Faro FaroArm Quantum User manual

FaroArm®Manual
January 2009
IncludesQuantum,Platinum,Fusion
and ScanArm®Models
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©FARO Technologies, Inc., 2002-2009. All rights reserved.
No part of this publication may be reproduced, or transmitted in any form or by
any means without written permission of FARO Technologies Inc.
FARO TECHNOLOGIES INC. MAKES NO WARRANTY, EITHER EXPRESS
OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED
WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A
PARTICULAR PURPOSE, REGARDING THE FARO ARM AND ITS
MATERIALS, AND MAKES SUCH MATERIALS AVAILABLE SOLELY ON
AN “AS-IS” BASIS.
IN NO EVENT SHALL FARO TECHNOLOGIES INC. BE LIABLE TO
ANYONE FOR SPECIAL, COLLATERAL, INCIDENTAL, OR
CONSEQUENTIAL DAMAGES IN CONNECTION WITH OR ARISING
OUT OF THE PURCHASE OR USE OF THE FARO ARM OR ITS
MATERIALS. THE SOLE AND EXCLUSIVE LIABILITY TO FARO
TECHNOLOGIES INC., REGARDLESS OF THE FORM OF ACTION,
SHALL NOT EXCEED THE PURCHASE PRICE OF THE MATERIALS
DESCRIBED HEREIN.
THE INFORMATION CONTAINED IN THIS MANUAL IS SUBJECT TO
CHANGE WITHOUT NOTICE AND DOES NOT REPRESENT A
COMMITMENT ON THE PART OF FARO TECHNOLOGIES INC.
ACCEPTANCE OF THIS DOCUMENT BY THE CUSTOMER
CONSTITUTES ACKNOWLEDGMENT THAT IF ANY INCONSISTENCY
EXISTS BETWEEN THE ENGLISH AND NON-ENGLISH VERSIONS, THE
ENGLISH VERSION TAKES PRECEDENCE.
FARO®FaroArm®FARO Laser ScanArm®and CAM2®are registered
trademarks of FARO Technologies, Inc.
Acrobat®is a registered trademark of Adobe Systems, Inc.
Bluetooth®is a registered trademark of Bluetooth SIG, Inc.
FARO Technologies, Inc. Internal Control File Locations:
F:\CONTROL\REFERENC\08PRODUC\ENGLISH\Prdpub46\08m46e00 - FaroArm Manual - January 2009.pdf
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FaroArm®Manual
January 2009
i
Table of Contents
Chapter 1 : Introduction to the FaroArm®
General Information........................................................ 2
Precautions ...................................................................... 3
The FaroArm Packing Contents..................................... 3
FaroArm - Packing List..................................................................... 3
Optional Accessories ...................................................................... 4
Packing the FaroArm ...................................................... 5
Hardware Setup............................................................... 6
Mounting the Base .......................................................................... 6
Surface Mount Plate Dimensions.................................................7
Host Computer................................................................................. 9
FARO Wireless................................................................................ 9
Numerical and Signal Processing................................ 13
Handle LED..................................................................................... 13
Error and Status Indicators............................................................ 14
Referencing the Encoders............................................................ 16
FaroArm Handle Buttons............................................... 17
Auxiliary Port (7th Variable Options Port).................... 18
FaroArm Probes ............................................................. 19
Custom Probes............................................................................... 20
Installing Probes ............................................................................. 21
Renishaw TP-20 Probe Installation and Operation..................... 22
Quantum Series...........................................................................22
Quantum Series TP-20 Probe Kit................................................ 22
Platinum/Fusion Series.................................................................22
Platinum/Fusion Series TP-20 Probe Kit ..................................... 22
Probe Modules for the TP-20 Probe.......................................... 23
Measuring Software................................................................... 24
Custom Probe Calibration............................................................ 24
FARO Laser Line Probe.................................................. 25
Laser Safety.................................................................................... 25
Laser Radiation Emission............................................................... 25
Serial Number Label...................................................................... 27
Servicing ......................................................................................... 27
Hardware Installation.................................................................... 28
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FaroArm®Manual
January 2009
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Holding the Laser Line Probe........................................................ 30
Hardware Controls and Indicators.............................................. 30
Buttons..........................................................................................30
LEDs...............................................................................................31
Range Finder................................................................................31
Software Setup............................................................................... 32
Calibration...................................................................................... 32
Sphere Calibration......................................................................34
Plane Calibration ........................................................................37
DRO................................................................................................. 39
Laser Line Probe Settings .............................................................. 40
Line Probe Settings......................................................................41
Additional Considerations..........................................................45
Calibration and Certification....................................... 45
FaroArm Calibration...................................................................... 46
FaroArm Certification.................................................................... 46
Repeatability .............................................................................. 47
Volumetric Accuracy ................................................................ 48
FaroArm Performance .................................................. 48
