gocator displacement sensor user manual - stemmer-imaging.ie ·...

USERMANUAL

Gocator Point Profile SensorsGocator 1300 SeriesFirmware version:5.1.x.xx

Document revision:C

Gocator Point Profile Sensors: User Manual 2

CopyrightCopyright 2018 by LMI Technologies, Inc. All rights reserved.

ProprietaryThis document, submitted in confidence, contains proprietary information which shall not bereproduced or transferred to other documents or disclosed to others or used formanufacturing or anyother purposewithout prior written permission of LMI Technologies Inc.

No part of this publicationmay be copied, photocopied, reproduced, transmitted, transcribed, orreduced to any electronicmediumormachine readable formwithout prior written consent of LMITechnologies, Inc.

Trademarks and RestrictionsGocator is a registered trademark of LMI Technologies, Inc. Any other company or product namesmentioned hereinmay be trademarks of their respective owners.

Information contained within thismanual is subject to change.

This product is designated for use solely as a component and as such it does not comply with thestandards relating to laser products specified in U.S. FDA CFR Title 21 Part 1040.

Contact InformationLMI Technologies, Inc.9200 Glenlyon ParkwayBurnaby BCV5J 5J8Canada

Telephone: +1 604-636-1011Fax: +1 604-516-8368

www.lmi3D.com


Table of ContentsCopyright 2

Table of Contents 3

Introduction 11

Gocator Overview 12

Safety and Maintenance 13

Laser Safety 13

Laser Classes 14

Precautions and Responsibilities 15

Class 3B Responsibilities 15

Nominal Ocular Hazard Distance (NOHD) 16

Systems Sold or Used in the USA 16

Electrical Safety 17

Handling, Cleaning, and Maintenance 17

Environment and Lighting 18

Getting Started 19

Hardware Overview 20

Side Mount Package 20

Top Mount Package 20

Gocator Cordsets 21

Master 100 22

Master 400 / 800 / 1200 / 2400 22

Master 810 / 2410 24

Alignment Targets 25

System Overview 27

Standalone System 27

Dual-Sensor System 28

Multi-Sensor System 28

Installation 30

Mounting: Side Mount Package 30

Mounting - Top Mount Package 31

Orientations 32

Grounding 34

Gocator 34

Recommended Practices for Cordsets 35

Master Network Controllers 35

Grounding When Using a DIN Rail (Master810/2410) 36

Additional Grounding Schemes 36

Installing DIN Rail Clips: Master 810 or 2410 37

Configuring Master 810 38

Setting the Divider 39

Encoder Quadrature Frequency 39

Setting the Debounce Period 40

Network Setup 41

Client Setup 41

Gocator Setup 43

Running a Standalone Sensor System 43

Running a Dual-Sensor System 44

Next Steps 46

How Gocator Works 48

3D Acquisition 48

Clearance Distanceand Measurement Range 49

Resolution and Accuracy 49

Z Resolution 49

Z Linearity 50

RangeOutput 51

Coordinate Systems 51

Sensor Coordinates 51

System Coordinates 51

Data Generation and Processing 53

Profile Generation 53

Part Detection 53

Measurement 54

Output and Digital Tracking 54

Gocator Web Interface 55

Browser Compatibility 55

Internet Explorer 11 Issues 55

Internet Explorer Switches to SoftwareRendering 55

Internet Explorer Displays "Out of Memory" 55

User Interface Overview 56

Toolbar 58

Creating, Saving and Loading Jobs (Settings) 58

Recording, Playback, and MeasurementSimulation 59

Recording Filtering 61

Downloading, Uploading, and ExportingReplay Data 63

Metrics Area 65

Data Viewer 66

Status Bar 66

Log 66

Frame Information 67


Quick Edit Mode 67

Interface Language 67

Management and Maintenance 69

Manage Page Overview 69

Sensor System 70

Dual- and Multi-sensor Systems 70

Buddy Assignment 70

Over Temperature Protection 71

Sensor Autostart 72

Layout 72

Networking 75

Motion and Alignment 76

Alignment Reference 76

Encoder Resolution 77

Encoder Value and Frequency 77

Travel Speed 77

Jobs 78

Security 79

Maintenance 80

Sensor Backups and Factory Reset 81

Firmware Upgrade 82

Support 83

Support Files 84

Manual Access 85

Software Development Kit 85

Scan Setup and Alignment 86

Scan Page Overview 86

Scan Modes 87

Triggers 87

Trigger Examples 91

Trigger Settings 92

Maximum Input Trigger Rate 94

Maximum Encoder Rate 94

Sensor 94

Active Area 94

Transformations 96

Exposure 97

Single Exposure 98

Dynamic Exposure 98

Advanced 99

Material 101

Camera Gain and Dynamic Exposure 101

Alignment 102

Alignment Types 102

Aligning Sensors 102

Encoder Calibration 105

Clearing Alignment 105

Filters 106

Median 107

Smoothing 107

Decimation 108

Slope 109

Profile Generation 110

Part Detection 113

Data Viewer 115

Data Viewer Controls 115

Video Mode 116

Spots and Dropouts 116

Range Mode 117

Profile Mode 118

Region Definition 120

Intensity Output 121

Measurement and Processing 122

Measure Page Overview 122

Data Viewer 122

Tools Panel 123

Adding and Configuring a MeasurementTool 123

Source 124

Regions 124

Feature Points 127

Geometric Features 129

Fit Lines 130

Decisions 130

Filters 132

Measurement Anchoring 133

Enabling and Disabling Measurements 135

Editing Tool, Input, or Output Names 136

Changing a Measurement ID 137

Duplicating a Tool 137

Removing a Tool 138

Reordering Tools 138

Range Measurement 139

Position 140


Measurements and Settings 140

Thickness 141


Script 143

Profile Measurement 143

Area 144

Measurements, Features, and Settings 145

Bounding Box 147


Circle 150


Closed Area 153


Dimension 157


Groove 160


Intersect 165


Line 168


Panel 172

Position 176


Round Corner 178

Strip 182

Script 187

Feature Measurement 188

Dimension 189

Intersect 191

Scripts 192

Built-in Script Functions 193

Output 199

Output Page Overview 199

Ethernet Output 200

Digital Output 204

Analog Output 207

Serial Output 208

Dashboard 211

Dashboard Page Overview 211

State and Health Information 211

Statistics 212

Measurements 213

Performance 213

Gocator Emulator 215

System Requirements 215

Limitations 216

Downloading a Support File from a Sensor 216

Running the Emulator 217

Adding a Scenario to the Emulator 218

Running a Scenario 219

Removing a Scenario from the Emulator 219

Using Replay Protection 220

Stopping and Restarting the Emulator 220

Running the Emulator in Default Browser 221

Working with Jobs and Data 221

Creating, Saving, and Loading Jobs 221

Playback and Measurement Simulation 222

Downloading, Uploading, and ExportingReplay Data 223

Downloading and Uploading Jobs 226

Scan, Model, and Measurement Settings 227

Calculating Potential Maximum Frame Rate 227

Protocol Output 228

Remote Operation 228

Gocator Accelerator 230

System Requirements and Recommendations 231

Benefits 231

Installation 232

Gocator Accelerator Utility 232

Dashboard and Health Indicators 234

SDK Application Integration 235

Gocator Device Files 236

Live Files 236

Log File 236

Job File Structure 237

Job File Components 237

Accessing Files and Components 238

Configuration 238

Setup 239

Filters 240

XSmoothing 240

YSmoothing 241

XGapFilling 241


YGapFilling 241

XMedian 241

YMedian 242

XDecimation 242

YDecimation 242

XSlope 242

YSlope 242

Trigger 243

Layout 245

Alignment 246

Disk 246

Bar 247

Plate 247

Polygon 247

Polygon/Corner 247

Devices / Device 248

SurfaceGeneration 254

FixedLength 254

VariableLength 254

