LMI Technologies Gocator 1300 Series User manual

USERMANUAL
Gocator 1300 Series
Document revision:A

2
Copyright
Copyright © 2015 by LMI Technologies, Inc. All rights reserved.
Proprietary
This document, submitted in confidence, contains proprietary information which shall not be
reproduced or transferred to other documents or disclosed to others or used for manufacturing or any
other purpose without prior written permission of LMI Technologies Inc.
No part of this publication may be copied, photocopied, reproduced, transmitted, transcribed, or
reduced to any electronic medium or machine readable form without prior written consent of LMI
Technologies, Inc.
Trademarks and Restrictions
Gocator™ is a registered trademark of LMI Technologies, Inc. Any other company or product names
mentioned herein may be trademarks of their respective owners.
Information contained within this manual is subject to change.
This product is designated for use solely as a component and as such it does not comply with the
standards relating to laser products specified in U.S. FDA CFR Title 21 Part 1040.
Contact Information
For more information, please contact LMI Technologies.
LMI Technologies, Inc. 1673 Cliveden Ave.
Delta, BC V3M 6V5
Canada
Telephone: [phone]
Facsimile: [phone]
www.lmi3D.com

Gocator 1300 Series 3
Table of Contents
Copyright 2
Table of Contents 3
Introduction 7
Safety and Maintenance 8
Laser Safety 8
Laser Classes 9
Precautions and Responsibilities 9
Class 3B Responsibilities 10
Systems Sold or Used in the USA 11
Electrical Safety 11
Environment and Lighting 12
Sensor Maintenance 13
Getting Started 14
System Overview 14
Standalone System 14
Dual-Sensor System 14
Multi-Sensor System 15
Hardware Overview 16
Side Mount Package 16
Top Mount Package 16
Gocator Cordsets 17
Master 100 17
Master 400/800 18
Master 1200/2400 19
Calibration Targets 20
Installation 22
Grounding - Gocator 22
Recommended Grounding Practices - Cordsets 22
Grounding - Master 400/800/1200/2400 23
Mounting - Side Mount Package 23
Mounting - Top Mount Package 24
Orientations 25
Network Setup 28
Client Setup 28
Gocator Setup 30
Running a Standalone Sensor System 30
Running a Dual-Sensor System 31
Next Steps 34
Theory of Operation 36
3D Acquisition 36
Principle of 3D Acquisition 36
Resolution and Accuracy 37
Z Resolution 37
Z Linearity 37
RangeOutput 38
Coordinate Systems 38
Sensor Coordinates 38
System Coordinates 38
Gocator Web Interface 40
User Interface Overview 40
Common Elements 41
Toolbar 41
Saving and Loading Settings 41
Managing Multiple Settings 43
Recording, Playback, and Measurement
Simulation 43
Downloading, Exporting, and Uploading
Recorded Data 45
Metrics Panel 46
Data Viewer 46
Connection and Maintenance 47
Connection Page Overview 47
System Panel 47
Network Settings 47
Sensor Autostart 48
Overheat Temperature Protection 48
Available Sensors 49
Buddy Assignment 49
Security Panel 50
Files Panel 51
Maintenance Panel 51
Sensor Backups and Factory Reset 52
Firmware Upgrade 53
Setup and Calibration 55
Setup Page Overview 55
Operation Mode Panel 56
Trigger Panel 57
Trigger Examples 59
Trigger Settings 60
Sensor Panel 61
Active Area 61
Exposure 63
Single Exposure 63