Loss of a Degree of Freedom....................................................... 50
Normal Maintenance ................................................... 51
Mounting Stiffness Test .................................................. 52
Temperature Considerations........................................ 53
Electrostatic Discharge (ESD)....................................... 54
FaroArm Power Supply.................................................. 56
Supplying Power to the FaroArm................................................. 56
FaroArm Battery Pack................................................................... 57
Installing the Battery Pack..........................................................57
Removing the Battery Pack .......................................................58
Charging the Battery Pack ........................................................58
Troubleshooting ............................................................. 59
Power Issues.................................................................................... 60
Hardware Communication Issues................................................ 61
FARO Wireless Connection Issues ................................................ 62
FARO Wireless FAQ........................................................................ 63
FARO i-Probe FAQ ......................................................................... 64
FaroArm/ScanArm Performance Verification Checklist ........... 66
Issues That Will Degrade Accuracy.......................................... 66
FaroArm Setup............................................................................ 67
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FaroArm®Manual
January 2009
iii
Probe Setup ............................................................................... 67
Probe Calibration ...................................................................... 68
Mounting..................................................................................... 69
Single Point Articulation Test (SPAT).......................................... 70
Calibrated Artifact .................................................................... 71
Diagnosing Laser Line Probe Accuracy Problems.................. 71
Laser Line Probe Calibration..................................................... 73
Chapter 2 : CAM2® Measure Devices
Menu
Device Setup ................................................................. 75
Hardware Configuration............................................... 76
Probes............................................................................. 77
Edit Probe....................................................................................... 78
Probe Calibration Overview......................................................... 78
Calibrate Probe............................................................................. 79
Single Hole Method - Guidance................................................80
Single Hole Method.....................................................................83
Sphere Method............................................................................85
View Log......................................................................................... 87
Diagnostics..................................................................... 87
Temperature .................................................................. 88
Chapter 3 : CAM2® Q
Device Control Panel.................................................... 89
Technical Support.................................... 93
Software License Agreement............... A-1
Purchase Conditions............................. B-1
Industrial Products Service Policy........ C-1
Industrial Service Policy........................ D-1
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FaroArm®Manual
January 2009
1
Chapter 1: Introduction to the FaroArm®
Chapter 1: Introduction to the
FaroArm®
Thank you for choosing FARO’s Portable Measurement Arm - the
FaroArm®, and the ScanArm®- the Portable Laser Line Measurement
Arm. This introduction contains detailed instructions on how to use
your new USB communication-based or Bluetooth®wireless Quantum,
Platinum or Fusion series FaroArm, and FARO Laser Line Probe.
Additional information about probes and important guidelines on
maintaining your new FaroArm/ScanArm is also included. If you have
any questions or need further instructions about any procedure, contact
your Customer Service Representative by Phone, Fax or E-Mail. See
“Technical Support” on page 93.
Visit the FARO Customer Service area on the Web at www.faro.com to
search our technical support database. The database is available 24
hours a day, 7 days a week, and contains hundreds of solutions to
product and application questions.
Listed below are some visual and typographical conventions used in
each of the sections.
ALL CAPITAL text Indicates directory names, menu names, buttons,
tabs, key names, acronyms, and modes.
monospaced text Indicates alpha/numeric characters or values you
enter in a field on the screen. For example,
“Type 0.005 for the tolerance setting.”
bold text Anything you must enter exactly as it appears on
your keyboard. For example, to type a:install,
you would see text in bold type exactly as it
should be entered.
SMALL CAPS text Indicates dialog box, icon names, and window
names.
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FaroArm®Manual
January 2009
2
Chapter 1: Introduction to the FaroArm®
You may also see a few new words. It is important that you understand
the meaning of these words before proceeding.
General Information
The FaroArm is a multiple-axis, articulated arm with a spherical
working volume. Each joint has a rotary encoder. The signals from these
encoders are processed and positional data is sent through the USB
communications cable to the computer.
The FaroArm uses a non-volatile read/write flash memory. This
memory stores programming and some calibration data for the
FaroArm. There are proprietary methods that are capable of erasing,
reading, and writing the FLASH memory. These methods are used
during manufacturing and field updating. Security for the FLASH is
limited to the anonymity of the access methods and the unavailability of
documentation for the address structure of the FLASH memory.
The only dynamic data stored in the FaroArm are settings which relate
directly to the operation of the FaroArm. Examples include the probe
XYZ position, baud rate for serial FaroArms, etc. The FaroArm does
not maintain in memory, or cache, measurement data of any type.