Rotational 255

SurfaceSections 255

ProfileGeneration 255

FixedLength 256

VariableLength 256

Rotational 256

PartDetection 256

EdgeFiltering 258

PartMatching 258

Edge 258

BoundingBox 259

Ellipse 259

Replay 260

RecordingFiltering 260

Conditions/AnyMeasurement 260

Conditions/AnyData 261

Conditions/Measurement 261

Streams/Stream (Read-only) 261

ToolOptions 262

MeasurementOptions 263

FeatureOptions 263

StreamOptions 264

Tools 264

Profile Types 264

ProfileFeature 264

ProfileLine 265

ProfileRegion2d 265

Geometric Feature Types 265

Parameter Types 265

RangePosition 267

RangeThickness 268

ProfileArea 270

ProfileBoundingBox 271

ProfileCircle 273

ProfileDimension 275

ProfileGroove 277

ProfileIntersect 279

ProfileLine 280

ProfilePanel 282

ProfilePosition 285

ProfileRoundCorner 286

ProfileStrip 288

Script 291

Tool (type FeatureDimension) 291

Tool (type FeatureIntersect) 293

Custom 295

Output 295

Ethernet 296

Ascii 298

EIP 298

Modbus 299

Profinet 299

Digital0 and Digital1 299

Analog 300

Serial 301

Selcom 301

Ascii 302

Transform 302

Device 303

Protocols 305

Gocator Protocol 305

Data Types 306

Commands 306

Discovery Commands 307

Get Address 307


Set Address 308

Get Info 309

Control Commands 310

Protocol Version 311

Get Address 311

Set Address 312

Get System Info V2 312

Get System Info 315

Get States 316

Log In/Out 317

Change Password 317

Assign Buddies 318

Remove Buddies 319

Set Buddy 319

List Files 319

Copy File 320

Read File 320

Write File 321

Delete File 322

User Storage Used 322

User Storage Free 322

Get Default Job 323

Set Default Job 323

Get Loaded Job 323

Get Alignment Reference 324

Set Alignment Reference 324

Clear Alignment 325

Get Timestamp 325

Get Encoder 325

Reset Encoder 326

Start 326

Scheduled Start 327

Stop 327

Get Auto Start Enabled 327

Set Auto Start Enabled 328

Get Voltage Settings 328

Set Voltage Settings 329

Get Quick Edit Enabled 329

Set Quick Edit Enabled 329

Start Alignment 330

Start Exposure Auto-set 330

Software Trigger 331

Schedule Digital Output 331

Schedule Analog Output 332

Ping 332

Reset 333

Backup 333

Restore 334

Restore Factory 334

Get Recording Enabled 335

Set Recording Enabled 335

Clear Replay Data 336

Get Playback Source 336

Set Playback Source 336

Simulate 337

Seek Playback 337

Step Playback 338

Playback Position 338

Clear Measurement Stats 339

Read Live Log 339

Clear Log 339

Simulate Unaligned 340

Acquire 340

Acquire Unaligned 340

Create Model 341

Detect Edges 341

Add Tool 342

Add Measurement 342

Read File (Progressive) 343

Export CSV (Progressive) 343

Export Bitmap (Progressive) 344

Get Flag 345

Set Flag 345

Get Runtime Variable Count 346

Set Runtime Variables 346

GetRuntimeVariables 347

Upgrade Commands 347

Start Upgrade 347

Start Upgrade Extended 348

Get Upgrade Status 348

Get Upgrade Log 349

Results 349

Data Results 349

Stamp 350


Video 351

Range 352

Range Intensity 352

Profile Point Cloud 353

Profile Intensity 353

Measurement 354

Alignment Result 355

Exposure Calibration Result 355

Event 356

Feature Point 356

Feature Line 356

Feature Plane 357

Feature Circle 357

GenericMessage 357

Health Results 358

Modbus Protocol 364

Concepts 364

Messages 364

Registers 365

Control Registers 366

Output Registers 367

State 367

Stamp 368

Measurement Registers 369

EtherNet/IP Protocol 371

Explicit Messaging 371

Identity Object (Class 0x01) 372

TCP/IP Object (Class 0xF5) 372

Ethernet Link Object (Class 0xF6) 372

Assembly Object (Class 0x04) 373

Command Assembly 373

Runtime Variable ConfigurationAssembly 374

Sensor State Assembly 374

Sample State Assembly 376

Implicit Messaging 377

Assembly Object (Class 0x04) 377

Implicit Messaging Command Assembly 378

Implicit Messaging Output Assembly 379

ASCIIProtocol 380

Connection Settings 381

Ethernet Communication 381

Serial Communication 381

Polling Operation Commands (Ethernet Only) 381

Command and Reply Format 382

Special Characters 382

Command Channel 383

Start 383

Stop 383

Trigger 384

LoadJob 384

Stamp 384

Clear Alignment 385

Moving Alignment 385

Stationary Alignment 385

Set Runtime Variables 386

Get Runtime Variables 386

Data Channel 387

Result 387

Value 387

Decision 388

Health Channel 389

Health 389

Standard Result Format 389

Custom Result Format 390

Selcom Protocol 392

Serial Communication 392

Connection Settings 392

Message Format 392

Development Kits 394

GoSDK 394

Setup and Locations 395

Class Reference 395

Examples 395

Header Files 395

FunctionalHierarchy of Classes 395

GoSystem 396

GoSensor 396

GoSetup 396

GoLayout 396

GoTools 397

GoTransform 397

GoOutput 397

Data Types 397


Value Types 397

Output Types 397

GoDataSet Type 398

MeasurementValues and Decisions 399

Batching 399

Operation Workflow 400

Initialize GoSdk APIObject 401

Discover Sensors 401

Connect Sensors 401

Configure Sensors 401

Enable Data Channels 401

Perform Operations 402

Limiting Flash Memory Write Operations 403

GDK 405

Benefits 405

Supported Sensors 405

Typical Workflow 405

Installation and Class Reference 406

Required Tools 406

Getting Started with the Example Code 406

Building the Sample Code 406

Tool Registration 407

Tool Definitions 407

Entry Functions 408

Parameter Configurations 408

Graphics Visualization 409

Debugging Your Tools 412

Debugging Entry Functions 413

Tips 413

Backward Compatibility with Older Versionsof Tools 413

Define new parameters as optional 413

Configuration Versioning 413

Version 415

Common Programming Operations 415

Input Data Objects 415

Setup and Region Info during ToolInitialization 416

Computing Region Based on the Offsetfrom an Anchor Source 416

Part Matching 416

Accessing Sensor Local Storage 416

Print Output 417

Tools 418

Sensor Discovery Tool 418

CSV Converter Tool 419

CSV File Format 420

Info 421

DeviceInfo 422

RecordingFilter 422

Ranges 423

Profile 424

RawProfile 425

Troubleshooting 426

Specifications 427

Sensors 427

Gocator 1300 Series 427

Gocator 1320 (Side Mount Package) 429

Gocator 1320 (Top Mount Package) 430



Gocator 1350 (Top Mount Package) 437





Sensor Connectors 452

Gocator Power/LAN Connector 452

Grounding Shield 452

Power 453

Laser Safety Input 453

Gocator I/O Connector 454

Grounding Shield 454

Digital Outputs 454

Inverting Outputs 455

Digital Input 455

Encoder Input 456

Serial Output 457

Selcom Serial Output 457

Analog Output 457

Master Network Controllers 459

Master 100 459

Master 100 Dimensions 460

Master 400/800 461

Master 400/800 Electrical Specifications 462


Master 400/800 Dimensions 464

Master 810/2410 465

Electrical Specifications 467

Encoder 468

Input 470



Master 1200/2400 474

Master 1200/2400 Electrical Specifications 475

Master 1200/2400 Dimensions 476

Accessories 477

Return Policy 479

Software Licenses 480

Support 485

Contact 486


Introduction

This documentation describes how to connect, configure, and use a Gocator. It also contains referenceinformation on the device's protocols and job files, as well as an overview of the development kits youcan usewith Gocator. Finally, the documentation describes theGocator emulator and acceleratorapplications.

