correctly parsed by the framework.
When the configuration of a tool instance is saved, the version used at the time is also saved. This saved
version is used by the framework to parse the configuration. If a version not defined by the firmware
implementation, then that tool instance will not be inactive.
During run-time, you can query the version of the configuration of a tool instance by using
GdkToolCfg_Version. You can then interpret the parameters depending on the version the
configuration is saved in.
GdkFx(kStatus) GdkExampleTool_VDescribe(GdkToolInfo info)
{
kCheck(GdkToolInfo_SetLabel(info, "Example"));
kCheck(GdkToolInfo_SetSourceType(info, GDK_DATA_TYPE_UNIFORM_PROFILE));
kCheck(GdkToolInfo_AddSourceOption(info, GDK_DATA_SOURCE_TOP));
kCheck(GdkExampleTool_DescribeV0(info));
kCheck(GdkExampleTool_DescribeV1(info));
kCheck(GdkToolInfo_SetDefaultVersion(info, GdkToolInfo_VersionAt(info, 1)));
return kOK;
}
GdkFx(kStatus) GdkExampleTool_DescribeV0(GdkToolInfo info)
{
kCheck(GdkParamsInfo_Add(GdkToolInfo_Params(info), "RefRegion", GDK_PARAM_TYPE_PROFILE_
REGION, "Ref Region", kNULL));
kCheck(GdkParamsInfo_Add(GdkToolInfo_Params(info), "Region", GDK_PARAM_TYPE_PROFILE_
REGION, "Region", kNULL));
kCheck(GdkToolInfo_SetFirstVersionName(info, ""));
return kOK;
}
GdkFx(kStatus) GdkExampleTool_DescribeV1(GdkToolInfo info)
{
GdkToolVersionInfo versionInfo;
// Auto-version
kCheck(GdkToolInfo_AddVersion(info, kNULL, &versionInfo));
kCheck(GdkToolVersionInfo_UseBase(versionInfo, GdkToolInfo_FirstVersion(info)));
kCheck(GdkParamsInfo_AddFloat(GdkToolVersionInfo_Params(versionInfo), "BaseScale",
kNULL, 2.0, kNULL));
return kOK;
}
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Adding a new measurement does not require special handling. The new measurement is just not
instantiated in a previous configuration.
Version
You can define the version number of your tools in Asm.x.h.
#define TOOL_VERSION
kVersion_Stringify_(1, 0, 0, 23)
The version is displayed on the Manage page, in the Support category.
Common Programming Operations
The following sections describe common programming operations.
Input Data Objects
The VProcess function receives a GdkToolInput object as input. This object is a container where the
information and actual data of the received input is stored.
GdkInputItem item = GdkToolInput_Find(input, obj->dataSource);
GdkDataInfo itemInfo = GdkInputItem_Info(item);
The GdkToolInput_Find and GdkInputItem_Info functions are used to extract the item and info
objects. These objects can then be used to retrieve the input data and information (for example, offset
and resolution) associated to the input. The following are some examples:
Retrieving offset and scales
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const kPoint3d64f* scale = GdkDataInfo_Scale(GtInputItem_Info(item));
const kPoint3d64f* offset = GdkInputItem_Offset(item);
Retrieving a pointer to surface and intensity surface data
const k16s* rangeSrc = GdkSurfaceInput_RangeRowAt(item, 0);
const k8u* intensitySrc = GdkSurfaceInput_IntensityRowAt(item, 0);
Similar functions are available for retrieving information from range and profile data.
Computing actual height information using a offset and scales
k64f height = rangeSrc[index] * scale->z + offset->z;
Extracting height information from profiles and surfaces.
The TestProfileSelect and TestSurfaceSelect examples show how to perform these
operations.
Setup and Region Info during Tool Initialization
Memory allocation is often done in the VInit or VStart function. To retrieve sensor and data
information such as active area settings and data scale outside of VProcess, you can use the following
function:
GdkDataInfo info = GdkSensorInfo_DataSource(GdkTool_SensorInfo(tool), GDK_DATA_SOURCE_
TOP);
Computing Region Based on the Offset from an Anchor Source
Just like built-in measurement tools, custom tools created with the GDK can be anchored to another tool
(GDK-based tools or built-in tools).
To compute the offset region:
TestToolClass* obj = TestTool_Cast_(tool);
GdkParams params = GdkToolCfg_Parameters(config);
const kPoint3d64f* anchor = GdkToolInput_AnchorPosition(input);
GdkRegionXZ64f offsetRegion = { k64F_NULL, k64F_NULL, k64F_NULL, k64F_NULL };
param = GdkParams_Find(params, "Region");
obj->region = *GdkParam_AsProfileRegion(param);
offsetRegion = obj->region;
offsetRegion.x += anchor->x;
offsetRegion.z += anchor->z;
In the code above, we first retrieve the tool’s region settings (before anchoring is applied), and then
adjust the region based on the results from the anchored source in VProcess. If the anchored source
fails, the tools will not be invoked.
The TestProfileSelect and TestSurfaceSelect examples show how to extract height
information from anchored regions.