Measurements recorded with the FaroArm are sent directly to the
properly connected computer.
digitize To record the XYZ coordinates of a point or
location in 3D space. The word digitize is the
same as the term measure when referring to
points.
choose or select Means that you are initiating an action. For
example, “Select FILE < GRAPHICAL
REPORTS < EXPORT DATA.”
left-click, right-click,
click, or press Press and release the LEFT (or RIGHT) MOUSE button. Also used when referring to
the FaroArm buttons. For example, “After
selecting a file from the OPEN FILE dialog
box, click OK to open the file” or “Press ESC
at anytime to cancel a command.”
drag Press and hold the LEFT MOUSE button
down and move the mouse. Release the
mouse button to finish. This word is often
used when changing the size of a window or
toolbar.
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FaroArm®Manual
January 2009
3
Chapter 1: Introduction to the FaroArm®
Precautions
The FaroArm is a precision measuring instrument that is ruggedized for
shop use; however, care must still be exercised in the operating
environment when using the FaroArm. Proper operation and care
includes avoiding:
• Solvents.
• Abuse, such as dropping or twisting at end stops.
• Moisture and high humidity.
• Power fluctuations. See “FaroArm Power Supply” on page 56.
• Excessive temperature changes without appropriate elapsed time.
See “Temperature Considerations” on page 53.
Your FaroArm can give you many years of service when you treat it
with care.
The FaroArm Packing Contents
The following components and accessories are standard items shipped
with every system:
FaroArm - Packing List
• Shipping Case
•FaroArm
• FaroArm Assembly Instructions
• FaroArm Manual (this book)
• FaroArm Accessories Manual
• FaroArm Certification Documents
• Dust Cover
• Power Supply with electrical cable
• Probe Case:
• Two probes
• Renishaw Adapter (Quantum series only)
• FARO Calibration Cone
• 12mm wrench
• FARO probe torque wrench (Quantum series only)
• Mounting screws in a plastic case
• Hex wrench for the mounting screws
• USB cable
• Lithium Ion Battery
• Surface Mount Plate
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FaroArm®Manual
January 2009
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Chapter 1: Introduction to the FaroArm®
Optional Accessories
The Accessories Manual that comes with your FaroArm lists all of the
optional accessories that you can order from FARO. Installation and
detailed operational instructions are included.
The Accessories Manual is also available on FARO’s Web site at
www.faro.com. To purchase optional accessories, contact FARO’s
Customer Service by Phone, Fax or E-Mail. See “Technical Support”
on page 93.
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FaroArm®Manual
January 2009
5
Chapter 1: Introduction to the FaroArm®
Packing the FaroArm
The FaroArm should be packed very carefully to prevent shipping
damage.
1 Pack the Power Supply, Probe Case, and Surface Mount
Plate as shown.
Figure 1-1 Pack the Power Module, Probe Case, and Surface Mount Plate
1
2
3
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FaroArm®Manual
January 2009
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Chapter 1: Introduction to the FaroArm®
2 Grasp the FaroArm with both hands as shown.
3 Insert the FaroArm into the case.
Hardware Setup
The following sections describe the proper setup of the FaroArm
system. This includes attaching the FaroArm to your work surface and
connecting the FaroArm to your computer.
Mounting the Base
The counterbalance by the tension spring generates torque at the base of
the FaroArm; therefore, the mount must meet certain requirements to
achieve optimum machine accuracy.
NOTE: The FaroArm must be mounted in a upright position. Do Not
mount the FaroArm in an inverted (upside down) or sideways
position.
To fasten the FaroArm:
1 Attach the 3.5" threaded ring and surface mount plate to any stable
location. Tighten all mounting bolts to 100-inch pounds.
2 Place the FaroArm on top of the 3.5” threaded ring.
3 Screw the threaded collar clamp onto the base of the FaroArm and the
3.5” threaded ring.
Figure 1-2 Insert the FaroArm into the Case
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FaroArm®Manual
January 2009
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Chapter 1: Introduction to the FaroArm®
4 Use the 12mm wrench to tighten the threaded collar clamp.
For more information see “Mounting Stiffness Test” on page 52 and
“FaroArm/ScanArm Performance Verification Checklist” on page 66.
Surface Mount Plate Dimensions
The Surface Mount Plate is used to clamp or bolt the FaroArm to a
stable mounting surface. It is an assembly of a standard 3½” mounting
ring and a FARO designed base plate.
Figure 1-3 Mounting the Platinum/Fusion
Series FaroArm Figure 1-4 Mounting the Quantum Series FaroArm
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FaroArm®Manual
January 2009
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Chapter 1: Introduction to the FaroArm®
You can bolt the Surface Mount Plate directly to a surface using the
mounting screws in the probe case. Make sure to tighten each mounting
screw with the hex wrench.
You can bolt the 3½” mounting ring directly to a surface using the
mounting screws in the probe case. Make sure to tighten each mounting
screw with the hex wrench.
