LMI Technologies Chroma+scan 21X5 User manual

Chroma+scan 21X5
Version 4.11.3.0

Copyright, © 2010, 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
DynaVision, chroma+scan®, Selcom®, FireSync®, and Sensors That See®are
registered trademarks of LMI Technologies, Inc. Any other company or product names
mentioned herein may be trademarks of their respective owners. Information in 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.
LMI Technologies, Inc.
1673 Cliveden Ave.
Delta, BC V3M 6V5
Telephone: [phone]
Facsimile: [phone]
www.lmi3D.com

Table of Contents
1 Laser Safety.............................................................................................................5
1.1 General Information ..........................................................................................5
1.2 Laser Classification...........................................................................................6
1.2.1 Laser Classes ............................................................................................6
1.2.2 User Precautions & OEM Responsibilities..................................................7
1.2.3 Class 3B/lllb OEM Responsibilities.............................................................7
1.3 Requirements for Laser Systems Sold or Used In the USA...............................9
1.4 Chroma+scan 21X5 Laser Safety Specification.................................................9
2 Sensor Overview....................................................................................................10
2.1 Introduction .....................................................................................................12
2.2 Measurement Principles..................................................................................12
3 Sensor Specifications.............................................................................................13
3.1 Models ............................................................................................................13
3.1.1 chroma+scan 2125 ..................................................................................13
3.2 Coordinate Definitions.....................................................................................14
3.3 Performance ...................................................................................................15
3.4 Specifications..................................................................................................15
3.5 Scan Zone.......................................................................................................16
3.6 Dimensions .....................................................................................................17
3.7 FOV Envelope.................................................................................................17
3.8 Cleaning..........................................................................................................18
3.9 Features..........................................................................................................18
3.9.1 Binocular 3D Scanning.............................................................................19
3.9.2 High Scan Rates ......................................................................................19
3.9.3 Normalized Intensity.................................................................................19
4 System...................................................................................................................20
4.1 Network Components......................................................................................20
4.2 Safety Interlock ...............................................................................................20
4.3 Scan Frame ....................................................................................................20
4.4 Calibration Target............................................................................................22
5 Software.................................................................................................................23
5.1 Overview.........................................................................................................23
5.2 Getting Started with FireSync Client................................................................23
5.2.1 Installation................................................................................................23
5.2.2 Connection...............................................................................................24
5.2.3 Firmware Update .....................................................................................24
5.2.4 Server Configuration ................................................................................24
5.2.5 FireSync Client Options ...........................................................................27
5.2.5.1 Video Tab .........................................................................................27
5.2.5.2 Free Tab ...........................................................................................28
5.2.5.3 Calibration Tab..................................................................................30
5.2.5.4 Detection Tab....................................................................................32
5.2.5.5 Web Tab ...........................................................................................33
5.2.6 Server Fine Calibration Tab .....................................................................34
5.2.7 Event Channel .........................................................................................35
5.3 Client Communication Interface ......................................................................36
5.3.1 Settings....................................................................................................36

5.3.2 System Calibration Coefficients................................................................40
5.3.3 Speeds and Data Rates ...........................................................................40
5.3.4 Modes and Messages ..............................................................................41
5.3.4.1 Video Mode.......................................................................................41
5.3.4.2 Free Mode ........................................................................................43
5.3.4.3 Calibration Mode...............................................................................45
5.3.4.4 Detection Mode.................................................................................46
5.3.4.5 Web Mode ........................................................................................47
5.3.5 Health Indicators ......................................................................................48
5.4 Sample Code ..................................................................................................49
6 Warranty ................................................................................................................50
6.1 Warranty policies.............................................................................................50
6.2 Return policy...................................................................................................50
7 Getting Help ...........................................................................................................51

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Section 1
Section 1
1 Laser Safety
1.1 General Information
The laser light sources used in LMI Sensors are semiconductor lasers emitting visible
light.
LMI Laser Sensors have a 2/ll, 3R/llla or 3B/lllb classification depending on model.
Class 2/ll and 3R/llla sensors are referred to as “products” indicating that they fully
comply with the standards relating to laser products specified in IEC 60825-1 and U.S.
FDA CFR Title 21 Part 1040 except for deviations pursuant to Laser Notice No. 50,
dated July 26, 2001.
Class 3B/lllb sensors are sold only to qualified OEM’s as “components” for incorporation
into their own equipment. The sensors do not incorporate safety items which the OEM is
required to provide in their own equipment (e.g. remote interlocks, key control). 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.
Caution!
Use of controls or adjustments or performance of procedures other than
those specified herein may result in hazardous radiation exposure.