Gocator 1300 Series 4
Dynamic Exposure 64
Transformations 65
Layout Panel 66
Dual-Sensor System Layout 66
Calibration 67
Calibration States 68
Transformation Sources 68
Alignment vs. Travel Calibration 69
Alignment Calibration 69
Travel Calibration 70
Clearing Calibration 71
Data Viewer 71
Video Mode 71
Range Mode 71
Region Definition 72
Data Viewer Controls 73
Intensity Output 73
Measurement 74
Measurement Page Overview 74
Tools Panel 75
Adding and Removing Measurements 75
Data Viewer 75
Measurement Management 75
Measurement Name 75
Measurement ID 76
Range Sources 76
Common Measurement Parameters 76
Profile Sources 77
Decisions 77
Regions 78
Output Filters 78
Range Measurement 79
Tools and Measurements 79
Difference 79
Position Z 80
Script 81
Script Measurement 81
Built-in Functions 82
Output 86
Output Page Overview 86
Ethernet Output 87
Digital Outputs 90
Analog Output 93
Serial Output 95
Dashboard 98
Dashboard Page Overview 98
State and Health Information 98
Measurement Statistics 99
Gocator Device Files 101
Configuration Files 101
Setup 101
Trigger 102
Layout 103
Calibration 103
Sensors / Sensor 104
Sensors / Sensor / Profiling 104
Range 105
Measurements / RangePositionZ 105
Measurements / RangeDifference 106
Measurements / Script 106
Outputs 107
Ethernet 107
Serial 108
Analog 109
DigitalOutput 110
Calibration File 111
SysCal 111
Entries 112
Protocols 113
Gocator Protocol 113
Concepts 113
Discovery 113
Command Channels 114
Result Channels 114
Modes 114
Buddy Communication Channels 115
States 115
Versions and Upgrades 115
Data Types 116
Range Sources 116
Status Codes 116
Command and Reply Formats 117
Result Format 117
Discovery Commands 118

Gocator 1300 Series 5
Get Address 118
Set Address 119
Upgrade Commands 119
Get Protocol Version 119
Start Upgrade 120
Get Upgrade Status 120
Get Upgrade Log 121
Control Commands 121
Get Protocol Version 121
Get System Info 122
Log In/Out 123
Change Password 123
Change Buddy 124
Get File List 124
Copy File 125
Read File 125
Write File 126
Delete File 126
Get Default File 127
Set Default File 127
Get Loaded File 128
Get Mode 128
Set Mode 128
Get Time 129
Get Encoder 129
Start 129
Scheduled Start 130
Stop 130
Trigger 131
Scheduled Digital Output 131
Scheduled Analog Output 132
Ping 132
Reset 133
Backup 133
Restore 133
Restore Factory 134
Get Connection Type 134
Set Connection Type 135
Clear Calibration 135
Data Results 136
Video 136
Range 137
Range Intensity 137
Alignment Calibration 137
Travel Calibration 138
Exposure Calibration 138
Measurement 138
Health Results 139
Modbus TCP Protocol 142
Concepts 142
Messages 142
Registers 143
Control Registers 144
Output Registers 145
Measurement Registers 146
EtherNet/IP Protocol 148
Concepts 148
Basic Object 148
Identity Object (Class 0x01) 148
TCP/IP Object (Class 0xF5) 149
Ethernet Link Object (Class 0xF6) 149
Assembly Object (Class 0x04) 149
Command Assembly 150
Sensor State Assembly 151
Sample State Assembly 152
Extended Sample State Assembly 153
ASCII Protocol 155
Ethernet Communication 155
Asynchronous and Polling Operation 155
Serial Communication 155
Command and Reply Format 156
Special Characters 156
Standard Result Format 157
Custom Result Format 157
Control Commands 158
Start 158
Stop 158
Trigger 159
Load Configuration 159
Stamp 160
Alignment Calibration 160
Travel Calibration 161
Clear Calibration 161
Data Commands 161

Gocator 1300 Series 6
Get Result 162
Get Value 162
Get Decision 163
Health Commands 164
Get Health 164
Selcom Serial Protocol 165
Connection Settings 165
Message Format 165
Software Development Kit 167
Limiting Flash Memory Write Operations 168
Tools 170
Sensor Recovery Tool 170
Troubleshooting 172
Specifications 174
Gocator 1300 Series 175
Gocator 1320 (Side Mount Package) 176
Gocator 1340 (Side Mount Package) 178
Gocator 1350 (Side Mount Package) 180
Gocator 1350 (Top Mount Package) 183
Gocator 1365 (Side Mount Package) 186
Gocator 1370 (Side Mount Package) 189
Gocator 1390 (Side Mount Package) 191
Gocator Power/LAN Connector 194
Grounding Shield 194
Power 195
Laser Safety Input 195
Gocator 1300 I/O Connector 196
Grounding Shield 196
Digital Outputs 197
Inverting Outputs 197
Digital Inputs 197
Encoder Input 198
Serial Output 199
Selcom Serial Output 199
Analog Output 200
Master 100 201
Master 100 Dimensions 202
Master 400/800 203
Master 400/800 Electrical Specifications 204
Master 400/800 Dimensions 205
Master 1200/2400 206
Master 1200/2400 Electrical Specifications 207
Master 1200/2400 Dimensions 208
Parts and Accessories 209
Return Policy 211
Software Licenses 212
Support 218
Contact 219