The documentation applies to the following:

l Gocator 1300 series

Notational ConventionsThis 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 Overview

Gocator laser displacement sensors are designed for 3D measurement and control applications. Gocatorsensors are configured using aweb browser and can be connected to a variety of input and outputdevices. Gocator sensors can also be configured using the provided development kits.


Safety and Maintenance

The following sections describe the safe use andmaintenance of Gocator sensors.

Laser SafetyGocator sensors contain semiconductor lasers that emit visible or invisible light and are designated asClass 2, 2M, Class 3R, or Class 3B, depending on the chosen laser option. Formore information on thelaser 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 customersfor incorporation into their own equipment. These sensors do not incorporate safety items that thecustomermay be required to provide in their own equipment (e.g., remote interlocks, key control; referto the references below for detailed information). As such, these sensors do not fully comply with thestandards 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 hereinmay result in hazardous radiation exposure.

References1. 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 explanatorynotes to IEC 60825-1.

3. Laser Notice No. 50, FDA and CDRH (https://www.fda.gov/Radiation-Emit-tingProducts/ElectronicProductRadiationControlProgram/default.htm)

https://www.fda.gov/Radiation-EmittingProducts/ElectronicProductRadiationControlProgram/default.htm

Gocator Point Profile Sensors: User Manual Safety and Maintenance 14

Laser ClassesClass 2 laser componentsClass 2 laser components are considered to be safe, provided that:

l The users blink reflex can terminate exposure (in under 0.25 seconds).

l Users do not need to look repeatedly at the beamor reflected light.

l Exposure is only accidental.

Class 2M laser componentsClass 2M laser components should not cause permanent damage to the eye under reasonablyforeseeable conditions of operation, provided that:

l No optical aids are used (these could focus the beam).

l The users blink reflex can terminate exposure (in under 0.25 seconds).

l Users do not need to look repeatedly at the beamor reflected light.

l Exposure is only accidental.

Class 3R laser componentsClass 3R laser products emit radiation where direct intrabeam viewing is potentially hazardous, butthe risk is lower with 3R lasers than for 3B lasers. Fewermanufacturing requirements and controlmeasures for 3R laser users apply than for 3B lasers.

l Eye protection and protective clothing are not required.

l The laser beammust be terminated at the end of an appropriate path.

l Avoid unintentional reflections.

l Personnelmust be trained in working with laser equipment.

Class 3B laser componentsClass 3B components are unsafe for eye exposure.

l Usually only eye protection is required. Protective glovesmay also be used.

l Diffuse reflections are safe if viewed for less than 10 seconds at aminimumdistance of 13 cm.

l There is a risk of fire if the beamencounters flammablematerials.

l The laser areamust be clearly identified.

l Use a key switch or othermechanism to prevent unauthorized use.

l Use a clearly visible indicator to show that a laser is in use, such as Laser in operation.

l Restrict the laser beam to theworking area.

l Ensure that there are no reflective surfaces in theworking area.

Labels reprinted here are examples only. For accurate specifications, refer to the label on yoursensor.


Formore information, see Precautions and Responsibilities below.

Precautions and ResponsibilitiesPrecautions specified in IEC 60825-1 and FDA CFR Title 21 Part 1040 are as follows:

Requirement Class 2 Class 2M Class 3R Class 3B

Remote interlock Not required Not required Not required Required*

Key control Not required Not required Not required Required cannotremove key when inuse*

Power-on delays Not required Not required Not required Required*

Beam attenuator Not required Not required Not required Required*

Emissionindicator

Not required Not required Not required Required*

Warning signs Not required Not required Not required Required*

Beam path Not required Not required Terminate beam atuseful length

Terminate beam atuseful length

Specularreflection

Not required Not required Prevent unintentionalreflections

Prevent unintentionalreflections

Eye protection Not required Not required Not required Required underspecial conditions

Laser safetyofficer

Not required Not required Not required Required

Training Not required Not required Required for operatorandmaintenancepersonnel

Required for operatorandmaintenancepersonnel

*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 ResponsibilitiesLMI Technologies has filed reports with the FDA to assist customers in achieving certification of laserproducts. These reports can be referenced by an accession number, provided upon request. Detaileddescriptions of the safety items that must be added to the systemdesign are listed below.

Remote InterlockA remote interlock connectionmust be present in Class 3B laser systems. This permits remote switchesto be attached in serial with the keylock switch on the controls. The deactivation of any remote switchesmust prevent power frombeing supplied to any lasers.


Key ControlA key operatedmaster control to the lasers is required that prevents any power frombeing supplied tothe lasers while in theOFF position. The key can be removed in theOFF position but the switchmust notallow the key to be removed from the lock while in theON position.

Power-On DelaysA delay circuit is required that illuminates warning indicators for a short period of time before supplyingpower to the lasers.

Beam AttenuatorsA permanently attachedmethod of preventing human access to laser radiation other than switches,power connectors or key control must be employed.

Emission IndicatorIt is required that the controls that operate the sensors incorporate a visible or audible indicator whenpower is applied and the lasers are operating. If the distance between the sensor and controls ismorethan 2 meters, ormounting of sensors intervenes with observation of these indicators, then a secondpower-on indicator should bemounted at some readily-observable position. Whenmounting thewarning indicators, it is important not to mount them in a location that would require human exposureto the laser emissions. Usermust ensure that the emission indicator, if supplied by OEM, is visible whenviewed through protective eyewear.

Warning SignsLaser warning signsmust 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 retainthe same laser class over this distance. For this reason, no NOHD is applicable.

Systems Sold or Used in the USASystems that incorporate laser components or laser productsmanufactured by LMI Technologiesrequire certification by the FDA.

Customers are responsible for achieving andmaintaining this certification.


Customers are advised to obtain the information booklet Regulations for the Administration andEnforcement 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 fromthe FDA, or downloaded from their web site at https://www.fda.gov/Radiation-EmittingProducts/ElectronicProductRadiationControlProgram/default.htm.

Electrical SafetyFailure to follow the guidelines described in this sectionmay result in electrical shock or equipmentdamage.

Sensors should be connected to earth groundAll sensors should be connected to earth ground through their housing. All sensors should bemountedon an earth grounded frame using electrically conductive hardware to ensure the housing of the sensoris connected to earth ground. Use amulti-meter to check the continuity between the sensor connectorand earth ground to ensure a proper connection.

Minimize voltage potential between system ground and sensor groundCare should be taken to minimize the voltage potential between system ground (ground reference forI/O signals) and sensor ground. This voltage potential can be determined by measuring the voltagebetween Analog_out- and system ground. Themaximumpermissible voltage potential is 12 V but shouldbe kept below 10 V to avoid damage to the serial and encoder connections.

For a description of the connector pins, seeGocator I/O Connector on page 454.