For more information on anchoring, see Measurement Anchoring in the Gocator user manual.
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Part Matching
When part matching is enabled, the tool receives translated and corrected surface data. If part matching
fails for the current scan (for example, the quality score is too low), the tools will not be invoked.
For more information on part matching, see Part Matching in the Gocator user manual.
Accessing Sensor Local Storage
You can access a sensor's local storage by using the kFile API.
For example, to read and write a file to a sensor's storage, you could use the following:
#include <kApi/Io/kFile.h>
…
ToolFx(kStatus) TestTool_VStart(TestTool tool)
{
…
kFile_Save("test.txt", stringBuf, (kSize) 1024);
kFile_Load("test.txt", stringBuf, &bufLen, kNULL);
Print Output
In the emulator, you can send output to Visual Studio or to programs such as DebugView by using the
OutputDebugString function.
GtsFx(kStatus) TestTool_Trace(const kChar* format, ...)
{
kStatus status = kOK;
kChar debugLine[256];
kVarArgList argList;
kVarArgList_Start_(argList, format);
{
status = kStrPrintvf(debugLine, 256, format, argList);
}
kVarArgList_End_(argList);
OutputDebugStringA(debugLine);
return status;
}
OutputDebugString is NOT supported on sensor targets. Use #ifdef to comment out the code
when compiling against sensor targets.
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Tools
The following sections describe the tools you can use with a Gocator.
Sensor Discovery 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 the Sensor Discovery software tool. This tool
can be obtained from the downloads area of the LMI Technologies website: http://www.lmi3D.com.
After downloading the tool package [14405-x.x.x.x_SOFTWARE_GO_Tools.zip], unzip the file and run the
Sensor Discovery Tool [>Discovery>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.
Select the Custom option.
2.
Enter the new network address information.
3.
Click Set Address.
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.
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.
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CSV Converter Tool
The CSV Converter tool lets you convert data exported from Gocator in the CSV format to several
formats (see table below). For more information on exporting recorded data, see Downloading,
Uploading, and Exporting Replay Data on page 64.
The tool supports data exported from Profile mode.
To get the tool package (14405-x.x.x.x_SOFTWARE_GO_Tools.zip), go to http://lmi3d.com/support,
choose your product from the Product Downloads section, and download it from the Download Center.
After downloading the tool package, unzip the file and run the Gocator CSV Converter tool
[CsvConverter>kCsvConverter.exe].
The tool supports the following output formats:
Output formats
Format
Description
ASCII (XYZI)
Comma-separated points in X, Y, Z, Intensity (if available)
format.
16-bit BMP
Heightmap with 16bit height values in a 5-5-5 RGB image.
Not intended for visualization.
16-bit TIFF
Heightmap as grayscale image.
16-bit PNG
Heightmap as grayscale image.
GenTL RGB
Not intended for use with this sensor family.
GenTL Mono
Not intended for use with this sensor family.
Raw CSV
LMI Gocator CSV format for a single frame.
HexSight HIG
LMI HexSight heightmap.
STL ASCII
Mesh in standard STL text format (can become very large).
STL Binary
Mesh in binary STL format.
Wavefront OBJ
Mesh with comma-separated vertices and facets in text
format.
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Format
Description
ODSCAD OMC
GFM ODSCAD heightmap.
MountainsMap SUR
DigitalSurf MountainsMap heightmap.
24-bit Spectrum
Color spectrum bitmap for visualization of heightmap.
Does not contain height values.
With some formats, one or more of the following options are available:
Output options
Option
Description
Scale Z
Resamples the Z values to use the full value range.
Swap X/Y
Swaps the X and Y axes to obtain a right-handed
coordinate system.
Keep Aspect Ratio
Resamples the X and Y axes to obtain the proper aspect
ratio.
To convert exported CSV into different formats:
1.
Select the CSV file to convert in the CSV field.
2.
(Optional) 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.
If a dual-sensor system was used, choose the source sensor next to Image.
4.
Select the output format.
For more information on output formats, see Output formats on the previous page.
5.
(Optional) Set the Scale Z, Swap X/Y, and Keep Aspect Ratio options.
Availability of these options depends on the output format you have chosen. For more information, see
Output options above.
6.
Click Convert.
The converter converts the input files.
The converted file will be in the same directory as the input file. It will also have the same name as the
input file but with a different file extension. The converted file name is displayed in the Output File
field.
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Troubleshooting
Review the guidance in this chapter if you are experiencing difficulty with a Gocator sensor system. If the
problem that you are experiencing is not described in this section, see Return Policy on page 455.
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 the client computer's network settings are properly configured.
l
Ensure that the latest version of Flash is loaded on the client computer.
l
Use the LMI Discovery tool to verify that the sensor has the correct network settings. See Sensor Discovery
Tool on page 398 for more information.
When attempting to log in, the password is not accepted.
l
See Sensor Discovery Tool on page 398 for steps to reset the password.