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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 TR 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
1.2 Laser Classification
1.2.1 Laser Classes
Class 2/ll laser products:
Class 2/ll laser products 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 sec). 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 second is 25 Watt per square meter,
which is equivalent to 1 mW entering an aperture
of 7 mm diameter (the assumed size of the pupil).
Class 3R/llla laser products:
Class 3R/llla laser products emit radiation where
direct intrabeam viewing is potentially hazardous,
but the risk is lower than for 3B/lllb lasers. Fewer
manufacturing requirements and control
measures for users apply than for 3B/lllb lasers.
Class 3B/lllb laser components:
Class 3B/lllb components are unsafe for eye
exposure. Usually only ocular protection would
be required. Diffuse reflections are safe if viewed
for less than 10 seconds.
Labels reprinted here are
examples relevant to the laser
classes. For detailed
specifications observe the label
on your laser sensor

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1.2.2 User Precautions & OEM Responsibilities
The specific user precautions as specified in IEC 60825-1 and FDA CFR Title 21 Part
1040 are:
Requirements Class 2/ll Class 3R/3a Class 3B/3b
Remote interlock Not required Not required Required**
Key control Not required Not required
Required
**
Cannot remove key
when in use
Power-On delays Not required Not required Required**
Beam attenuator Not required Not required Required**
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/lllb laser components do not incorporate the safety items indicated by
asterisks ** in the table above. These items must be added and completed by the OEM
in the system design.
1.2.3 Class 3B/lllb OEM Responsibilities
LMI Technologies has filed reports with the FDA to assist the OEM in achieving
certification of their laser products. The OEM can reference these reports by an
accession number that will be provided upon request.
Detailed descriptions of the safety items that must be added to the OEM design are
listed below:

8
Remote Interlock
A remote interlock connection must be present in Class IIIB 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 that prevents any power from being supplied
to the lasers while in the OFF position. The key can be removable 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
prior to supplying power to the lasers.
Beam Attenuators
A permanently attached method of preventing human access to the 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 distance (>2 m between
sensor and controls) or mounting of sensors intervenes with observation of these
indicators, 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.
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:
FDA Example IEC Example

9
1.3 Requirements for Laser Systems Sold or Used In the USA
The OEM’s laser system which incorporates laser components or laser products
manufactured by LMI Technologies requires certification by the FDA.
It is the responsibility of the OEM to achieve and maintain this certification.
OEM’s 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 website at http://www.fda.gov/cdrh.
1.4 Chroma+scan 21X5 Laser Safety Specification
Laser Classification: 3B/IIIb laser component
Peak Power: 130mW
Emitted Wavelength: 660nm

10
Section 2
2 Proper Handling and Precautions
2.1 System Installation
2.1.1 Component Grounding
All sensors should be grounded to the earth/chassis through their housing. For sensors
with through-hole mounts, this can be accomplished by using star washers on the
mounting bolts. The star washers must cut through the powder coating to provide
electrical conductivity from the mounting hardware to the sensor housing. For sensors
with tapped hole mounts, conductive hardware must to be used between the sensor and
the frame. This must be checked with a multi-meter by ensuring electrical continuity
between the frame and the connector housing on the sensor. It is imperative that the
scan frame or chassis that the sensor is mounted to is connected to earth ground.
Master networking products should have the housing connected to earth ground. This
can be accomplished using star washers on the mounting holes or through the earth
ground connection located on the rear of the Master 1200 and 2400. FireSync
Networking products should be installed inside electrical cabinets that are suitably
grounded to earth ground.
2.1.2 Shielded Cable
LMI Technologies recommends the use of shielded cables in all environments to ensure
isolation from electrical noise. The shield should be electrically connected to both the
sensor housing through the connector housing and to the electrical box containing either
the Master (network systems) or the power supply (standalone sensors).
LMI Technologies supplies both shielded FireSync cordsets and shielded FireSync cable
for building cordset.
2.1.3 Power Supply
The user must provide a suitable +48VDC power supply for the system capable of
handling an infinite capacitive load. These power supplies must be isolated such that DC
ground is NOT tied to AC ground. The power supply should be of a suitable capacity for
the size of the system.
LMI Technologies recommends the Phoenix Contact QUINT series of power supplies.