Use a suitable power supplyThe +24 to +48 VDC power supply used with Gocator sensors should be an isolated supply with inrushcurrent protection or be able to handle a high capacitive load.

Use care when handling powered devicesWires connecting to the sensor should not be handled while the sensor is powered. Doing somay causeelectrical shock to the user or damage to the equipment.

Handling, Cleaning, and MaintenanceDirty or damaged sensor windows (emitter or camera) can affect accuracy. Use caution whenhandling the sensor or cleaning the sensor's windows.

Keep sensor windows cleanUse dry, clean air to remove dust or other dirt particles. If dirt remains, clean thewindows carefully witha soft, lint-free cloth and non-streaking glass cleaner or isopropyl alcohol. Ensure that no residue is lefton thewindows after cleaning.

Turn off lasers when not in useLMI Technologies uses semiconductor lasers in Gocator sensors. To maximize the lifespan of the sensor,turn off the laser when not in use.

https://www.fda.gov/Radiation-EmittingProducts/ElectronicProductRadiationControlProgram/default.htm


Avoid excessive modifications to files stored on the sensorSettings for Gocator sensors are stored in flashmemory inside the sensor. Flashmemory has anexpected lifetime of 100,000 writes. To maximize lifetime, avoid frequent or unnecessary file saveoperations.

Environment and LightingAvoid strong ambient light sourcesThe imager used in this product is highly sensitive to ambient light hence stray light may have adverseeffects onmeasurement. Do not operate this device near windows or lighting fixtures that couldinfluencemeasurement. If the unit must be installed in an environment with high ambient light levels, alighting shield or similar devicemay need to be installed to prevent light from affectingmeasurement.

Avoid installing sensors in hazardous environmentsTo ensure reliable operation and to prevent damage to Gocator sensors, avoid installing the sensor inlocations

l that are humid, dusty, or poorly ventilated;l with a high temperature, such as places exposed to direct sunlight;l where there are flammable or corrosive gases;l where the unit may be directly subjected to harsh vibration or impact;l wherewater, oil, or chemicalsmay splash onto the unit;l where static electricity is easily generated.

Ensure that ambient conditions are within specificationsGocator sensors are suitable for operation between 050 C and 2585% relative humidity (non-condensing). Measurement error due to temperature is limited to 0.015% of full scale per degree C. Thestorage temperature is -3070 C.

TheMaster network controllers are similarly rated for operation between 050 C.

The sensor must be heat-sunk through the frame it is mounted to. When a sensor is properly heatsunk, the difference between ambient temperature and the temperature reported in the sensor'shealth channel is less than 15 C.

Gocator sensors are high-accuracy devices, and the temperature of all of its components musttherefore be in equilibrium. When the sensor is powered up, a warm-up time of at least one hour isrequired to reach a consistent spread of temperature in the sensor.


Getting Started

The following sections provide system and hardware overviews, in addition to installation and setupprocedures.

Gocator Point Profile Sensors: User Manual Getting Started 20

Hardware OverviewThe 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


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 CordsetsGocator 1300 sensors use two types of cordsets.

The Power &Ethernet cordset is used for sensor communication via 1000 Mbit/s Ethernet over astandard RJ45 connector. TheMaster version of the Power &Ethernet cordset provides electricalconnection between the sensor and aMaster network controller (excludingMaster 100).

TheGocator I/O cordset provides power and laser safety interlock to sensors. It also provides digital I/Oconnections, an encoder interface, RS-485 serial connection, and an analog output.

See Accessories on page 477 for cordset lengths and part numbers. Contact LMI for information oncreating cordsets with customized lengths and connector orientations.


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 Mastercordset. 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.

Safety Switch Toggles safety signal provided to the sensors [O= off, I= on]. This switch must be set toon in order to scan with laser-based sensors.

Trigger Signals a digital input trigger to the Gocator.

Encoder Accepts encoder A, B and Z signals.

Digital Output Provides digital output.

SeeMaster 100 on page 459 for pinout details.

Master 400 / 800 / 1200 / 2400TheMaster 400, 800, 1200, and 2400 network controllers let you connect more than two sensors:

l Master 400: accepts four sensorsl Master 800 accepts eight sensorsl Master 1200:accepts twelve sensorsl Master 2400:accepts twenty-four sensors


Master 400 and 800

Master 1200 and 2400

Item Description

Sensor Ports Master connection for Gocator sensors (no specific order required).


Item Description

Ground Connection Earth ground connection point.

Power and Safety Power and safety connections. Safety input must be high in order to scan with laser-based Gocators.

Encoder Accepts encoder signal.

Input Accepts digital input.

For pinout details forMaster 400 or 800, seeMaster 400/800 on page 461.

For pinout details forMaster 1200 or 2400, seeMaster 1200/2400 on page 474.

Master 810 / 2410TheMaster 810 and 2410 network controllers let you connect multiple sensors to create amulti-sensorsystem:

l Master 810 accepts up to eight sensorsl Master 2410 accepts up to twenty-four sensors

Bothmodels let you divide the quadrature frequency of a connected encoder to make the frequencycompatible with theMaster, and also set the debounce period to accommodate faster encoders. Formore information, see Configuring Master 810 on page 38. (Earlier revisions of thesemodels lack theDIPswitches.)

Master 810


Master 2410

Item Description

Sensor Ports Master connection for Gocator sensors (no specific order required).

Power and Safety Power and safety connections. Safety input must be high in order to scan with laser-based Gocators.

Encoder Accepts encoder signal.

Input Accepts digital input.

DIPSwitches Configures the Master (for example, allowing the device to work with faster encoders).For information on configuring Master 810 and 2410 using the DIPswitches, seeConfiguring Master 810 on page 38.

For pinout details, seeMaster 810/2410 on page 465.

Alignment TargetsTargets are used for aligning sensors and calibrating transport systems.


Formulti-sensor systems in a ring layout, use a polygon-shaped alignment target. The number of cornersin the target should correspond with the number of sensors in the system. Sensors should be positionedso that each sensor can scan a corner and surrounding surface.


Formore information on alignment, see Aligning Sensors on page 102.

System OverviewGocator sensors can be installed and used in a variety of scenarios. Sensors can be connected asstandalone devices, dual-sensor systems, ormulti-sensor systems.

Standalone SystemStandalone systems are typically used when only a single Gocator is required. The device can beconnected to a computer's Ethernet port for setup and can also be connected to devices such asencoders, photocells, or PLCs.


Dual-Sensor SystemIn a dual-sensor system, two Gocator sensors work together to perform ranging and output thecombined results. The controlling sensor is referred to as theMain sensor, and the other sensor isreferred to as the Buddy sensor. Gocator's software recognizes three installation orientations: Opposite,Wide, and Reverse.

AMaster network controller (excludingMaster 100) must be used to connect two sensors in a dual-sensor system. GocatorMaster cordsets are used to connect sensors to theMaster.

Multi-Sensor SystemAMaster network controller (excludingMaster 100) can be used to connect two ormore sensors into amulti-sensor system. GocatorMaster cordsets are used to connect the sensors to aMaster. TheMaster


provides a single point of connection for power, safety, encoder, and digital inputs. AMaster400/800/810/1200/2400/2410 can be used to ensure that the scan timing is precisely synchronizedacross sensors. Sensors and client computers communicate viaan Ethernet switch (1 Gigabit/srecommended).


InstallationThe following sections provide grounding, mounting, and orientation information.

Mounting: Side Mount Package

Single point sensors are oftenmounted with the triangulation base perpendicular to the traveldirection to avoid occlusions.