Laser Ranging
When the Start button or the Snapshot button is pressed, the sensor does not emit laser light.
l
Ensure that the sticker covering the laser emitter window (normally affixed to new sensors) has been
removed.
l
The laser safety input signal may not be correctly applied. See Specifications on page 403 for more information.
l
The exposure setting may be too low. See Exposure on page 98 for more information on configuring exposure time.
l
Use the Snapshot button instead of the Start button to capture a laser range. If the laser flashes when you
use the Snapshot button, but not when you use the Start button, then the problem could be related to triggering. See Triggers on page 88 for information on configuring the trigger source.
The sensor emits laser light, but the Range Indicator LED does not illuminate and/or points are not
displayed in the Data Viewer.
l
Verify that the measurement target is within the sensor's field of view and measurement range. See Specifications on page 403 to review the measurement specifications for your sensor model.
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l
Check that the exposure time is set to a reasonable level.See Exposure on page 98 for more information on
configuring exposure time.
Performance
The sensor CPU level is near 100%.
l
Consider reducing the speed. If you are using a time or encoder trigger source, see Triggers on page 88 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.
l
Review the measurements that you have programmed and eliminate any unnecessary measurements.
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Specifications
The following sections describe the specifications of Gocator sensors and connectors, as well as Master
hubs.
Sensors
The following sections provide the specifications of Gocator sensors.
Gocator 1300 Series
The Gocator 1300 series consists of the following models:
MODEL
1320
1340
1350
1365
1370
1380
1390
Clearance Distance (mm)
40
162.5
200
562
237.5
127
500
Measurement 20
95
200
375
412.5
1651
2000
Linearity Z (+/- % of MR)
0.05
0.05
0.05
0.11
0.07
0.18
0.10
Linearity Z (+/- mm)
0.010
0.05
0.100
0.4
0.3
3.0
2.0
Resolution Z (mm)
0.0004 -
0.0005 -
0.0015 -
0.0025 -
0.0025 -
0.0100 -
0.0250 -
0.0004
0.0010
0.0035
0.0040
0.0070
0.0450
0.0600
0.11
0.37
0.50
1.80
0.90
2.60
2.60
3R
3B
3B
3B
3B
3B
3B
3B
2M, 3R
Side Mount
Side Mount
Side Mount
Side Mount
Range (MR) (mm)
Spot Size (mm)
Recommended Laser
Class
Other Laser Class
Recommended Package
Dimensions (mm)
(3R)
Side Mount Side Mount
Side Mount
30x120x149 30x120x149 30x120x220 30x120x149 30x120x149 30x120x277
30x120x149
Other Package
Dimensions (mm)
Top Mount
Top Mount
(3B)
49x75x162
49x75x162
Weight (kg)
0.8
0.8
0.75 / 0.8
1.1
0.8
0.8
1.4
The following diagram illustrates some of the terms used in the table above.
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Optical models, laser classes, and packages can be customized. Contact LMI for more details.
Specifications stated are based on standard laser classes. Linearity Z and Resolution Z may vary for other
laser classes.
All specification measurements are performed on LMI’s standard calibration target (a diffuse, painted
white surface).
Linearity Z is the worst case difference in average height measured, compared to the actual position over
the measurement range.
Resolution Z is the maximum variability of height measurements across multiple frames, with 95%
confidence.
See Resolution and Accuracy on page 46 for more information.
ALL 1300 SERIES MODELS
Scan Rate
32kHz
Interface
Gigabit Ethernet
Inputs
Differential Encoder, Laser Safety Enable, Trigger
Outputs
2x Digital Output, RS-485 Serial, Selcom Serial, 1x Analog Output (4 - 20 mA)
Input Voltage (Power)
+24 to +48 VDC (13 Watts); Ripple +/- 10%
Housing
Gasketed Aluminum Enclosure, IP67
Operating Temp.
0 to 50° C
Storage Temp.
-30 to 70 ° C
Mechanical dimensions, CD/MR, and the envelope for each sensor model are illustrated on the following
pages.
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Gocator 1320 (Side Mount Package)
Measurement Range
Dimensions
Envelope
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Gocator 1320 (Top Mount Package)
Field of View / Measurement Range
Dimensions
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Envelope
Gocator 1340 (Side Mount Package)
Measurement Range
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Dimensions
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Envelope
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Gocator 1350 (Side Mount Package)
Measurement Range
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Dimensions
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Envelope
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Gocator 1350 (Top Mount Package)
Measurement Range
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Dimensions
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Envelope
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Gocator 1365 (Side Mount Package)
Measurement Range
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Dimensions
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Envelope
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Gocator 1370 (Side Mount Package)
Measurement Range
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Dimensions
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Envelope
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Gocator 1380 (Side Mount Package)
Measurement Range
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Dimensions
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Envelope
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Gocator 1390 (Side Mount Package)
Measurement Range
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Dimensions
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Envelope
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Sensor Connectors
The following sections provide the specifications of the connectors on Gocator sensors.
Gocator Power/LAN Connector
The Gocator Power/LAN connector is a 14 pin, M16 style connector that provides power input, laser
safety input and Ethernet.