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2.1.4 Uninterruptible Power Supply (UPS)
To maximize the life of the sensor, LMI Technologies recommends the use of an on-line
double-conversion UPS whenever the quality of the electrical supply to the system is
poor. This includes but is not limited to when the electrical supply:
•contains high frequency noise (due to other electronics, electic motors or other
factors)
•is prone to “brown-out” conditions or large voltage fluctuations
•is prone to electrical surges or spikes due other components or electrical storms.
LMI Technologies recommends the Tripp Lite SU2200RTXL2UA UPS.
2.1.5 Installation Environment
To prevent damage to LMI 3D sensors and ensure reliable operation, avoid installing the
sensor in locations:
•that are humid, dusty, or poorly ventilated
•with a high temperature such as a place exposed to direct sunlight
•where there are flammable or corrosive gases
•where the unit may be directly subjected to vibration or impact
•water, oil, or chemicals may splash onto the unit
•where static electricity is easily generated
2.2 Temperature and Humidity
LMI 3D Sensors are rated for operation between 0- 50°C, and 25-85% Relative Humidy
(non-condensing).
2.3 Maintenance
LMI 3D 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 dry, clean air to remove dust or other dirt particles. If dirt remains, clean the
windows carefully with a soft, lint-free cloth using an ammonia based cleaner. Ensure
that no residue is left on the windows after cleaning.
2.4 Laser Lifetime
LMI Technologies uses semiconductor lasers in their 3D measurement sensors. To
maximize the lifespan of the sensor it is recommended to turn off the laser by stopping
the sensor whenever it is not in use.
2.5 Avoid Flash Writes (Standalone Sensors only)
Operation parameters for standalone sensors are stored with flash memory inside the
sensor. Flash has an expected lifetime of 100,000 writes. Avoid frequent or unnecessary
write commands to the sensor to maximize the lifetime of the sensor.

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Section 3
3 Sensor Overview
3.1 Introduction
The chroma+scan 21X5 sensors are based on LMI's field-proven FireSync platform,
which provides a synchronized, scalable, distributed vision processing architecture for
building reliable, high performance systems. High reliability and simple, rapid installation
are achieved with a single cable for power, data, and synchronization. Communication
is via Gigabit Ethernet.
3.2 Measurement Principles
The chroma+scan 21X5 sensors function on the principle of structured light triangulation.
A semiconductor laser with special optics projects fan of light onto the target. A digital
camera mounted at an angle to the laser plane acquires images of the light pattern
created on the target. These images contain the basic information needed to compute
distances to the target.

13
Section 4
4 Sensor Specifications
This section presents sensor specific chroma+scan 21X5 information. It describes the
different models, and gives dimensions of the scan zone and sensor.
4.1 Models
Currently, chroma+scan 2125 is the only one model in the chroma+scan 21X5 sensor
family.
4.1.1 chroma+scan 2125

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4.2 Coordinate Definitions
Throughout this document and software interface, displacements are represented in x-,
y- and/or z-coordinates. The coordinates are defined as follows:
Axis Definition
x Field of view (along the laser line)
y Field of view (axis of motion or axis of time)
z Range from a sensor to the object being
scanned.

