LMI Technologies Gocator 2100 Series User manual

USER MANUAL
Gocator Line Profile Sensors
Gocator 2100, 2300, 2400, 2500 Series; Gocator 2880
Firmware version:5.2.x.xx
Document revision:A

Gocator Line Profile Sensors: User Manual 2
Copyright
Copyright © 2019 by LMI Technologies, Inc. All rights reserved.
Proprietary
This document, submitted in confidence, contains proprietary information which shall not be
reproduced or transferred to other documents or disclosed to others or used for manufacturing or any
other purpose without prior written permission of LMI Technologies Inc.
No part of this publication may be copied, photocopied, reproduced, transmitted, transcribed, or
reduced to any electronic medium or machine readable form without prior written consent of LMI
Technologies, Inc.
Trademarks and Restrictions
Gocator™ is a registered trademark of LMI Technologies, Inc. Any other company or product names
mentioned herein may be trademarks of their respective owners.
Information contained within this manual is subject to change.
This product is designated for use solely as a component and as such it does not comply with the
standards relating to laser products specified in U.S. FDA CFR Title 21 Part 1040.
Contact Information
LMI Technologies, Inc.
9200 Glenlyon Parkway
Burnaby BCV5J 5J8
Canada
Telephone: [phone]
Fax: [phone]
www.lmi3D.com

Gocator Line Profile Sensors: User Manual 3
Table of Contents
Copyright 2
Table of Contents 3
Introduction 13
Gocator Overview 14
Safety and Maintenance 15
Laser Safety 15
Laser Classes 16
Precautions and Responsibilities 17
Class 3B Responsibilities 17
Nominal Ocular Hazard Distance (NOHD) 18
Systems Sold or Used in the USA 19
Electrical Safety 20
Heat Warning 20
Handling, Cleaning, and Maintenance 20
Environment and Lighting 21
Getting Started 22
Hardware and Firmware Capabilities 22
Hardware Overview 23
Gocator Sensor 23
Gocator Cordsets 23
Master 100 24
Master 400 / 800 / 1200 / 2400 25
Master 810 / 2410 26
Alignment Targets 28
System Overview 29
Standalone System 29
Dual-Sensor System 30
Multi-Sensor System 31
Installation 33
Mounting 33
Orientations 34
Grounding 36
Gocator 36
Recommended Practices for Cordsets 36
Master Network Controllers 37
Grounding When Using a DIN Rail (Master
810/2410) 38
Additional Grounding Schemes 38
Installing DIN Rail Clips: Master 810 or 2410 38
Configuring Master 810 40
Setting the Divider 41
Encoder Quadrature Frequency 41
Setting the Debounce Period 42
Rut-Scanning System Setup 42
Layout 42
System Setup 43
Software Configuration 43
System Operation 44
Network Setup 45
Client Setup 45
Gocator Setup 48
Running a Standalone Sensor System 48
Running a Dual-Sensor System 49
Next Steps 51
How Gocator Works 53
3D Acquisition 53
Clearance Distance, Field of Viewand
Measurement Range 54
Resolution and Accuracy 55
X Resolution 55
Z Resolution 56
Z Linearity 56
Profile Output 58
Coordinate Systems 58
Sensor Coordinates 58
System Coordinates 59
Part and Section Coordinates 62
Switching between Coordinate Systems 63
Resampled Data and Point Cloud Data 63
Data Generation and Processing 65
Surface Generation 65
Part Detection 65
Sectioning 66
Part Matching 66
Measurement 67
Tool Chaining 67
Anchoring Measurements 68
Geometric Features 70
Tool Data 73
Output and Digital Tracking 77
Gocator Web Interface 79
Browser Compatibility 79