This connector is rated IP67 only when a cable is connected or when a protective cap is used.
This section defines the electrical specifications for Gocator Power/LAN Connector pins, organized by
function.
Gocator Power/LAN Connector Pins
Function
Pin
GND_24-48V
L
Lead Color on
Cordset
White/
Orange & Black
GND_24-48V
L
Orange/ Black
DC_24-48V
A
White/
Green & Black
DC_24-48V
A
Green/ Black
Safety-
G
White/ Blue &
Black
Safety+
J
Blue/
View: Looking into the connector on the sensor
Black
Sync+
E
White/
Brown & 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
Two wires are connected to the ground and power pins.
Grounding Shield
The grounding shield should be mounted to the earth ground.
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Power
Apply positive voltage to DC_24-48V. See Gocator 1300 Series on page 403
Power requirements
Function
Pins
Min
Max
DC_24-48V
A
24 V
48 V
GND_24-48VDC
L
0V
0V
Laser Safety Input
The Safety_in+ signal should be connected to a voltage source in the range listed below. The Safety_insignal should be connected to the ground/common of the source supplying the Safety_in+.
Laser safety requirements
Function
Pins
Min
Max
Safety_in+
J
24 V
48 V
Safety_in-
G
0V
0V
Confirm the wiring of Safety_in- before starting the sensor. Wiring DC_24-48V into Safety_in- may
damage the sensor.
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Gocator I/O Connector
The Gocator 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.
Gocator I/O Connector Pins
Function
Pin
Lead Color on Cordset
Trigger_in+
D
Grey
Trigger_in-
H
Pink
Out_1+ (Digital Output 0)
N
Red
Out_1- (Digital Output 0)
O
Blue
Out_2+ (Digital Output 1)
S
Tan
Out_2- (Digital Output 1)
T
Orange
Encoder_A+
M
White / Brown & Black
Encoder_A-
U
Brown / Black
Encoder_B+
I
Black
Encoder_B-
K
Violet
Encoder_Z+
A
White / Green & Black
Encoder_Z-
L
Green / Black
Serial_out+
B
White
Serial_out-
C
Brown
Serial_out2+
E
Blue / Black
Serial_out2-
G
White / Blue & Black
Analog_out+
P
Green
Analog_out-
F
Yellow & Maroon / White
Reserved
R
Maroon
View: Looking into the
connector on the sensor
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, which allows a variety of power sources to be connected and a variety 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.
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Max Collector
Max Collector–Emitter
Current
Voltage
N, O
40 mA
70 V
20 µs
S, T
40 mA
70 V
20 µs
Function
Pins
Out_1
Out_2
Min Pulse Width
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-. For resistor selection, see above.
Digital Input
Every Gocator sensor has a single optically isolated input. To use this input without an external resistor,
supply 3.3 - 24 V to the positive pin and GND to the negative.
Active High
If the supplied voltage is greater than 24 V, connect an external resistor in series to the positive. The
resistor value should be R = [(Vin-1.2V)/10mA]-680.
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Active Low
To assert the signal, the digital input voltage should be set to draw a current of 3 mA to 40 mA from the
positive pin. The current that passes through the positive pin is I = (Vin – 1.2 – Vdata) / 680. To reduce
noise sensitivity, we recommend leaving a 20% margin for current variation (i.e., uses a digital input
voltage that draws 4mA to 25mA). Function
Pins
Min Voltage
Max Voltage
Min Current Max Current
Min Pulse Width
Trigger_in
D, H
3.3 V
24 V
3 mA
20 µs
40 mA
Encoder Input
Encoder input is provided by an external encoder and consists of three RS-485 signals. These signals are
connected to Encoder_A, Encoder_B, and Encoder_Z.
Function
Common Mode Voltage
Differential Threshold Voltage
Min
Max
Min
Typ
Max
Pins
Max Data Rate
Encoder_A
M, U
-7 V
12 V
-200 mV
-125 mV
-50 mV
1 MHz
Encoder_B
I, K
-7 V
12 V
-200 mV
-125 mV
-50 mV
1 MHz
Encoder_Z
A, L
-7 V
12 V
-200 mV
-125 mV
-50 mV
1 MHz
Gocator only supports differential RS485 signalling. Both + and - signals must be connected.
Encoders are normally specified in pulses per revolution, where each pulse is made up of the
four quadrature signals (A+ / A- / B+ / B-). Because Gocator reads each of the four quadrature
signals, you should choose an encoder accordingly, given the resolution required for your
application.
Gocator Point Profile Sensors: User Manual
Specifications • 432
Serial Output
Serial RS-485 output is connected to Serial_out as shown below.
Function
Pins
Serial_out
B, C
Selcom Serial Output
Serial RS-485 output is connected to Serial_out and Serial_out2 as shown below.
Function
Pins
Serial_out (data)
B, C
Serial_out2 (clock) E, G
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 Point Profile Sensors: User Manual
Specifications • 433
Current Mode
Voltage Mode
To configure for voltage output, connect a 500 Ohm ¼ 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 Point Profile Sensors: User Manual
Specifications • 434
Master Network Controllers
The following sections provide the specifications of Master network controllers.