Sensors should bemounted usingM6 x 1.0 pitch screws of suitable length. The recommended threadengagement into the housing is 8-10 mm. Proper care should be taken in order to ensure that theinternal 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.


The sensor must be heat sunk through the frame it is mounted to. When a sensor is properly heatsunk, the difference between ambient temperature and the temperature reported in the sensor'shealth channel is less than 15 C.

Gocator sensors are high-accuracy devices. The temperature of all of its components must be inequilibrium. When the sensor is powered up, a warm-up time of at least one hour is required toreach a consistent spread of temperature within the sensor.

Mounting - Top Mount Package

Single point sensors are oftenmounted with the triangulation base perpendicular to the traveldirection to avoid occlusions.

Sensors should bemounted using fourM5 x 0.8 pitch screws of suitable length. The recommendedthread engagement into the housing is 8-10 mm. Proper care should be taken in order to ensure thatthe 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.

The sensor must be heat sunk through the frame it is mounted to. When a sensor is properly heatsunk, the difference between ambient temperature and the temperature reported in the sensor'shealth channel is less than 15 C.

Gocator sensors are high-accuracy devices. The temperature of all of its components must be inequilibrium. When the sensor is powered up, a warm-up time of at least one hour is required toreach a consistent spread of temperature within the sensor.

OrientationsThe examples below illustrate the possiblemounting orientations for standalone and dual-sensorsystems.

See Layout on page 72 formore information on orientations.


Standalone Orientations

Single sensor above conveyor

Single sensor on robot arm


Dual-Sensor System Orientations:

Side-by-side for wide-area measurement (Wide)

Main must be on the left side (whenlooking into the connector)

of the Buddy (Wide)

Above/below for two-sided measurement (Opposite) Main must be on the top withBuddy at the bottom (Opposite)

GroundingComponents of a Gocator system should be properly grounded.

GocatorGocators should be grounded to the earth/chassis through their housings and through the groundingshield of the Power I/O cordset. Gocator sensors have been designed to provide adequate groundingthrough the use of M6 x 1.0 pitchmounting screws. Always check grounding with amulti-meter toensure electrical continuity between themounting frame and theGocator's connectors.

The frame or electrical cabinet that the Gocator is mounted to must be connected to earth ground.


Recommended Practices for CordsetsIf you need to minimize interferencewith other equipment, you can ground the Power & Ethernet or thePower & Ethernet to Master cordset (depending on which cordset you are using) by terminating theshield of the cordset before the split. Themost effective groundingmethod is to use a 360-degreeclamp.

To terminate the cordset's shield:

1. Expose the cordset's braided shield by cuttingthe plastic jacket before the point where thecordset splits.

2. Install a 360-degree ground clamp.

Master Network ControllersThe rack mount brackets provided with all Masters are designed to provide adequate grounding throughthe use of star washers. Always check grounding with amulti-meter by ensuring electrical continuitybetween themounting frame and RJ45 connectors on the front.

When using the rack mount brackets, youmust connect the frame or electrical cabinet to whichthe Master is mounted to earth ground.

Youmust check electrical continuity between the mounting frame and RJ45 connectors on thefront using a multi-meter.


If you aremountingMaster 810 or 2410 using the provided DIN rail mount adapters, youmust groundtheMaster directly; formore information, seeGrounding 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, youmust ensure that theMaster isproperly grounded by connecting a ground cable to one of the holes indicated below. The holes acceptM4x5 screws.

You can use any of the ground holes shown below. However, LMIrecommends using the holesindicated on the housing by a ground symbol.

An additional ground hole is provided on the rear of Master 810 and 2410 network controllers, indicatedby a ground symbol.

Additional Grounding SchemesPotential differences and noise in a system caused by grounding issues can sometimes causeGocatorsensors to reset or otherwise behave erratically. If you experience such issues, see theGocatorGrounding Guide (https://downloads.lmi3d.com/gocator-grounding-guide) in theDownload center foradditional grounding schemes.

https://downloads.lmi3d.com/gocator-grounding-guide


Installing DIN Rail Clips: Master 810 or 2410You canmount theMaster 810 and 2410 using the included DINrail mounting clips with M4x8 flatsocket cap screws. The following DINrail clips (DINM12-RC) are included:

Older revisions of Master 810 and 2410 network controllers use a different configuration for theDINrailclip holes.

To install the DINrail clips:

1. Remove the 1Urack mount brackets.

2. Locate the DINrail mounting holes on the back of the Master (see below).

Master 810:

Current revision

Older revision

Master 2410:

https://www.winford.com/products/dinm15.php


Current revision

Older revision

3. Attach the two DINrail mount clips to the back of the Master using two M4x8 flat socket cap screws for eachone.

The following illustration shows the installation of clips on a Master 810 (current revision)for horizontalmounting:

Ensure that there is enough clearance around the Master for cabling.

Configuring Master 810If you are usingMaster 810 with an encoder that runs at a quadrature frequency higher than 300 kHz,youmust 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.

TheDIP switches are located on the rear of the device.


Switches 5 to 8 are reserved for future use.

This section describes how to set the DIP switches onMaster 810 to do the following:

l Set the divider so that the quadrature frequency of the connected encoder is compatible with theMaster.

l Set the debounce period to accommodate faster encoders.

Setting the DividerTo set the divider, you use switches 1 to 3. To determinewhich divider to use, use the following formula:

Output Quadrature Frequency = Input Quadrature Frequency / Divider

In the formula, use the quadrature frequency of the encoder (formore information, see EncoderQuadrature Frequency below) and a divider from the following table so that theOutput QuadratureFrequency is nomore 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 theDebounce Period on the next page.

Encoder Quadrature FrequencyEncoder quadrature frequency is defined as illustrated in the following diagram. It is the frequency ofencoder ticks. Thismay also be referred as the native encoder rate.


Youmust use a quadrature frequency when determining which divider to use (see Setting the Divider onthe previous page). Consult the datasheet of the encoder you are using to determine its quadraturefrequency.

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 PeriodIf the quadrature frequency of the encoder you are using is greater than 3 MHz, youmust set thedebounce 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


Network SetupThe following sections provide procedures for client PCand Gocator network setup.

DHCP is not recommended for Gocator sensors. If you choose to use DHCP, the DHCPservershould try to preserve IPaddresses. Ideally, you should use static IP address assignment (byMAC address) to do this.

Client SetupTo connect to a sensor from a client PC, youmust ensure the client's network card is properlyconfigured.

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-sensorsystem, the Main and Buddy sensors must be assigned unique addresses before they can be usedon the same network. Before proceeding, connect the Main and Buddy sensors one at a time (toavoid an address conflict) and use the steps in See Running a Dual-Sensor System on page 44 toassign 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 onpage 27.


2. Change the client PC's network settings.Windows 7

a. Open the Control Panel, selectNetwork andSharing Center, and then click ChangeAdapter Settings.

b. Right-click the network connection you want tomodify, and then click Properties.

c. On the Networking tab, click Internet ProtocolVersion 4 (TCP/IPv4), and then clickProperties.

d. Select the Use the following IP addressoption.

e. Enter IP Address "192.168.1.5" and Subnet Mask"255.255.255.0", then clickOK.

Mac OS X v10.6

a. Open the Network pane in System Preferencesand select Ethernet.

b. Set Configure toManually.

c. Enter IP Address "192.168.1.5" and Subnet Mask"255.255.255.0", then click Apply.

See Troubleshooting on page 426 if you experience any problems while attempting to establish aconnection to the sensor.


Gocator SetupTheGocator is shipped with a default configuration that will produce laser ranges formost targets.