Gocator Line Profile Sensors: User Manual 4
Internet Explorer 11 Issues 79
Internet Explorer Switches to Software
Rendering 79
Internet Explorer Displays "Out of Memory" 79
User Interface Overview 80
Toolbar 82
Creating, Saving and Loading Jobs (Settings) 82
Recording, Playback, and Measurement
Simulation 83
Recording Filtering 85
Downloading, Uploading, and Exporting
Replay Data 87
Metrics Area 89
Data Viewer 90
Status Bar 90
Log 90
Frame Information 91
Quick Edit Mode 91
Interface Language 92
Management and Maintenance 93
Manage Page Overview 93
Sensor System 94
Dual- and Multi-sensor Systems 94
Buddy Assignment 95
Over Temperature Protection 96
Sensor Autostart 96
Layout 96
Device Exposure Multiplexing 103
Networking 104
Motion and Alignment 105
Alignment Reference 105
Encoder Resolution 106
Encoder Value and Frequency 106
Travel Speed 106
Jobs 107
Security 108
Maintenance 109
Sensor Backups and Factory Reset 110
Firmware Upgrade 111
Support 112
Support Files 113
Manual Access 113
Software Development Kit 114
Scan Setup and Alignment 115
Scan Page Overview 115
Scan Modes 116
Triggers 117
Trigger Examples 121
Trigger Settings 122
Maximum Input Trigger Rate 124
Maximum Encoder Rate 124
Sensor 124
Active Area 124
Tracking Window 126
Transformations 128
Exposure 129
Single Exposure 130
Dynamic Exposure 131
Multiple Exposure 132
Spacing 134
Sub-Sampling 134
Spacing Interval 135
Advanced 136
Material 137
Camera Gain and Dynamic Exposure 137
Alignment 138
Alignment Types 138
Aligning Sensors 139
Encoder Calibration 145
Clearing Alignment 146
Filters 146
Gap Filling 147
Median 147
Smoothing 148
Decimation 149
Surface Generation 149
Part Detection 153
Part Detection Status 157
Edge Filtering 159
Data Viewer 160
Data Viewer Controls 160
Video Mode 163
Exposure Information 163
Exposures 163
Overexposure and Underexposure 164

Gocator Line Profile Sensors: User Manual 5
Spots and Dropouts 165
Profile Mode 166
Surface Mode 168
Height Map Color Scale 171
Sections 172
Region Definition 173
Intensity Output 174
Models 176
Model Page Overview 176
Part Matching 176
Using Edge Detection 177
Creating a Model 180
Modifying a Model's Edge Points 182
Adjusting Target Sensitivity 185
Setting the Match Acceptance Criteria 186
Running Part Matching 186
Using Bounding Box and Ellipse 186
Configuring a Bounding Box or an Ellipse188
Running Part Matching 189
Using Part Matching to Accept or Reject a
Part 190
Sections 190
Creating a Section 193
Deleting a Section 195
Measurement and Processing 196
Measure Page Overview 196
Data Viewer 197
Tools Panel 198
Adding and Configuring a Measurement
Tool 198
Stream 199
Source 201
Regions 201
Feature Points 204
Geometric Features 206
Fit Lines 208
Decisions 208
Filters 209
Measurement Anchoring 211
Enabling and Disabling Measurements 216
Editing Tool, Input, or Output Names 217
Changing a Measurement ID 217
Duplicating a Tool 218
Removing a Tool 218
Reordering Tools 219
Profile Measurement 220
Advanced Height 220
Measurements, Data, and Settings 222
Master Comparison 223
X Correction 224
Reference Line 224
Anchoring 224
Area 225
Measurements, Features, and Settings 226
Bounding Box 229
Measurements, Features, and Settings 230
Bridge Value 232
Understanding the Window and Skip
Settings 232
Measurements and Settings 233
Using Window and StdDev as Metrics
Measurements 235
Circle 237
Measurements, Features, and Settings 237
Closed Area 240
Measurements and Settings 240
Dimension 244
Measurements and Settings 244
Groove 247
Measurements, Features, and Settings 248
Intersect 252
Measurements, Features, and Settings 252
Line 255
Measurements, Features, and Settings 256
Panel 259
Position 263
Measurements, Features, and Settings 263
Round Corner 265
Strip 269
Script 274
Surface Measurement 276
Ball Bar 277
Bounding Box 280
Measurements, Features, and Settings 281
Countersunk Hole 285
Measurements, Features, and Settings 287