For information on maximum external input trigger rates, see Maximum Input Trigger Rate on page 95.
Master 100
The Master 100 accepts connections for power, safety, and encoder, and provides digital output.
*Contact LMI for information regarding this type of power supply.
Connect the Master Power port to the Gocator's Power/LAN connector using the Gocator Power/LAN to
Master cordset. Connect power RJ45 end of the cordset to the Master Power port. The Ethernet RJ45
end of the cordset can be connected directly to the Ethernet switch, or connect to the Master Ethernet
port. If the Master Ethernet port is used, connect the Master Host port to the Ethernet switch with a
CAT5e Ethernet cable.
To use encoder and digital output, wire the Master's Gocator Sensor I/O port to the Gocator IO
connector using the Gocator I/O cordset.
Sensor I/O Port Pins
Gocator I/O Pin Master Pin Conductor Color
Encoder_A+
1
White/Brown & Black
Encoder_A-
2
Brown/Black
Encoder_Z+
3
White/Green & 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
Gocator Point Profile Sensors: User Manual
Specifications • 435
The rest of the wires in the Gocator I/O cordset are not used.
Encoder/Output Port Pins
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
Master 100 Dimensions
Gocator Point Profile Sensors: User Manual
Specifications • 436
Master 400/800
Master network controllers provide sensor power and safety interlock, and broadcast system-wide
synchronization information (i.e., time, encoder count, encoder index, and digital I/O states) to all
devices on a sensor network.
The Phoenix connectors on Master 400/800/1200/2400 are not compatible with the connectors
on Master 810/2410. For this reason, if you are switching models in your network, you must
rewire the connections to the Master.
Power and Safety (6 pin connector)
Function
Pin
+48VDC
1
+48VDC
2
GND (24-48VDC)
3
GND (24-48VDC)
4
Safety Control+
5
Safety Control–
6
The 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 of 24 VDC to 48 VDC across the pin to enable the
laser.
Gocator Point Profile Sensors: User Manual
Specifications • 437
Input (16 pin connector)
Function
Pin
Input 1
1
Input 1 GND
2
Reserved
3
Reserved
4
Reserved
5
Reserved
6
Reserved
7
Reserved
8
Reserved
9
Reserved
10
Reserved
11
Reserved
12
Reserved
13
Reserved
14
Reserved
15
Reserved
16
The Input connector does not need to be wired up for proper operation.
Encoder (8 pin connector)
Function
Pin
Encoder_A+
1
Encoder_A-
2
Encoder_B+
3
Encoder_B-
4
Encoder_Z+
5
Encoder_Z-
6
GND
7
+5VDC
8
Master 400/800 Electrical Specifications
Electrical Specifications
Specification
Value
Power Supply Voltage
+48 VDC
Power Supply Current (Max.)
10 A
Gocator Point Profile Sensors: User Manual
Specifications • 438
Specification
Value
Power Draw (Min.)
5.76 W
Safety Input Voltage Range
+24 VDC to +48 VDC
Encoder Signal Voltage
Differential (5 VDC)
Digital Input Voltage Range
Logical LOW: 0 to +0.1 VDC
Logical HIGH: +3.3 to +24 VDC
When using a Master hub, the chassis must be well grounded.
The power supply must be isolated from AC ground. This means that AC ground and DC ground
are not connected.
The Power Draw specification is based on a Master with no sensors attached. Every sensor has
its own power requirements that need to be considered when calculating total system power
requirements..
Gocator Point Profile Sensors: User Manual
Specifications • 439
Master 400/800 Dimensions
The dimensions of Master 400 and Master 800 are the same.
Gocator Point Profile Sensors: User Manual
Specifications • 440
Master 810/2410
Master network controllers provide sensor power and safety interlock, and broadcast system-wide
synchronization information (i.e., time, encoder count, encoder index, and digital I/O states) to all
devices on a sensor network.
Master 810 and 2410 can be mounted to DIN rails using the appropriate adapters (not included; for
more information, see Installing DIN Rail Clips: Master 810 or 2410 on page 34). The units are provided
with removable adapters for 1U rack mounting; the mounting holes for this option are compatible with
older Master models (400/800/1200/2400).
The Phoenix connectors on Master 400/800/1200/2400 are not compatible with the connectors
on Master 810/2410. For this reason, if you are switching models in your network, you must
rewire the connections to the Master.
Master 2410 can currently be used with encoders with a maximum quadrature frequency of 300 kHz.
Master 810 can be configured to work with a maximum encoder quadrature frequency of 6.5 MHz. For
more information, see Configuring Master 810 on page 35.
Gocator Point Profile Sensors: User Manual
Specifications • 441
For information on configuring the DIP switches, see Configuring Master 810 on page 35.
Power and Safety (6 pin connector)
Function
Pin
Power In+
1
Power In+
2
Power In-
3
Power In-
4
Safety Control+
5
Safety Control–
6
The 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 of 24 VDC to 48 VDC across the pin to enable the
laser.