The following sections describe how to set up a standalone sensor system and a dual-sensor system foroperations. After you have completed the setup, you can perform laser ranging to verify basic sensoroperation.

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 webbrowser.The Gocator interface loads.If a password has been set, you will be prompted toprovide it and then log in.

3. Go to theManage 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 theLaser Safety input is high.

6. Go to the Scan page.7. Observe the profile in the data viewer8. Press the Start button or the Snapshot on the Toolbar to

start the sensor.The Start button is used to run sensors continuously.The Snapshot button is used to trigger the capture of asingle range.

Master 400/800/1200/2400

Master 810/2410


9. Move a target into the laser plane.If a target object is within the sensor's measurementrange, the data viewer will display scan data, and thesensor's range indicator will illuminate.If no scan data is displayed in the data viewer, seeTroubleshooting on page 426.

10. Press the Stop button.The laser should turn off.

Running a Dual-Sensor SystemAll sensors are shipped with a default IP address of 192.168.1.10. Ethernet networks require a unique IPaddress for each device, so youmust set up a unique address for each sensor.

To configure a dual-sensor system:

1. Turn off the sensors and unplug the Ethernet networkconnection of the Main sensor.All sensors are shipped with a default IP address of192.168.1.10. Ethernet networks require a unique IPaddress for each device. Skip step 1 to 3 if the Buddysensor's IP address is already set up with an uniqueaddress.

2. Power up the Buddy sensor.The power LED (blue) of the Buddy sensor should turn onimmediately.

3. Enter the sensor's IP address 192.168.1.10 in a webbrowser.


The Gocator interface loads.

4. Go to theManage Page.

5. Modify the IP address to 192.168.1.11 in the Networkingcategory and click the Save button.When you click the Save button, you will be prompted toconfirm your selection.

6. Turn off the sensors, re-connect the Main sensor'sEthernet connection and power-cycle the sensors.After changing network configuration, the sensors mustbe reset or power-cycled before the change will takeeffect.

7. Enter the sensor's IP address 192.168.1.10 in a webbrowser.The Gocator interface loads.

8. Select theManage page.

9. Go toManage page, Sensor System panel, and select theVisible Sensors panel.The serial number of the Buddy sensor is listed in theAvailable Sensors panel.

10. Select the Buddy sensor and click the Assign button.The Buddy sensor will be assigned to the Main sensor andits status will be updated in the System panel.The firmware onMain and Buddy sensors must be thesame for Buddy assignment to be successful. If thefirmware is different, connect the Main and Buddy sensorone at a time and follow the steps in Firmware Upgrade on


page 82 to upgrade the sensors.

11. Ensure that the Laser Safety Switch is enabled or theLaser Safety input is high.

Master 400/800/1200/2400

Master 810/2410

12. Ensure that Replaymode is off (the slider is set to theleft).

13. Go to the the Scan page.14. Press the Start or the Snapshot button on the Toolbar to

start the sensors.The Start button is used to run sensors continuously,while the Snapshot button is used to trigger a singlemeasurement.

15. Move a target into the laser plane.If a target object is within the sensor's measurementrange, the data viewer will display scan data, and thesensor's range indicator will illuminate.If no scan data is displayed in the data viewer, seeTroubleshooting on page 426.

16. Press the Stop button if you used the Start button to startthe sensors.The laser should turn off.

Next StepsAfter you complete the steps in this section, the Gocatormeasurement system is ready to be configuredfor an application using the software interface. The interface is explained in the following sections:

Management and Maintenance (page 69)


Contains settings for sensor system layout, network, motion and alignment, handling jobs, and sensormaintenance.

Scan Setup and Alignment (page 86)Contains settings for scanmode, trigger source, detailed sensor configuration, and performingalignment.

Measurement and Processing (page 122)Contains built-in measurement tools and their settings.

Output (page 199)Contains settings for configuring output protocols used to communicatemeasurements to externaldevices.

Dashboard (page 211)Providesmonitoring of measurement statistics and sensor health.

Toolbar (page 58)Controls sensor operation, manages jobs, and replays recordedmeasurement data.


How Gocator Works

The following sections provide an overview of howGocator acquires and produces data, detects andmeasures parts, and controls devices such as PLCs. Some of these concepts are important forunderstanding how you shouldmount sensors and configure settings such as active area.

You can use the Gocator Accelerator to speed up processing of data. For more information, seeGocator Accelerator on page 230.

3D AcquisitionAfter a Gocator systemhas 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 thelaser light off the target. The camera captures a single 3D range for each camera exposure. The reflected

Gocator Point Profile Sensors: User Manual How Gocator Works 49

laser light falls on the camera at different positions, depending on the distance of the target from thesensor. The sensors laser emitter, its camera, and the target form a triangle. Gocator uses the knowndistance between the laser emitter and the camera, and two known anglesone of which depends onthe position of the laser light on the camerato calculate the distance from the sensor to the target.This translates to the height of the target. Thismethod of calculating distance is called lasertriangulation.

Gocator sensors are always pre-calibrated to deliver 3D data in engineering units throughouttheir measurement range.

Clearance Distanceand Measurement RangeClearance distance (CD)andmeasurement range (MR)are important concepts for understanding thesetup of a Gocator sensor and for understanding results.

Clearance distance Theminimumdistance from the sensor that a target can be scanned andmeasured. A target closer than this distancewill result in invalid data.

Measurement range The vertical distance, starting at the end of the clearance distance, in whichtargets can be scanned andmeasured. Targets beyond themeasurement rangewill result in invalid data.

Resolution and AccuracyThe following sections describe ZResolution and ZLinearity. These terms are used in theGocatordatasheets to describe themeasurement capabilities of the sensors.

Z ResolutionZ Resolution gives an indication of the smallest detectable height difference at each point, or howaccurately height on a target can bemeasured. Variability of height measurements at any givenmoment,in each individual 3D point, with the target at a fixed position, limits Z resolution. This variability iscaused by camera and sensor electronics.


Z resolution is better closer to the sensor. This is reflected in theGocator data sheet as the two numbersquoted for Z resolution.

Z LinearityZ linearity is the difference between the actual distance to the target and themeasured distance to thetarget, throughout themeasurement range. Z linearity gives an indication of the sensor's ability tomeasure absolute distance.

Z linearity is expressed in theGocator data sheet as a percentage of the total measurement range.


RangeOutputGocatormeasures the height of the object calculated from laser triangulation. Themeasurement isreferred to as a range and is reported as the distance from the sensor origin.

Coordinate SystemsRange data is reported in one of three coordinate systems, which generally depends on the alignmentstate of the sensor.

l Sensor coordinates: Used on unaligned sensors.

l System coordinates: Used on aligned sensors. Applies to either standalone ormulti-sensor sys-tems.

l Part coordinates:Data can optionally be reported using a coordinate system relative to the partitself.

These coordinate systems are described below.

Sensor CoordinatesUnaligned sensors use sensor coordinates: Themeasurement range (MR) is along the Z axis. Mostimportantly, the origin is at the center of themeasurement range.

System CoordinatesAligning sensors adjusts the coordinate system in relation to sensor coordinates, resulting in systemcoordinates (formore information on sensor coordinates, see Sensor Coordinates above). Formoreinformation on aligning sensors, see Alignment on page 102.

The adjustments resulting from alignment are called transformations (offsets along the axes androtations around the axes). Transformations are displayed in the Sensor panel on the Scan page. Formore information on transformations in theweb interface, see Transformations on page 96.

Alignment is used with a single sensor to compensate formountingmisalignment and to set a zeroreference, such as a conveyor belt surface.