Gocator Line Profile Sensors: User Manual 6
Dimension 294
Edge 298
Paths and Path Profiles 300
Measurements, Features, and Settings 301
Ellipse 312
Measurements, Features, and Settings 313
Extend 315
Data and Settings 316
Filter 318
Settings and Available Filters 319
Flatness 321
Measurements, Data, and Settings 322
Hole 327
Measurements, Features, and Settings 329
Measurement Region 331
Opening 333
Measurements, Features, and Settings 336
Measurement Region 340
Plane 341
Measurements, Features, and Settings 343
Position 345
Measurements, Features, and Settingss 346
Section 347
Measurements, Data, and Settings 350
Segmentation 356
Measurements, Data, and Settings 358
Sphere 363
Measurements, Features, and Settings 364
Stitch 366
Measurements, Data, and Settings 367
Stud 370
Measurements, Features, and Settings 372
Measurement Region 373
Track 374
Key Concepts 376
Track Location 378
Peak Detection 379
Side Detection 379
Center Point Detection 380
Configuring the Track Tool 380
Measurements, Data, and Settings 381
Anchoring 385
Using the TrackEditor 386
Transform 389
Combinations of geometric feature
inputs and results 392
Plane 392
Line 393
Point 394
Plane +Line 395
Plane +Point 396
Line +Point 397
Plane +Line +Point 398
Measurements, Data, and Settings 400
Vibration Correction 402
Data and Settings 403
Volume 404
Script 407
Feature Measurement 408
Create 409
Line from Two Points 410
Perpendicular or Parallel Line from Point
and Line 411
Circle from Points 412
Line from Two Planes 413
Point from Three Planes 414
Point or Line 414
Dimension 417
Intersect 421
Robot Pose 425
Measurements and Settings 427
Scripts 427
Built-in Script Functions 428
Output 433
Output Page Overview 433
Ethernet Output 434
Digital Output 438
Analog Output 441
Serial Output 443
Dashboard 446
Dashboard Page Overview 446
State and Health Information 446
Statistics 448
Measurements 448
Performance 448

Gocator Line Profile Sensors: User Manual 7
Gocator Acceleration 450
Benefits 451
Dashboard and Health Indicators 451
Hardware Acceleration:GoMax 451
Software-Based Acceleration 451
System Requirements and Recommendations 452
Minimum System Requirements 452
Recommendations 452
Installation 452
Gocator Accelerator Utility 452
SDK Application Integration 455
Estimated Performance 455
Gocator Emulator 457
System Requirements 457
Limitations 458
Downloading a Support File 458
Running the Emulator 459
Adding a Scenario to the Emulator 460
Running a Scenario 461
Removing a Scenario from the Emulator 462
Using Replay Protection 462
Stopping and Restarting the Emulator 463
Running the Emulator in Default Browser 463
Working with Jobs and Data 464
Creating, Saving, and Loading Jobs 464
Playback and Measurement Simulation 464
Downloading, Uploading, and Exporting
Replay Data 466
Downloading and Uploading Jobs 468
Scan, Model, and Measurement Settings 470
Calculating Potential Maximum Frame Rate 470
Protocol Output 471
Remote Operation 471
Gocator Device Files 473
Live Files 473
Log File 473
Job File Structure 474
Job File Components 474
Accessing Files and Components 475
Configuration 475
Setup 476
BackgroundSuppression 477
Filters 477
XSmoothing 478
YSmoothing 478
XGapFilling 478
YGapFilling 478
XMedian 479
YMedian 479
XDecimation 479
YDecimation 479
XSlope 479
YSlope 480
Trigger 480
Layout 482
Alignment 483
Disk 484
Bar 484
Plate 484
Polygon 485
Polygon/Corner 485
Devices / Device 485
SurfaceGeneration 491
FixedLength 492
VariableLength 492
Rotational 492
SurfaceSections 492
ProfileGeneration 493
FixedLength 493
VariableLength 494
Rotational 494
PartDetection 494
EdgeFiltering 496
PartMatching 496
Edge 496
BoundingBox 497
Ellipse 497
Replay 498
RecordingFiltering 498
Conditions/AnyMeasurement 498
Conditions/AnyData 499
Conditions/Measurement 499
Streams/Stream (Read-only) 499
ToolOptions 500