On earlier revisions of Master 810 and Master 2410, the inputs are labeled 0-3.
Input (10 pin connector)
Function
Pin
Input 1 Pin 1
1
Input 1 Pin 2
2
Reserved
3
Reserved
4
Reserved
5
Gocator Point Profile Sensors: User Manual
Specifications • 442
Function
Pin
Reserved
6
Reserved
7
Reserved
8
GND (output for powering other devices)
9
+5VDC (output for powering other devices) 10
The Input connector does not need to be wired up for proper operation.
For Input connection wiring options, see Input on page 446.
Encoder (11 pin connector)
Function
Pin
Encoder_A_Pin_1
1
Encoder_A_Pin_2
2
Encoder_A_Pin_3
3
Encoder_B_Pin_1
4
Encoder_B_Pin_2
5
Encoder_B_Pin_3
6
Encoder_Z_Pin_1
7
Encoder_Z_Pin_2
8
Encoder_Z_Pin_3
9
GND (output for powering external devices)
10
+5VDC (output for powering external devices) 11
For Encoder connection wiring options, see Encoder on the next page.
Electrical Specifications
Electrical Specifications
Specification
Value
Power Supply Voltage
+24 VDC to +48 VDC
Power Supply Current (Max.)*
Master 810: 9 A
Master 2410: 25 A
* Fully loaded with 1 A per sensor port.
Power Draw (Min.)
Master 810: 1.7 W
Master 2410: 4.8 W
Safety Input Voltage Range
+24 VDC to +48 VDC
Encoder Signal Voltage
Differential (5 VDC, 12 VDC)
Gocator Point Profile Sensors: User Manual
Specifications • 443
Specification
Value
Single-Ended (5 VDC, 12 VDC)
For more information, see Encoder below.
Digital Input Voltage Range
Single-Ended Active LOW: 0 to +0.8 VDC
Single-Ended Active HIGH: +3.3 to +24 VDC
Differential LOW: 0.8 to -24 VDC
Differential HIGH: +3.3 to +24 VDC
For more information, see Input on page 446.
If the input voltage is above 24 V, use an
external resistor, using the following formula:
R = [(Vin - 1.2V) / 10mA] - 680
When using a Master hub, the chassis must be well grounded.
The power supply must be isolated from AC ground. This means that AC ground and DC ground
are not connected.
24 VDC power supply is only supported if all connected sensors support an input voltage of 24
VDC.
The Power Draw specification is based on a Master with no sensors attached. Every sensor has
its own power requirements that need to be considered when calculating total system power
requirements..
Encoder
Master 810 and 2410 support the following types of encoder signals: Single-Ended (5 VDC, 12 VDC) and
Differential (5 VDC, 12 VDC).
For 5 VDC operation, pins 2 and 3 of each channel are used.
For 12 VDC operation, pins 1 and 3 of each channel are used.
The 5-volt encoder input supports up to 12 volts for compatibility with earlier Master network
controllers. However, we strongly recommend connecting 12-volt output encoders to the
appropriate 12-volt input to attain maximum tolerance.
Gocator Point Profile Sensors: User Manual
Specifications • 444
To determine how to wire a Master to an encoder, see the illustrations below.
Single-Ended 5 VDC
Single-Ended 12 VDC
Gocator Point Profile Sensors: User Manual
Specifications • 445
Differential 5 VDC
Differential 12 VDC
Input
Master 810 and 2410 support the following types of input: Differential, Single-Ended High, and SingleEnded Low.
Currently, Gocator only supports Input 0.
Gocator Point Profile Sensors: User Manual
Specifications • 446
For digital input voltage ranges, see the table below.
Differential
Single-Ended Active High
Single-Ended Active Low
Digital Input Voltage Ranges
Single-ended Active High
Single-ended Active Low
Differential
Gocator Point Profile Sensors: User Manual
Input Status
Min (VDC)
Max (VDC)
Off
0
+0.8
On
+3.3
+24
Off
(V
DD
- 0.8)
V
(V
DD
On
0
Off
-24
+0.8
On
+3.3
+24
DD
- 3.3)
Specifications • 447
Master 810 Dimensions
With 1U rack mount brackets:
With DIN rail mount clips:
For information on installing DIN rail clips, see Installing DIN Rail Clips: Master 810 or 2410 on page 34.
The CAD model of the DIN rail clip is available at https://www.winford.com/products/cad/dinm12-rc.igs.
Gocator Point Profile Sensors: User Manual
Specifications • 448
Master 2410 Dimensions
With 1U rack mount brackets:
With DIN rail mount clips:
For information on installing DIN rail clips, see Installing DIN Rail Clips: Master 810 or 2410 on page 34.
The CAD model of the DIN rail clip is available at https://www.winford.com/products/cad/dinm12-rc.igs.
Gocator Point Profile Sensors: User Manual
Specifications • 449
Master 1200/2400
Master network controllers provide sensor power and safety interlock, and broadcast system-wide
synchronization information (i.e., time, encoder count, encoder index, and digital I/O states) to all
devices on a sensor network.