Additionally, in multi-sensor systems, alignment sets a common coordinate system. That is, scan dataandmeasurements from the sensors are expressed in a unified coordinate system.

Y angle is positive when rotating frompositive X to positive Z axis.

X angle is positive when rotating frompositive Y to positive Z. Z angle is positive when rotating frompositive X to positive Y.

When applying the transformations, angular rotation is applied before the Z offset.


Data Generation and ProcessingAfter scanning a target, Gocator can process the scan data to allow the use of more sophisticatedmeasurement tools. This section describes the following concepts:

l Profile generationl Part detection

Profile GenerationGocator 1300 series, which are displacement sensors and only return a single range value, can combine aseries of range values gathered as a target moves under the sensor to generate a profile.

You can then use all the standard profilemeasurement tools on the resulting profile:

Part DetectionAfter Gocator has generated a profile by combining single exposures into larger pieces of data, thefirmware can isolate discrete parts in a generated profile into separate profiles representing parts.Gocator can then performmeasurements on these isolated parts.


Formore information on part detection, see Part Detection on page 113.

MeasurementAfter Gocator scans a target and, optionally, further processes the data, the sensor is ready to takemeasurements on the scan data.

Gocator provides several measurement tools, each of which provides a set of individualmeasurements,giving you dozens of measurements ideal for a wide variety of applications to choose from. Theconfiguredmeasurements start returning pass/fail decisions, as well as the actualmeasured values,which are then sent over the enabled output channels to control devices such as PLCs, which can in turncontrol ejection or sortingmechanisms. (Formore information onmeasurements and configuringmeasurements, seeMeasurement and Processing on page 122. Formore information on outputchannels, seeOutput and Digital Tracking below.)

You can create custom tools that run your own algorithms. For more information, see GDK onpage 405.

A part's position can vary on a transport system. To compensate for this variation, Gocator can anchor ameasurement to the positionalmeasurement (X or Z) of an easily detectable feature. The calculatedoffset between the two ensures that the anchoredmeasurement will always be properly positioned ondifferent parts.

Output and Digital TrackingAfter Gocator has scanned andmeasured parts, the last step in the operation flow is to output theresults and/ormeasurements.

One of themain functions of Gocator sensors is to produce pass/fail decisions, and then controlsomething based on that decision. Typically, this involves rejecting a part through an eject gate, but it canalso involvemaking decisions on good, but different, parts. This is described as output in Gocator.Gocator supports the following output types:

l Ethernet (which provides industry-standard protocols such asModbus, EtherNet/IP, and ASCII, inaddition to theGocator protocol)

l Digitall Analogl Serial interfaces

An important concept is digital output tracking. Production lines can place an ejection or sortingmechanism at different distances fromwhere the sensor scans the target. For this reason, Gocator letsyou schedule a delayed decision over the digital interfaces. Because the conveyor systemon a typicalproduction linewill use an encoder or have a known, constant speed, targets can effectively be trackedor "tagged."Gocator will knowwhen a defective part has traveled far enough and trigger a PLC toactivate an ejection/sortingmechanism at the correct moment. Formore information on digital outputtracking, seeDigital Output on page 204.


Gocator Web Interface

The following sections describe theGocator web interface.

Browser CompatibilityLMI recommends Chrome, Firefox, or Edge for usewith theGocator web interface.

Internet Explorer 11 is supported with limitations; formore information, see below.

Internet Explorer 11 IssuesIf you useGocator with large datasets on Internet Explorer 11, youmay encounter the following issues.

Internet Explorer Switches to Software RenderingIf the PC connected to a Gocator sensor is busy, Internet Explorermay switch to software renderingafter a specific amount of time. If this occurs, data is not displayed in the data viewer, and the onlyreliable way to recover from the situation is to restart the browser.

It is possible to remove the time limit that causes this issue, but youmust modify the computersregistry. To do so, followMicrosoft's instructions at https://support.microsoft.com/en-us/help/3099259/update-to-add-a-setting-to-disable-500-msec-time-limit-for-webgl-frame.

Internet Explorer Displays "Out of Memory"In some situations, youmay encounter Out of Memory errors in theGocator web interface. This issuecan be resolved by checking two options in Internet Explorer.

To correct out of memory issues in Internet Explorer 11:

1. In upper right corner, click the settings icon ( ), and choose Internet options.

2. In the dialog that opens, click the Advanced tab, and scroll down to the Security section.

https://support.microsoft.com/en-us/help/3099259/update-to-add-a-setting-to-disable-500-msec-time-limit-for-webgl-frame

Gocator Point Profile Sensors: User Manual Gocator Web Interface 56

3. In the dialog, check both "Enable 64-bit processes for Enhanced Protected Mode" and "Enable EnhancedProtected Mode".

4. ClickOK and then restart your computer for the changes to take effect.

User Interface OverviewGocator sensors are configured by connecting to the IPaddress of a sensor with aweb browser.

TheGocator web interface is shown below.


Element Description

1 Manage page Contains settings for sensor system layout, network, motion and

alignment, handling jobs, and sensor maintenance. See Management and

Maintenance on page 69.

2 Scan page Contains settings for scan mode, trigger source, detailed sensor

configuration, and performing alignment. See Scan Setup and Alignment on

page 86.

3 Measure page Contains built-in measurement tools and their settings. See Measurement

and Processing on page 122.

4 Output page Contains settings for configuring output protocols used to communicate

measurements to external devices. See Output on page 199.

5 Dashboard page Provides monitoring of measurement statistics and sensor health. See

Dashboard on page 211.

6 CPULoad and Speed Provides important sensor performance metrics. See Metrics Area on page

65.

7 Toolbar Controls sensor operation, manages jobs, and filters and replays

recorded measurement data. See Toolbar on the next page.

8 Configuration area Provides controls to configure scan and measurement tool settings.


Element Description

9 Data viewer Displays sensor data, tool setup controls, and measurements. See DataViewer on page 115 for its use when the Scan page is active and on page122 for its use when theMeasure page is active.

10 Status bar Displays log messages from the sensor (errors, warnings, and otherinformation) and frame information, and lets you switch the interface

language. For more information, see Status Bar on page 66.

ToolbarThe toolbar is used for performing operations such asmanaging jobs, working with replay data, andstarting 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 andfilter recording, and control recorded data.

Creating, Saving and Loading Jobs (Settings)AGocator can store several hundred jobs. Being able to switch between jobs is useful when aGocator isused with different constraints during separate production runs. For example, width decisionminimumandmaximum valuesmight allow greater variation during one production run of a part, but might allowless variation during another production run, depending on the desired grade of the part.

Most of the settings that can be changed in theGocator's web interface, such as the ones in theManage,Measure, andOutput pages, are temporary until saved in a job file. Each sensor can havemultiple job files. If there is a job file that is designated as the default, it will be loaded automaticallywhen the sensor is reset.

When you change sensor settings using theGocator web interface in the emulator, some changes aresaved automatically, while other changes are temporary until you save themmanually. The followingtable 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 onesin theManage,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 thedefault, 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 Type Behavior

setting inMotion and Alignment in theManage page.

Alignment is saved automatically at the end of the alignment procedure whenAlignment Reference is set to Fixed. When Alignment Reference is set toDynamic, 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 ontheManage 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 activeis listed at the top. The job namewill bemarked 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 asthe default, that is, the job loaded when then sensor is restarted.

To save a job:

l Click the Save button .

The job is saved to sensor storage. Saving a job automatically sets it as the default, that is, the jobloaded when then sensor is restarted.

To load (switch) jobs:

l Select an existing file name in the job drop-down list.