Gocator Line Profile Sensors: User Manual 8
MeasurementOptions 501
FeatureOptions 501
StreamOptions 502
Tools 502
Profile Types 502
ProfileFeature 502
ProfileLine 503
ProfileRegion2d 503
SurfaceTypes 503
Region3D 503
SurfaceFeature 503
SurfaceRegion2d 504
Geometric Feature Types 504
Parameter Types 504
ProfileArea 506
ProfileBoundingBox 508
ProfileBridgeValue 510
ProfileCircle 511
ProfileDimension 513
ProfileGroove 515
ProfileIntersect 517
ProfileLine 519
ProfilePanel 521
ProfilePosition 523
ProfileRoundCorner 525
ProfileStrip 527
Script 529
SurfaceBoundingBox 530
SurfaceCsHole 532
SurfaceDimension 535
Tool (type SurfaceEdge) 537
SurfaceEllipse 540
SurfaceHole 542
SurfaceOpening 544
SurfacePlane 547
SurfacePosition 549
SurfaceStud 551
SurfaceVolume 553
Tool (type FeatureDimension) 555
Tool (type FeatureIntersect) 557
Custom 558
Output 559
Ethernet 559
Ascii 562
EIP 562
Modbus 562
Profinet 562
Digital0 and Digital1 563
Analog 564
Serial 564
Selcom 565
Ascii 565
Transform 566
Device 567
Part Models 567
Edge Points 568
Configuration 569
Protocols 570
Gocator Protocol 570
Data Types 571
Commands 571
Discovery Commands 572
Get Address 572
Set Address 573
Get Info 574
Control Commands 575
Protocol Version 576
Get Address 576
Set Address 577
Get System Info V2 577
Get System Info 580
Get States 581
Log In/Out 582
Change Password 582
Assign Buddies 583
Remove Buddies 584
Set Buddy 584
List Files 584
Copy File 585
Read File 585
Write File 586
Delete File 587
User Storage Used 587
User Storage Free 587

Gocator Line Profile Sensors: User Manual 9
Get Default Job 588
Set Default Job 588
Get Loaded Job 588
Get Alignment Reference 589
Set Alignment Reference 589
Clear Alignment 590
Get Timestamp 590
Get Encoder 590
Reset Encoder 591
Start 591
Scheduled Start 592
Stop 592
Get Auto Start Enabled 592
Set Auto Start Enabled 593
Get Voltage Settings 593
Set Voltage Settings 594
Get Quick Edit Enabled 594
Set Quick Edit Enabled 594
Start Alignment 595
Start Exposure Auto-set 595
Software Trigger 596
Schedule Digital Output 596
Schedule Analog Output 597
Ping 597
Reset 598
Backup 598
Restore 599
Restore Factory 599
Get Recording Enabled 600
Set Recording Enabled 600
Clear Replay Data 601
Get Playback Source 601
Set Playback Source 601
Simulate 602
Seek Playback 602
Step Playback 603
Playback Position 603
Clear Measurement Stats 604
Read Live Log 604
Clear Log 604
Simulate Unaligned 605
Acquire 605
Acquire Unaligned 605
Create Model 606
Detect Edges 606
Add Tool 607
Add Measurement 607
Read File (Progressive) 608
Export CSV (Progressive) 608
Export Bitmap (Progressive) 609
Get Flag 610
Set Flag 610
Get Runtime Variable Count 611
Set Runtime Variables 611
GetRuntimeVariables 612
Upgrade Commands 612
Start Upgrade 612
Start Upgrade Extended 613
Get Upgrade Status 613
Get Upgrade Log 614
Results 614
Data Results 614
Stamp 615
Video 616
Profile Point Cloud 617
Uniform Profile 617
Profile Intensity 618
Uniform Surface 619
Surface Intensity 619
Surface Section 620
Surface Section Intensity 621
Measurement 621
Alignment Result 622
Exposure Calibration Result 623
Edge Match Result 623
Bounding Box Match Result 623
Ellipse Match Result 624
Event 624
Feature Point 625
Feature Line 625
Feature Plane 625
Feature Circle 626
Generic Message 626
Health Results 626