7
Introduction
The Gocator 1300 series of laser displacement sensors is designed for 3D measurement and control
applications. Gocator sensors are configured using a web browser and can be connected to a variety of
input and output devices.
This documentation describes how to connect, configure, and use a Gocator. It also contains reference
information on the device's protocols and configuration files.
Notational Conventions
This guide uses the following notational conventions:
Follow these safety guidelines to avoid potential injury or property damage.
Consider this information in order to make best use of the product.

8
Safety and Maintenance
The following sections describe the safe use and maintenance of Gocator sensors.
Laser Safety
Gocator sensors contain
semiconductor lasers that emit visible
or invisible light and are designated as
Class 2M, Class 3R, or Class 3B,
depending on the chosen laser option.
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
references 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 http://www.fda.gov/cdrh/rad-health.html

Safety and Maintenance • Laser Safety • 9
Laser Classes
Class 2M laser components
Class 2M laser components would not cause
permanent damage to the eye under
reasonably foreseeable conditions of operation,
provided that any exposure can be terminated
by the blink reflex (assumed to take 0.25
seconds). Because classification assumes the
blink reflex, the wavelength of light must be in
the visible range (400 nm to 700 nm). The
Maximum Permissible Exposure (MPE) for
visible radiation for 0.25 seconds is 25 watts per
square meter, which is equivalent to 1 mW
entering an aperture of 7 mm diameter (the
assumed size of the pupil).
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.
Class 3B laser components
Class 3B components are unsafe for eye
exposure. Usually only ocular protection will be
required. Diffuse reflections are safe if viewed
for less than 10 seconds.
Labels reprinted here are examples only. For accurate specifications, refer to the label on your
sensor.
Precautions and Responsibilities
Precautions specified in IEC 60825-1 and FDA CFR Title 21 Part 1040 are as follows:
Requirement Class 2M Class 3R Class 3B
Remote interlock Not required Not required Required*
Key control Not required Not required Required – cannot remove
key when in use*
Power-on delays Not required Not required Required*

Safety and Maintenance • Laser Safety • 10
Requirement Class 2M Class 3R Class 3B
Beam attenuator Not required Not required Required*
Emission indicator Not required Not required Required*
Warning signs Not required Not required Required*
Beam path Not required Terminate beam at useful
length
Terminate beam at useful
length
Specular reflection Not required Prevent unintentional
reflections
Prevent unintentional
reflections
Eye protection Not required Not required Required under special
conditions
Laser safety officer Not required Not required Required
Training Not required Required for operator and
maintenance personnel
Required for operator and
maintenance personnel
*LMI Class 3B laser components do not incorporate these laser safety items. These items must be added and completed by customers
in their system design.
Class 3B Responsibilities
LMI Technologies has filed reports with the FDA to assist customers in achieving certification of laser
products. These reports can be referenced by an accession number, provided upon request. Detailed
descriptions of the safety items that must be added to the system design are listed below.
Remote Interlock
A remote interlock connection must be present in Class 3B laser systems. This permits remote switches
to be attached in serial with the keylock switch on the controls. The deactivation of any remote switches
must prevent power from being supplied to any lasers.
Key Control
A key operated master control to the lasers is required that prevents any power from being supplied to
the lasers while in the OFF position. The key can be removed in the OFF position but the switch must not
allow the key to be removed from the lock while in the ON position.
Power-On Delays
A delay circuit is required that illuminates warning indicators for a short period of time before supplying
power to the lasers.
Beam Attenuators
A permanently attached method of preventing human access to laser radiation other than switches,
power connectors or key control must be employed. On some LMI laser sensors, the beam attenuator is
supplied with the sensor as an integrated mechanical shutter.
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