The job is activated. If there are any unsaved changes in the current job, you will be asked whether you wantto discard those changes.

You can perform other jobmanagement taskssuch as downloading job files from a sensor to acomputer, uploading job files to a sensor from a computer, and so onin the Jobs panel in theManagepage. See Jobs on page 78 formore information.

Recording, Playback, and Measurement SimulationGocator sensors can record and replay recorded scan data, and also simulatemeasurement tools onrecorded data. This feature ismost often used for troubleshooting and fine-tuningmeasurements, butcan 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 Replaymode 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 the next page.

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 buttonagain 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 allframes will be recorded, up to available memory. When the memory limit is reached, the oldest datawill be discarded.

Newly recorded data is appended to existing replay data unless the sensor job has beenmodified.


Playback controls when replay is on

To replay data:

1. Toggle Replaymode on by setting the slider to the right in the Toolbar.The slider's background turns blue and a Replay Mode Enabledmessage 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 the current replay location forward and backward by asingle frame, respectively.The Play button advances the replay location continuously, animating the playback until the end of thereplay data.The Stop button (replaces the Play button while playing) can be used to pause the replay at a particularlocation.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 Replaymode on by setting the slider to the right in the Toolbar.The slider's background turns blue and a Replay Mode Enabledmessage is displayed.To change the mode, Replay Protectionmust be unchecked.

2. Go to theMeasure page.Modify settings for existing measurements, add newmeasurement tools, or delete measurement toolsas desired. For information on adding and configuring measurements, see Measurement and Processingon page 122.

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 themeasurements that have been simulated can be viewed in the Dashboard page; for more informationon the dashboard, see Dashboard on page 211.

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 FilteringReplay data is often used for troubleshooting. But replay data can contain thousands of frames, whichmakes finding a specific frame to troubleshoot difficult. Recording filtering lets you choosewhich framesGocator records, based on one ormore conditions, whichmakes it easier to find problems.


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.

How Gocator treats conditions

Setting Description

Any Measurement Gocator records a frame when any measurement is in the state you select.

The following states are supported:

l passl fail or invalidl fail and validl validl invalid

Single Measurement Gocator records a frame if the measurement with the IDyou specify in IDis in the stateyou select. This setting supports the same states as the Any Measurement setting (seeabove).

Any Data At/Above Threshold: Gocator records a frame if the number of valid points in theframe is above the value you specify in Range Count Threshold.

Below Threshold: Gocator records a frame if the number of valid points is below thethreshold you specify.

Conditions

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 above.

4. Configure the conditions that will cause Gocator to record a frame:

For information on the available settings, see Conditions above.


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 DataReplay data (recorded scan data) can be downloaded from aGocator to a client computer, or uploadedfrom a client computer to a Gocator.

Data can also be exported from aGocator 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, and click Save.

To upload replay data:

1. Click the Upload button .The Uploadmenu appears.

2. In the Uploadmenu, choose one of the following:l Upload:Unloads the current job and creates a new unsaved and untitled job from the content of the

replay data file.

l Upload and merge:Uploads the replay data andmerges the data's associated job with the currentjob. Specifically, the settings on the Scan page are overwritten, but all other settings of the currentjob are preserved, including any measurements.

If you have unsaved changes in the current job, the firmware asks whether you want to discard thechanges.


3. Do one of the following:l Click Discard to discard any unsaved changes.

l Click Cancel to return to the main window to save your changes.

4. If you clickedDiscard, navigate to the replay data to upload from the client computer and clickOK.The replay data is loaded, and anew unsaved, untitled job is created.

Replay data can be exported using the CSVformat. If you have enabled Acquire Intensity in the ScanMode panel on the Scan page, the exported CSVfile includes intensity data.

To export replay data in the CSV format:

1. In the Scan Mode panel, switch to Range or Profile.

2. Switch to Replay mode.

3. 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 59.

4. (Optional) Convert exported data to another format using the CSVConverter Tool. For information onthis tool, see CSV Converter Tool on page 419.

The decision values in the exported data depend on the current state of the job, not the stateduring 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 Intensitymust bechecked 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:

l Switch to Replay mode and 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 59.

To export video data to a BMPfile:

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 59.

2. Switch to Replay mode.

3. Click the Export button and select Video data as BMP.

Metrics AreaTheMetrics area displays two important sensor performancemetrics: CPU load and speed (currentframe rate).

TheCPU bar in theMetrics panel (at the top of the interface) displays howmuch of the CPU is beingutilized. Awarning symbol ( ) will appear next to theCPUbar if the sensor drops data because the CPUis over-loaded.

CPUat 100%

The Speed bar displays the frame rate of the sensor. A warning symbol ( ) will appear next to it iftriggers (external input or encoder) are dropped because the external rate exceeds themaximum framerate.

Open the log for details on thewarning. Formore information on logs, see Log on the next page.

When a sensor is accelerated a "rocket"icon appears in themetrics area.


Data ViewerThe data viewer is displayed in both the Scan and theMeasure pages, but displays differentinformation 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 activearea and other settings. Depending on the selected operationmode (page 87), the data viewer candisplay video images, ranges, or profiles. For details, seeData Viewer on page 115.

When theMeasure page is active, the data viewer displays sensor data onto which representations ofmeasurement tools and theirmeasurements are superimposed. For details, seeData Viewer on page122.

Status BarThe status bar lets you do the following:

l See sensormessages in the log.l See frame information.l Change the interface language.l Switch to Quick Edit mode.

LogThe log, located at the bottomof theweb interface, is a centralized location for all messages that theGocator displays, including warnings and errors.

A number indicates the number of unreadmessages:

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 InformationThe area to the right of the status bar displays useful frame information, both when the sensor isrunning and when viewing recorded data.

This information is especially useful when you have enabled recording filtering. If you look at a recordingplayback, 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 thesensor is restarted or when recording is enabled.

Master Time: Displays the recording time of the current frame, with respect to when the sensor wasstarted.

Encoder Index: Displays the encoder index of the current frame.

Timestamp: Displays the timestamp the current frame, in microseconds fromwhen the sensor wasstarted.

To switch between types of frame information:

l Click the frame information area to switch to the next available type of information.

Quick Edit ModeWhen working with a very large number of measurement tools (for example, a few dozen) or a verycomplex user-created GDK tool, you can switch to a "Quick Edit"mode to make configuration faster.

When thismode is enabled, the data viewer andmeasurement results are not refreshed after eachsetting change. Also, when Quick Edit is enabled, in Replay mode, stepping through frames or playingback scan data does not change the displayed frame.

When a sensor is running, Quick Edit mode is ignored:all changes to settings are reflectedimmediately in the data viewer.

Interface LanguageThe language button on the right side of the status bar at the bottomof the interface lets you changethe language of theGocator interface.

To change the language:

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 youchose. The sensor state is preserved.


Management and MaintenanceThe following sections describe how to set up the sensor connections and networking, how to calibrateencoders and choose the alignment reference, and how to performmaintenance tasks.

Manage Page OverviewGocator's system andmaintenance tasks are performed on theManage page.

Element Description

1 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 75.

4 Motion and Alignment Contains settings to configure the encoder. See Motion and

Alignment on page 76.

5 Jobs Lets you manage jobs stored on the sensor. See Jobs on page 78.

6 Security Lets you change passwords. See Security on page 79.

7 Maintenance Lets you upgrade firmware, create/restore backups, and reset

sensors. See Maintenance on page 80.

8 Support Lets you open an HTMLversion or download a PDFversion of the

manual, download the SDK, or save a support file.Also provides

device information. See Support on page 83

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