Gocator Line Profile Sensors: User Manual 10
Modbus Protocol 632
Concepts 632
Messages 632
Registers 633
Control Registers 634
Output Registers 635
State 635
Stamp 636
Measurement Registers 637
EtherNet/IP Protocol 639
Explicit Messaging 639
Identity Object (Class 0x01) 640
TCP/IP Object (Class 0xF5) 640
Ethernet Link Object (Class 0xF6) 641
Assembly Object (Class 0x04) 641
Command Assembly 641
Runtime Variable Configuration
Assembly 642
Sensor State Assembly 643
Sample State Assembly 644
Implicit Messaging 646
Assembly Object (Class 0x04) 646
Implicit Messaging Command Assembly 646
Implicit Messaging Output Assembly 647
PROFINET Protocol 649
Control Module 649
Runtime Variables Module 650
State Module 650
Stamp Module 651
Measurements Module 651
ASCIIProtocol 652
Connection Settings 652
Ethernet Communication 652
Serial Communication 653
Polling Operation Commands (Ethernet Only) 653
Command and Reply Format 654
Special Characters 654
Command Channel 654
Start 655
Stop 655
Trigger 655
LoadJob 656
Stamp 656
Clear Alignment 657
Moving Alignment 657
Stationary Alignment 657
Set Runtime Variables 658
Get Runtime Variables 658
Data Channel 658
Result 658
Value 659
Decision 660
Health Channel 660
Health 661
Standard Result Format 661
Custom Result Format 662
Selcom Protocol 663
Serial Communication 663
Connection Settings 663
Message Format 663
Development Kits 665
GoSDK 665
Setup and Locations 666
Class Reference 666
Examples 666
Example Project Environment Variable 666
Header Files 666
FunctionalHierarchy of Classes 666
GoSystem 667
GoSensor 667
GoSetup 667
GoLayout 667
GoTools 668
GoTransform 668
GoOutput 668
Data Types 668
Value Types 668
Output Types 668
GoDataSet Type 669
MeasurementValues and Decisions 670
Operation Workflow 670
Initialize GoSdk APIObject 671
Discover Sensors 672
Connect Sensors 672

Gocator Line Profile Sensors: User Manual 11
Configure Sensors 672
Enable Data Channels 672
Perform Operations 672
Limiting Flash Memory Write Operations 674
GDK 675
Benefits 675
Supported Sensors 675
Typical Workflow 675
Installation and Class Reference 676
Required Tools 676
Getting Started with the Example Code 676
Building the Sample Code 676
Tool Registration 677
Tool Definitions 677
Entry Functions 678
Parameter Configurations 678
Graphics Visualization 679
Debugging Your Tools 682
Debugging Entry Functions 683
Tips 683
Backward Compatibility with Older Versions
of Tools 683
Define new parameters as optional 683
Configuration Versioning 683
Version 685
Common Programming Operations 685
Input Data Objects 685
Setup and Region Info during Tool
Initialization 686
Computing Region Based on the Offset
from an Anchor Source 686
Part Matching 686
Accessing Sensor Local Storage 686
Print Output 687
Tools and Native Drivers 688
Sensor Discovery Tool 688
GenICam GenTL Driver 689
16-bit RGB Image 693
16-bit Grey Scale Image 694
Registers 696
XMLSettings File 697
Interfacing with Halcon 697
Setting Up Halcon 698
Halcon Procedures 701
Generating Halcon Acquisition Code 705
CSV Converter Tool 706
CSV File Format 708
Info 709
DeviceInfo 710
RecordingFilter 710
Ranges 711
Profile 712
RawProfile 713
Part 713
Surface Section 714
MountainsMap Transfer Tool 715
Configuring Gocator to Work with the Transfer
Tool 715
Using the Mountains Map Transfer Tool 716
Troubleshooting 719
Specifications 720
Sensors 720
Gocator 2100 & 2300 Series 720
Gocator 2120 and 2320 723
Gocator 2130 and 2330 725
Gocator 2140 and 2340 727
Gocator 2342 729
Gocator 2150 and 2350 731
Gocator 2170 and 2370 734
Gocator 2375 737
Gocator 2180 and 2380 740
Gocator 2400 Series 743
Gocator 2410 745
Gocator 2420 748
Gocator 2430 751
Gocator 2440 753
Gocator 2500 Series 755
Gocator 2510 756
Gocator 2520 758
Estimated Performance 760
Gocator 2880 Sensor 762
Gocator 2880 763
Sensor Connectors 766
Gocator Power/LAN Connector 766
Grounding Shield 766