Safety and Maintenance • Electrical Safety • 11
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
Systems Sold or Used in the USA
Systems that incorporate laser components or laser products manufactured by LMI Technologies
require certification by the FDA.
Customers are responsible for achieving and maintaining this certification.
Customers are advised to obtain the information booklet Regulations for the Administration and
Enforcement of the Radiation Control for Health and Safety Act of 1968: HHS Publication FDA 88-8035.
This publication, containing the full details of laser safety requirements, can be obtained directly from
the FDA, or downloaded from their web site at http://www.fda.gov/cdrh.
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

Safety and Maintenance • Environment and Lighting • 12
between Analog_out- and system ground. The maximum permissible voltage potential is 12 V but should
be kept below 10 V to avoid damage to the serial and encoder connections.
See Gocator 1300 I/O Connector (page 196) for a description of connector pins.
Use a suitable power supply
The +24 to +48 VDC power supply used with Gocator sensors should be an isolated supply with inrush
current protection or be able to handle a high capacitive load.
Use care when handling powered devices
Wires connecting to the sensor should not be handled while the sensor is powered. Doing so may cause
electrical shock to the user or damage to the equipment.
Environment and Lighting
Avoid strong ambient light sources
The imager used in this product is highly sensitive to ambient light hence stray light may have adverse
effects on measurement. Do not operate this device near windows or lighting fixtures that could
influence measurement. If the unit must be installed in an environment with high ambient light levels, a
lighting shield or similar device may need to be installed to prevent light from affecting measurement.
Avoid installing sensors in hazardous environments
To ensure reliable operation and to prevent damage to Gocator sensors, avoid installing the sensor in
locations
lthat are humid, dusty, or poorly ventilated;
lwith a high temperature, such as places exposed to direct sunlight;
lwhere there are flammable or corrosive gases;
lwhere the unit may be directly subjected to harsh vibration or impact;
lwhere water, oil, or chemicals may splash onto the unit;
lwhere static electricity is easily generated.
Ensure that ambient conditions are within specifications
Gocator sensors are suitable for operation between 0–50° C and 25–85% relative humidity (non-
condensing). Measurement error due to temperature is limited to 0.015% of full scale per degree C.
The Master 100/400/800/1200/2400 is similarly rated for operation between 0–50° C.
The storage temperature is -30–70° C.
The sensor must be heat-sunk through the frame it is mounted to. When a sensor is properly
heat sunk, the difference between ambient temperature and the temperature reported in the
sensor's health channel is less
than 15° C.
Gocator sensors are high-accuracy devices, and the temperature of all of its components must
therefore be in equilibrium. When the sensor is powered up, a warm-up time of at least one
hour is required to reach a consistent spread of temperature in the sensor.

Safety and Maintenance • Sensor Maintenance • 13
Sensor Maintenance
Keep sensor windows clean
Gocator sensors are high-precision optical instruments. To ensure the highest accuracy is achieved in all
measurements, the windows on the front of the sensor should be kept clean and clear of debris.
Use care when cleaning sensor windows
Use dry, clean air to remove dust or other dirt particles. If dirt remains, clean the windows carefully with
a soft, lint-free cloth and non-streaking glass cleaner or isopropyl alcohol. Ensure that no residue is left
on the windows after cleaning.
Turn off lasers when not in use
LMI Technologies uses semiconductor lasers in 3D measurement sensors. To maximize the lifespan of
the sensor, turn off the laser when not in use.
Avoid excessive modifications to files stored on the sensor
Settings for Gocator sensors are stored in flash memory inside the sensor. Flash memory has an
expected lifetime of 100,000 writes. To maximize lifetime, avoid frequent or unnecessary file save
operations.

14
Getting Started
The following sections provide system and hardware overviews, in addition to installation and setup
procedures.
System Overview
Gocator sensors can be installed and used in a variety of scenarios. Sensors can be connected as
standalone devices, dual-sensor systems, or multi-sensor systems.
Standalone System
Standalone systems are typically used when only a single Gocator sensor is required. The sensor can be
connected to a computer's Ethernet port for setup and can also be connected to devices such as
encoders, photocells, or PLCs.
Dual-Sensor System
In a dual-sensor system, two Gocator sensors work together to perform ranging and output the
combined results. The controlling sensor is referred to as the Main sensor, and the other sensor is
referred to as the Buddy sensor. Gocator's software recognizes three installation orientations: None
(isolated), Opposite and Wide.
A Master 400/800/1200/2400 must be used to connect two sensors in a dual-sensor system. Gocator
Master cordsets are used to connect sensors to the Master.