The Phoenix connectors on Master 400/800/1200/2400 are not compatible with the connectors
on Master 810/2410. For this reason, if you are switching models in your network, you must
rewire the connections to the Master.
Power and Safety (6 pin connector)
Function
Pin
+48VDC
1
+48VDC
2
GND (24-48VDC)
3
GND (24-48VDC)
4
Safety Control+
5
Safety Control–
6
The 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 of 24 VDC to 48 VDC across the pin to enable the
laser.
Gocator Point Profile Sensors: User Manual
Specifications • 450
Input (12 pin connector)
Function
Pin
Input 1
1
Input 1 GND
2
Reserved
3
Reserved
4
Reserved
5
Reserved
6
Reserved
7
Reserved
8
Reserved
9
Reserved
10
Reserved
11
Reserved
12
The Input connector does not need to be wired up for proper operation.
Encoder (8 pin connector)
Function
Pin
Encoder_A+
1
Encoder_A-
2
Encoder_B+
3
Encoder_B-
4
Encoder_Z+
5
Encoder_Z-
6
GND
7
+5VDC
8
Master 1200/2400 Electrical Specifications
Electrical Specifications
Specification
Value
Power Supply Voltage
+48 VDC
Power Supply Current (Max.)
10 A
Power Draw (Min.)
5.76 W
Safety Input Voltage Range
+24 VDC to +48 VDC
Encoder Signal Voltage
Differential (5 VDC)
Digital Input Voltage Range
Logical LOW: 0 to +0.1 VDC
Logical HIGH: +3.5 to +6.5 VDC
When using a Master hub, the chassis must be well grounded.
Gocator Point Profile Sensors: User Manual
Specifications • 451
The power supply must be isolated from AC ground. This means that AC ground and DC ground
are not connected.
The Power Draw specification is based on a Master with no sensors attached. Every sensor has
its own power requirements that 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.
Gocator Point Profile Sensors: User Manual
Specifications • 452
Accessories
Masters
Description
Part Number
Master 100 - for single sensor (development only)
30705
Master 810 - for networking up to 8 sensors
301114
Master 2410 - for networking up to 24 sensors
301115
Cordsets
Description
Part Number
1.2m I/O cordset, open wire end
30864-1.2m
2m I/O cordset, open wire end
30864-2m
5m I/O cordset, open wire end
30864-5m
10m I/O cordset, open wire end
30864-10m
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
30861-5m
10m Power and Ethernet cordset, 1x open wire end, 1x RJ45 end
30861-10m
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
1.2m Power and Ethernet to Master cordset, 2x RJ45 ends
30858-1.2m
2m Power and Ethernet to Master cordset, 2x RJ45 ends
30858-2m
5m Power and Ethernet to Master cordset, 2x RJ45 ends
30858-5m
10m Power and Ethernet to Master cordset, 2x RJ45 ends
30858-10m
15m Power and Ethernet to Master cordset, 2x RJ45 ends
30858-15m
20m Power and Ethernet to Master cordset, 2x RJ45 ends
30858-20m
25m Power and Ethernet to Master cordset, 2x RJ45 ends
30858-25m
Cordsets - 90-degree
Description
Part Number
2m I/O cordset, 90-deg, open wire end
30883-2m
5m I/O cordset, 90-deg, open wire end
30883-5m
Gocator Point Profile Sensors: User Manual
453
Description
Part Number
10m I/O cordset, 90-deg, open wire end
30883-10m
15m I/O cordset, 90-deg, open wire end
30883-15m
20m I/O cordset, 90-deg, open wire end
30883-20m
25m I/O cordset, 90-deg, open wire end
30883-25m
2m Power and Ethernet cordset, 90-deg, 1x open wire end, 1x RJ45 end
30880-2m
5m Power and Ethernet cordset, 90-deg, 1x open wire end, 1x RJ45 end
30880-5m
10m Power and Ethernet cordset, 90-deg, 1x open wire end, 1x RJ45 end
30880-10m
15m Power and Ethernet cordset, 90-deg, 1x open wire end, 1x RJ45 end
30880-15m
20m Power and Ethernet cordset, 90-deg, 1x open wire end, 1x RJ45 end
30880-20m
25m Power and Ethernet cordset, 90-deg, 1x open wire end, 1x RJ45 end
30880-25m
2m Power and Ethernet to Master cordset, 90-deg, 2x RJ45 ends
30877-2m
5m Power and Ethernet to Master cordset, 90-deg, 2x RJ45 ends
30877-5m
10m Power and Ethernet to Master cordset, 90-deg, 2x RJ45 ends
30877-10m
15m Power and Ethernet to Master cordset, 90-deg, 2x RJ45 ends
30877-15m
20m Power and Ethernet to Master cordset, 90-deg, 2x RJ45 ends
30877-20m
25m Power and Ethernet to Master cordset, 90-deg, 2x RJ45 ends
30877-25m
Contact LMI for information on creating cordsets with custom length or connector orientation. The
maximum cordset length is 60 m.