Gocator Line Profile Sensors: User Manual 12
Power 767
Laser Safety Input 767
Gocator I/O Connector 768
Grounding Shield 768
Digital Outputs 768
Inverting Outputs 769
Digital Input 769
Encoder Input 770
Serial Output 771
Selcom Serial Output 771
Analog Output 771
Master Network Controllers 773
Master 100 773
Master 100 Dimensions 774
Master 400/800 775
Master 400/800 Electrical Specifications 776
Master 400/800 Dimensions 778
Master 810/2410 779
Electrical Specifications 781
Encoder 782
Input 784
Master 810 Dimensions 786
Master 2410 Dimensions 787
Master 1200/2400 788
Master 1200/2400 Electrical Specifications 789
Master 1200/2400 Dimensions 790
Accessories 791
Return Policy 793
Software Licenses 794
Support 799
Contact 800

Gocator Line Profile Sensors: User Manual 13
Introduction
This documentation describes how to connect, configure, and use a Gocator. It also contains reference
information on the device's protocols and job files, as well as an overview of the development kits you
can use with Gocator. Finally, the documentation describes the Gocator emulator and accelerator
applications.
The documentation applies to the following:
lGocator 2100 series
lGocator 2300 series
lGocator 2400 series
lGocator 2500 series
lGocator 2880
B series Gocator sensors are only supported by firmware version 4.3 or later.
C revision Gocator sensors are only supported by firmware version 4.5 SR1 or later. These
sensors are compatible with SDKapplications built with version 4.x of the SDK. The sensors are
also compatible with jobs created on sensors running firmware 4.x.
Notational Conventions
This documentation uses the following notational conventions:
Follow these safety guidelines to avoid potential injury or property damage.
Consider this information in order to make best use of the product.

Gocator Line Profile Sensors: User Manual 14
Gocator Overview
Gocator laser profile sensors are designed for 3D measurement and control applications. Gocator
sensors are configured using a web browser and can be connected to a variety of input and output
devices. Gocator sensors can also be configured using the provided development kits.

Gocator Line Profile Sensors: User Manual 15
Safety and Maintenance
The following sections describe the safe use and maintenance of Gocator sensors.
Laser Safety
Gocator sensors contain semiconductor lasers that emit visible or invisible light and are designated as
Class 2, 2M, Class 3R, or Class 3B, depending on the chosen laser option. For more information on the
laser classes used in Gocator sensors, Laser Classes on the next page.
Gocator sensors are referred to as components, indicating that they are sold only to qualified customers
for incorporation into their own equipment. These sensors do not incorporate safety items that the
customer may be required to provide in their own equipment (e.g., remote interlocks, key control; refer
to the references below for detailed information). As such, these sensors do not fully comply with the
standards relating to laser products specified in IEC 60825-1 and FDA CFR Title 21 Part 1040.
Use of controls or adjustments or performance of procedures other than those specified herein
may result in hazardous radiation exposure.
References
1. International standard IEC 60825-1 (2001-08) consolidated edition, Safety of laser products – Part 1:
Equipment classification, requirements and user's guide.
2. Technical report 60825-10, Safety of laser products – Part 10. Application guidelines and explanatory
notes to IEC 60825-1.
3. Laser Notice No. 50, FDA and CDRH (https://www.fda.gov/Radiation-Emit-
tingProducts/ElectronicProductRadiationControlProgram/default.htm)