Figure 1-5 Surface Mount Plate dimensions
Figure 1-6 Standard 3½” Mounting Ring dimensions
5.950
BC2.970
.406
.38
BC5.187
6X .281
A
CHAMFER
.12 X 45
.001
.001
A
1.00
EQUALLY SPACED
WITHIN .005
3.500-8 UNC-2A
2X .09 X 45
CHAMFER
.54
2.50
2.970
.344 .22
6X .218
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FaroArm®Manual
January 2009
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Chapter 1: Introduction to the FaroArm®
Host Computer
The FaroArm output is accepted through any PC-compatible computer
USB port with a USB cable.
CAUTION: Complete all cable connections before applying power
to the computer and the FaroArm.
NOTE: For optimum performance, allow the FaroArm to warm-up for
at least 30 minutes before using.
FARO Wireless
The FaroArm is a Bluetooth®equipped device and can connect to your
computer without using a USB cable.
Bluetooth wireless is a short-range communications technology
intended to replace the cables connecting devices. The range of a Class
2 system, such as the FaroArm, is approximately 30 feet or 10 meters.
Bluetooth devices are generally paired, or associated with each other,
either openly or employing security, with one serving as the master
device and the second as the slave. In the case of the FaroArm:
• The FaroArm is the slave.
Figure 1-7 Platinum/Fusion Series
FaroArm USB port Figure 1-8 Quantum Series FaroArm USB port
USB
PORT
On/Off
SWITCH
USB
PORT
On/Off
SWITCH
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FaroArm®Manual
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Chapter 1: Introduction to the FaroArm®
• The host computer is the master.
• Basic PIN based security is employed.
• The host computer establishes an RS-232 emulation or Serial Port
Profile (SPP) connection to the FaroArm.
• Once the connection is established the PC and FaroArm can transfer
data at a rate of 921600bits/second.
NOTE: If a FaroArm is connected with USB cable and Bluetooth, only
the Bluetooth connection will be active.
FaroArm to the Computer Connection
Create the wireless connection between the host computer and the
FaroArm created using:
• Software supplied with a Bluetooth equipped computer, or an
aftermarket USB Bluetooth dongle and software.
• FARO Bluetooth Connection Setup utility software.
NOTE: Implementation will differ among software suppliers, but
generally there is a platform specific Bluetooth Wizard that will
search for all Bluetooth devices in range and display them
graphically, or in a simple list.
All FaroArms are identified by their serial number. Once a FaroArm is
identified in the list, a persistent SPP connection must be created. Once
the connection exists, the software will display the connection’s COM
port number, for example COM10.
Write down your SPP connection COM port ______________________
This number is important and will be used later.
Figure 1-9 Connecting the FaroArm to the Computer
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FaroArm®Manual
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Chapter 1: Introduction to the FaroArm®
NOTE: If the platform specific Bluetooth Wizard finds two COM
ports, usually labeled “Incoming” and “Outgoing,” for the FaroArm,
use the Outgoing COM port.
Computer to the FaroArm Driver Connection
The FaroArm USB driver connects to the SPP connection using the
FARO Bluetooth Connection Setup utility software.
• Start FARO Bluetooth Connection Setup utility software program.
• Click the NEW button.
• Type a name for your connection
•IntheP
ORT list select the proper COM from the platform specific
Bluetooth Wizard (e.g. COM10). This is the port that you previously
wrote down.
• Click the OK button.
A test is automatically run to verify that the COM port is connected to
the FaroArm.
• Enter the FaroArm PIN security code, faro.
• Click OK to save the connection.
Figure 1-10 Connecting the FaroArm to the Computer
Figure 1-11 Connection Name and COM port
Figure 1-12 FaroArm Bluetooth PIN
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FaroArm®Manual
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Chapter 1: Introduction to the FaroArm®
An icon will be created for each Bluetooth pairing. The icon with the
check box selected is an active connection. The icon without a check
box selected is an inactive connection.
NOTE: No more than two (2) FaroArm pairings can be active at any
one time, but any number can be defined.
Editing a Pairing
Right-click any Bluetooth pairing icon to edit. You can:
• Edit the name and the COM port.
• Test the pairing connection.
• Delete the pairing.
Using the FaroArm Bluetooth Pairing
When the measuring software is launched (CAM2 Q, CAM2 Measure,
CAM2 Measure X, Geomagic, Polyworks, etc.) the FaroArm driver
attempts to use any FaroArm connection - USB cable and any active
Bluetooth pairings. It takes slightly longer, 8 or 10 seconds, for a
FaroArm to connect and initialize via Bluetooth.
NOTE: If you choose not to connect the FaroArm to your computer
using the wireless connection, deselect the icon check box in the
FARO Bluetooth Connection Setup utility to deactivate the pairing
and connect using the USB cable.
Once you start measuring, there is no difference in data transfer between
using the Bluetooth connection or the USB cable.
Figure 1-13 Connecting the FaroArm to the Computer
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