Gocator Point Profile Sensors: User Manual
Accessories • 454
Return Policy
Return Policy
Before returning the product for repair (warranty or non-warranty) a Return Material Authorization
(RMA) number must be obtained from LMI. Please call LMI to obtain this RMA number.
Carefully package the sensor in its original shipping materials (or equivalent) and ship the sensor prepaid
to your designated LMI location. Please ensure that the RMA number is clearly written on the outside of
the package. Inside the return shipment, include the address you wish the shipment returned to, the
name, email and telephone 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 Point Profile Sensors: User Manual
455
Software Licenses
Pico-C
Website:
http://code.google.com/p/picoc/
License:
picoc is published under the "New BSD License".
http://www.opensource.org/licenses/bsd-license.php
Copyright (c) 2009-2011, Zik Saleeba
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided
that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and
the following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of the Zik Saleeba nor the names of its contributors may be used to endorse or
promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 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 Point Profile Sensors: User Manual
456
BlowFish
Website:
http://www.chiark.greenend.org.uk/~sgtatham/putty/licence.html
License:
PuTTY is copyright 1997-2011 Simon Tatham.
Portions copyright Robert de Bath, Joris van Rantwijk, Delian Delchev, Andreas Schultz, Jeroen Massar,
Wez Furlong, Nicolas Barry, Justin Bradford, Ben Harris, Malcolm Smith, Ahmad Khalifa, Markus Kuhn,
Colin Watson, and CORE SDI S.A.
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
associated documentation files (the "Software"), to deal in the Software without restriction, including
without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the
following conditions:
The above 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 <marijnh@gmail.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:
Gocator Point Profile Sensors: User Manual
Software Licenses • 457
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", 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:
Copyright 2006 The Closure Library Authors. All Rights Reserved.
Gocator Point Profile Sensors: User Manual
Software Licenses • 458
Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in
compliance with the License.
You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software distributed under the License is
distributed on an "AS-IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express
or implied. See the License for the specific language governing permissions and limitations under the
License.
jQuery.CopyEvents
Website:
http://brandonaaron.net
License:
Copyright (c) 2006 Brandon Aaron
Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php)
jQuery.history
License:
jQuery history plugin
Copyright (c) 2006 Taku Sano (Mikage Sawatari)
Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php)
Modified by Lincoln Cooper to add Safari support and only call the callback once during initialization for
msie when no initial hash supplied. API rewrite by Lauris Bukis-Haberkorns
jQuery.mouseWheel
Website:
http://brandonaaron.net
License:
Copyright (c) 2010 Brandon Aaron
Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php)
Gocator Point Profile Sensors: User Manual
Software Licenses • 459
jQuery.scaling
Website:
http://eric.garside.name
License:
Scaling 1.0 - Scale any page element
Copyright (c) 2009 Eric Garside
Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php)
jQuery.scrollFollow
Website:
http://kitchen.net-perspective.com/
License:
Copyright (c) 2008 Net Perspective
Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php)
Flex SDK
Website:
http://opensource.adobe.com/wiki/display/flexsdk/Flex+SDK
License:
Copyright (c) 2010 Adobe Systems Incorporated
The contents of this file are subject to the Mozilla Public License Version 1.1 (the "License"); you may not
use this file except in compliance with the License. You may obtain a copy of the License at
http://www.mozilla.org/MPL/
Software distributed under the License is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
KIND, either express or implied. See the License for the specific language governing rights and limitations
under the License.
EtherNet/IP Communication Stack
Gocator Point Profile Sensors: User Manual
Software Licenses • 460
Website:
sourceforge.net/projects/opener
License:
SOFTWARE DISTRIBUTION LICENSE FOR THE
ETHERNET/IP(TM) COMMUNICATION STACK (ADAPTED BSD STYLE LICENSE)
Copyright (c) 2009, Rockwell Automation, Inc. ALL RIGHTS RESERVED.
EtherNet/IP is a trademark of ODVA, Inc.
Gocator Point Profile Sensors: User Manual
Software Licenses • 461
Support
For help with a component or product, please submit an online support ticket using LMI's Help Desk at
http://support.lmi3d.com/newticket.php.
If you are unable to use the Help Desk or prefer to contact LMI by phone or email, use the contact
information below.
Response times for phone or email support requests are longer than requests submitted
through the Help Desk.
North America
Phone
+1 604 636 1011
Fax
+1 604 516 8368
Email
support@lmi3d.com
Europe
Phone
+31 45 850 7000
Fax
+31 45 574 2500
Email
support@lmi3d.com
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
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Contact
Americas
EMEAR
ASIA PACIFIC
LMI Technologies (Head Office)
LMI Technologies GmbH
LMI (Shanghai) Trading Co., Ltd.
Burnaby, Canada
Berlin, Germany
Shanghai, China
+1 604 636 1011
+49 (0)3328 9360 0
+86 21 5441 0711
LMI Technologies has sales offices and distributors worldwide. All contact information is listed at
lmi3D.com/contact/locations.
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