Gocator Line Profile Sensors: User Manual Safety and Maintenance • 16
Laser Classes
Class 2 laser components
Class 2 laser components are considered to be safe, provided that:
lThe user’s blink reflex can terminate exposure (in under 0.25 seconds).
lUsers do not need to look repeatedly at the beam or reflected light.
lExposure is only accidental.
Class 2M laser components
Class 2M laser components should not cause permanent damage to the eye under reasonably
foreseeable conditions of operation, provided that:
lNo optical aids are used (these could focus the beam).
lThe user’s blink reflex can terminate exposure (in under 0.25 seconds).
lUsers do not need to look repeatedly at the beam or reflected light.
lExposure is only accidental.
Class 3R laser components
Class 3R laser products emit radiation where direct intrabeam viewing is potentially hazardous, but
the risk is lower with 3R lasers than for 3B lasers. Fewer manufacturing requirements and control
measures for 3R laser users apply than for 3B lasers.
lEye protection and protective clothing are not required.
lThe laser beam must be terminated at the end of an appropriate path.
lAvoid unintentional reflections.
lPersonnel must be trained in working with laser equipment.
Class 3B laser components
Class 3B components are unsafe for eye exposure.
lUsually only eye protection is required. Protective gloves may also be used.
lDiffuse reflections are safe if viewed for less than 10 seconds at a minimum distance of 13 cm.
lThere is a risk of fire if the beam encounters flammable materials.
lThe laser area must be clearly identified.
lUse a key switch or other mechanism to prevent unauthorized use.
lUse a clearly visible indicator to show that a laser is in use, such as “Laser in operation.”
lRestrict the laser beam to the working area.
lEnsure that there are no reflective surfaces in the working area.
Labels reprinted here are examples only. For accurate specifications, refer to the label on your
sensor.

Gocator Line Profile Sensors: User Manual Safety and Maintenance • 17
For more information, see Precautions and Responsibilities below.
Precautions and Responsibilities
Precautions specified in IEC 60825-1 and FDA CFR Title 21 Part 1040 are as follows:
Requirement Class 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 – cannot
remove key when in
use*
Power-on delays Not required Not required Not required Required*
Beam attenuator Not required Not required Not required Required*
Emission
indicator
Not required Not required Not required Required*
Warning signs Not required Not required Not required Required*
Beam path Not required Not required Terminate beam at
useful length
Terminate beam at
useful length
Specular
reflection
Not required Not required Prevent unintentional
reflections
Prevent unintentional
reflections
Eye protection Not required Not required Not required Required under
special conditions
Laser safety
officer
Not required Not required Not required Required
Training Not required Not required Required for operator
and maintenance
personnel
Required for operator
and maintenance
personnel
*LMI Class 3B laser components do not incorporate these laser safety items. These items must be added and completed by customers
in their system design. For more information, see Class 3B Responsibilities below.
Class 3B Responsibilities
LMI Technologies has filed reports with the FDA to assist customers in achieving certification of laser
products. These reports can be referenced by an accession number, provided upon request. Detailed
descriptions of the safety items that must be added to the system design are listed below.
Remote Interlock
A remote interlock connection must be present in Class 3B laser systems. This permits remote switches
to be attached in serial with the keylock switch on the controls. The deactivation of any remote switches
must prevent power from being supplied to any lasers.

Gocator Line Profile Sensors: User Manual Safety and Maintenance • 18
Key Control
A key operated master control to the lasers is required that prevents any power from being supplied to
the lasers while in the OFF position. The key can be removed in the OFF position but the switch must not
allow the key to be removed from the lock while in the ON position.
Power-On Delays
A delay circuit is required that illuminates warning indicators for a short period of time before supplying
power to the lasers.
Beam Attenuators
A permanently attached method of preventing human access to laser radiation other than switches,
power connectors or key control must be employed.
Emission Indicator
It is required that the controls that operate the sensors incorporate a visible or audible indicator when
power is applied and the lasers are operating. If the distance between the sensor and controls is more
than 2 meters, or mounting of sensors intervenes with observation of these indicators, then a second
power-on indicator should be mounted at some readily-observable position. When mounting the
warning indicators, it is important not to mount them in a location that would require human exposure
to the laser emissions. User must ensure that the emission indicator, if supplied by OEM, is visible when
viewed through protective eyewear.
Warning Signs
Laser warning signs must be located in the vicinity of the sensor such that they will be readily observed.
Examples of laser warning signs are as follows:
FDA warning sign example IEC warning sign example
Nominal Ocular Hazard Distance (NOHD)
Nominal Ocular Hazard Distance (NOHD)is the distance from the source at which the intensity or the
energy per surface unit becomes lower than the Maximum Permissible Exposure (MPE) on the cornea
and on the skin.
The laser beam is considered dangerous if the operator is closer to the source than the NOHD.
The following tables provide the NOHDvalues for each Gocator model and laser class, assuming
continuous operation of the laser. As a configurable device, Gocator lets you set the laser exposure (laser