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4.3 Performance
Range Accuracy ±1.3 mm ±0.050 in
Profile Resolution 3.0 mm 0.120 in
Scan Resolution @ 4.5m/s (900 fpm)
•chroma+scan 2125
9.2 mm 0.360 in
Scan Rate
•chroma+scan 2125
500 Hz
4.4 Specifications
Operating Temperature 0 - 50°C 32 - 122°F
Input Power +48VDC
Housing IP67, Powder Coated,
Aluminum

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4.5 Scan Zone
Clearance Distance (CD) 584 mm 23.0 in
Measurement Range (MR) 940 mm 37.0 in
Field of View (FOV) @ CD 498 mm 19.6 in
Field of View (FOV) @ CD + MR 1219 mm 48.0 in

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4.6 Dimensions
The sensor can be mounted with either M8 or 5/16" hardware. Provision to adjust the
position and orientation of the sensor to align its laser plane with the laser planes of the
other sensors in the ring is recommended. Although this alignment is not required for
reliable profile data (adjacent sensors typically scan during different time slices), aligned
laser planes provide a better appearance to the end user of the system. The laser fan is
emitted through the clear center window. The cameras are located behind the two end
red tinted windows. When mounting the sensor, ensure that there are no obstructions
between the camera windows and the Scan Zone.
4.7 FOV Envelope
The following drawings detail regions in front of the sensor that should be kept free of
obstructions. These regions envelope the laser fan projection and the two cameras view
of the scan zone. Note that intermittent blocking of one or the other camera views will
not cause loss of data as the other camera will fill in the blocked scan zone.

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4.8 Cleaning
The windows on a sensor must be kept clean and free of debris at all time. If the
windows become dirty, clean them with an ammonia-based cleaner only.
4.9 Features
The chroma+scan 21X5 is the new-generation, high-speed, high-density 3D profile
scanning system for primary log optimization. Binocular scanning provides complete 3D
profiles unobstructed by protruding knots and log features. Normalized intensity data
provides raw data to allow the end-user to process the data for a variety of applications.

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4.9.1 Binocular 3D Scanning
The chroma+scan 21X5 sensors incorporate a dual
camera design which places two cameras
symmetrically about the laser plane. The two
cameras provide binocular 3D profile scans that
eliminate occlusions due to protruding features.
This avoids data dropouts that would occur with
conventional single amera sensors.
This also allows "dead zone" creation to eliminate
problem light sources that generate spurious data without loss of profile data. The
problem source will appear in only one camera view. Single camera sensors can not
provide this feature without loss of data in parts of the sensor's measurement range.
4.9.2 High Scan Rates
The chroma+scan 21X5 sensor family provides scan rates up to 500Hz. At the same
time, the sensors maintain excellent dark wood performance and ambient light immunity.
The sensors achieve dark wood sensitivity equivalent to level 18 on the Kodak gray
scale chart. They are insensitive top laser saturation on light wood and are immune to
high levels of ambient illumination.
4.9.3 Normalized Intensity
The chroma+scan 21X5 sensor family provides raw intensity data along the laser line, as
illustrated in the figure below.
The intensity data represents the laser intensity distribution at a given point along the
laser line. By delivering the raw data from the CS21X5, end-users can interpret the
sensor output and apply their own algorithms to come to a solution best suited for the
application.
In addition, the raw intensity data is normalized along the measurement range so that
the output intensity values are unaffected by the sensor’s distance to the scanned target.
This data is referred to as “normalized intensity.”

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Section 5
5 System
A chroma+scan 21X5 system consists of following components:
1. Network components:
a. FireSync Master 400/800/1200/2400
b. Station computer (Host computer)
c. Client computer
d. Network switch
e. 48V power supply
f. FireSync network cordsets
g. Other cabling: ethernet, power & encoder
2. Safety Interlock
3. Scan Frame
4. System Calibration Target
5. chroma+scan 21X5 sensor(s)
5.1 Network Components
FireSync Network devices are hardware components used to distribute power, data,
safety interlock, and synchronization information to all devices in a FireSync sensor
network. The Information and requirements for Masters, Station computers, Client
computers, Network Switches, Power, Cabling, Network configurations, can be found in
the FireSync Network Manual.
5.2 Safety Interlock
The Safety Interlock signal allows the user to turn on and off all light sources in the
sensors without disrupting power to the system. The laser safety control signal must be
provided at the Master for the sensors to properly function.
To enable the laser safety control signal apply the required voltage across the laser
safety +/- connections, as specified in section 5.4.1 of the generation 2 Network Manual.
5.3 Scan Frame
A typical scanner arrangement is a ring of four, chroma+scan 20X5, sensors in an "X"
configuration. However, different configurations and multiple rings can be employed as
needed to suit the application.