Getting Started • System Overview • 15
Multi-Sensor System
Master 400/800/1200/2400 networking hardware can be used to connect two or more sensors into a
multi-sensor system. Gocator Master cordsets are used to connect the sensors to a Master. The Master
provides a single point of connection for power, safety, encoder, and digital inputs. A Master
400/800/1200/2400 can be used to ensure that the scan timing is precisely synchronized across
sensors. Sensors and client computers communicate viaan Ethernet switch (1 Gigabit/s recommended).

Getting Started • Hardware Overview • 16
Hardware Overview
The following sections describe Gocator and its associated hardware.
Side Mount Package
Item Description
Camera Observes laser light reflected from target surfaces.
Laser Emitter Emits structured light for laser ranging.
I/O Connector Accepts input and output signals.
Power / LAN Connector Accepts power and laser safety signals and connects to 1000 Mbit/s Ethernet network.
Power Indicator Illuminates when power is applied (blue).
Range Indicator Illuminates when camera detects laser light and is within the target range (green).
Laser Indicator Illuminates when laser safety input is active (amber).
Serial Number Unique sensor serial number.
Top Mount Package

Getting Started • Hardware Overview • 17
Item Description
Camera Observes laser light reflected from target surfaces.
Laser Emitter Emits structured light for laser ranging.
I/O Connector Accepts input and output signals.
Power / LAN Connector Accepts power and laser safety signals and connects to 1000 Mbit/s Ethernet network.
Power Indicator Illuminates when power is applied (blue).
Range Indicator Illuminates when camera detects laser light and is within the target range (green).
Laser Indicator Illuminates when laser safety input is active (amber).
Serial Number Unique sensor serial number.
Gocator Cordsets
Gocator 1300 sensors use two types of cordsets.
The Power &Ethernet cordset is used for sensor communication via 1000 Mbit/s Ethernet over a
standard RJ45 connector. The Master version of the Power &Ethernet cordset provides electrical
connection between the sensor and a Master 400/800/1200/2400.
The Gocator I/O cordset provides power and laser safety interlock to sensors. It also provides digital I/O
connections, an encoder interface, RS-485 serial connection, and an analog output.
See Parts and Accessories (page 209) for cordset lengths and part numbers. Contact LMI for information
on creating cordsets with customized lengths and connector orientations.
Master 100
The Master 100 is used by the Gocator 1300 series for standalone system setup.

Getting Started • Hardware Overview • 18
Item Description
Master Ethernet Port Connects to the RJ45 connector labeled Ethernet on the Power/LAN to Master cordset.
Master Power Port Connects to the RJ45 connector labeled Power/Sync on the Power/LAN to Master
cordset. Provides power and laser safety to the Gocator.
Sensor I/O Port Connects to the Gocator I/O cordset.
Master Host Port Connects to the host PC's Ethernet port.
Power Accepts power (+48 V).
Power Switch Toggles sensor power.
Laser Safety Switch Toggles laser safety signal provided to the sensors [O= laser off, I= laser on].
Trigger Signals a digital input trigger to the Gocator.
Encoder Accepts encoder A, B and Z signals.
Digital Output Provides digital output.
See Master 100 (page 201) for pinout details.
Master 400/800
The Master 400 and the Master 800 allow you to connect more than two sensors. The Master 400
accepts four sensors, and the Master 800 accepts eight sensors.

Getting Started • Hardware Overview • 19
Item Description
Sensor Ports Master connection for Gocator sensors (no specific order required).
Ground Connection Earth ground connection point.
Laser Safety Laser safety connection.
Encoder Accepts encoder signal.
Input Accepts digital input.
See Master 400/800 (page 203) for pinout details.
Master 1200/2400
The Master 1200 and the Master 2400 allow you to connect more than two sensors. The Master 1200
accepts twelve sensors, and the Master 2400 accepts twenty-four sensors.

Getting Started • Hardware Overview • 20
Item Description
Sensor Ports Master connection for Gocator sensors (no specific order required).
Ground Connection Earth ground connection point.
Laser Safety Laser safety connection.
Encoder Accepts encoder signal.
Input Accepts digital input.
See Master 1200/2400 (page 206) for pinout details.
Calibration Targets
Calibration targets are used for travel calibration.