Gocator Line Profile Sensors: User Manual Safety and Maintenance • 19
on-time) independently of the frame period (total cycle time for data acquisition). Continuous operation
of the laser means that the laser exposure is configured to be identical to the frame period, which is also
referred to as 100% duty cycle. However, in many applications the laser exposure can be smaller than
the frame period (less than 100% duty cycle), thereby reducing the NOHD. The tables therefore show
the worst-case NOHD.
The following table provides NOHDvalues for current hardware versions of Gocator sensors.
Model Laser Class Wavelength (nm) Class INOHD(mm) Class IINOHD(mm)
2410A
2420A
2M 405 259 a103 a
3R 405 1300 a500 a
2430A
2440A
21x0D/23x0D (except 2x80D)
2 660 670 -
3R 660 3340 1330
2350C 3B(NIRlaser) 808 19750 -
2375C 3B (NIRlaser) 808 13777 -
2x80D 2660 1310 -
3R 660 4700 1850
Current Hardware Versions
aWith exposure time <10 seconds. For longer exposure times, consult IEC60825.
The following table provides NOHDvalues for older hardware version sensors.
Model Laser Class Wavelength (nm) Class INOHD(mm) Class IINOHD(mm)
2120A to C, 2320A to C
2130A to C, 2330A to C
2140A to C, 2340Ato C
2150Ato C, 2350A to C
2M 660 259 103
3R 660 900 358
3B 660 5759 2292
2350A 3B(NIRlaser) 808 19750 -
2170A to C, 2370A to C 2M 660 251 100
3R 660 875 348
3B 660 3645 1451
2375A 3B (NIRlaser) 808 13777 -
2180A to C, 2380A to C 2M 660 245 97
3R 660 859 342
3B 660 2645 1052
Older Hardware Versions
Systems Sold or Used in the USA
Systems that incorporate laser components or laser products manufactured by LMI Technologies
require certification by the FDA.
Customers are responsible for achieving and maintaining this certification.

Gocator Line Profile Sensors: User Manual Safety and Maintenance • 20
Customers are advised to obtain the information booklet Regulations for the Administration and
Enforcement of the Radiation Control for Health and Safety Act of 1968: HHS Publication FDA 88-8035.
This publication, containing the full details of laser safety requirements, can be obtained directly from
the FDA, or downloaded from their web site at https://www.fda.gov/Radiation-
EmittingProducts/ElectronicProductRadiationControlProgram/default.htm.
Electrical Safety
Failure to follow the guidelines described in this section may result in electrical shock or equipment
damage.
Sensors should be connected to earth ground
All sensors should be connected to earth ground through their housing. All sensors should be mounted
on an earth grounded frame using electrically conductive hardware to ensure the housing of the sensor
is connected to earth ground. Use a multi-meter to check the continuity between the sensor connector
and earth ground to ensure a proper connection.
Minimize voltage potential between system ground and sensor ground
Care should be taken to minimize the voltage potential between system ground (ground reference for
I/O signals) and sensor ground. This voltage potential can be determined by measuring the voltage
between Analog_out- and system ground. The maximum permissible voltage potential is 12 V but should
be kept below 10 V to avoid damage to the serial and encoder connections.
For a description of the connector pins, see Gocator I/O Connector on page 768.
Use a suitable power supply
The +24 to +48 VDC power supply used with Gocator sensors should be an isolated supply with inrush
current protection or be able to handle a high capacitive load.
Use care when handling powered devices
Wires connecting to the sensor should not be handled while the sensor is powered. Doing so may cause
electrical shock to the user or damage to the equipment.
Heat Warning
If a sensor is not adequately heat-sunk, the housing may get hot enough to cause injury.
Sensors should be properly heat-sunk
To avoid injury and to ensure that a sensor functions properly, mount the sensor to a thermally
conductive material for good heat-sinking.
Handling, Cleaning, and Maintenance
Dirty or damaged sensor windows (emitter or camera) can affect accuracy. Use caution when
handling the sensor or cleaning the sensor's windows.