LMI Technologies chroma+scan 24 0 Series User manual

chroma+scan 24x0
Version 5.4.5.4

Copyright, © 2011, 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
1Laser 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 24x0 Laser Safety Specification..................................................9
2Proper Handling and Precautions...........................................................................10
2.1 System Installation..........................................................................................10
2.1.1 Component Grounding.............................................................................10
2.1.2 Shielded Cable.........................................................................................10
2.1.3 Power Supply...........................................................................................10
2.1.4 Uninterruptible Power Supply (UPS) ........................................................11
2.1.5 Installation Environment...........................................................................11
2.2 Temperature and Humidity..............................................................................11
2.3 Maintenance ...................................................................................................11
2.4 Laser Lifetime .................................................................................................11
3Product Overview...................................................................................................12
3.1 Introduction.....................................................................................................12
3.2 Measurement Principles..................................................................................12
3.3 Sensor Models................................................................................................13
3.4 Features..........................................................................................................13
4System...................................................................................................................14
4.1 List of Components.........................................................................................14
4.1.1 FireSync Master.......................................................................................14
4.1.2 Station Computer.....................................................................................14
4.1.3 Client Computer.......................................................................................15
4.1.4 Network Switch........................................................................................15
4.1.5 Power Supply...........................................................................................15
4.1.6 FireSync Network Cordsets......................................................................15
4.1.7 Other Cabling...........................................................................................16
4.1.8 System Calibration Target........................................................................17
4.1.9 Sensors....................................................................................................17
4.2 Connections....................................................................................................18
4.2.1 Power to Master 1200/2400.....................................................................18
4.2.2 Master 1200/2400 to Sensors..................................................................18
4.2.3 Safety Interlock on Master 1200/2400......................................................19
4.2.4 Sensors, Master 1200/2400 and Station to Gigabit Switch.......................19
4.2.5 Client computer........................................................................................19
5Specifications.........................................................................................................20
5.1 Models............................................................................................................20
5.2 Performance ...................................................................................................20
5.3 Environment....................................................................................................20
5.4 Coordinate Definitions.....................................................................................20
5.5 Cleaning..........................................................................................................21
5.6 Master 2400....................................................................................................21

5.6.1 Mechanical Information............................................................................21
5.6.2 Electrical Information................................................................................22
5.6.3 LED Indicators .........................................................................................22
5.6.4 Terminal plugs .........................................................................................23
5.7 Cordsets .........................................................................................................25
5.7.1 Network Cordset......................................................................................25
5.7.2 Ethernet Cable.........................................................................................25
5.8 Dimensions & Mounting ..................................................................................26
5.8.1 chroma+scan 2420 ..................................................................................26
5.8.2 chroma+scan 2440 ..................................................................................28
5.8.3 Master 2400.............................................................................................30
6Software.................................................................................................................31
6.1 Components....................................................................................................31
6.2 Operation Modes.............................................................................................31
6.3 FireSync Client................................................................................................32
6.3.1 Installation................................................................................................32
6.3.2 Connection...............................................................................................32
6.3.3 Navigation................................................................................................33
6.3.4 Video Mode..............................................................................................36
6.3.5 Free Mode ...............................................................................................37
6.3.6 Calibration Mode......................................................................................38
6.4 Software Interface...........................................................................................40
6.4.1 The FireSync Host Protocol .....................................................................40
6.4.2 Zen Api and example source code...........................................................40
6.4.3 System Settings.......................................................................................41
6.4.4 Video Mode Result Format.......................................................................44
6.4.5 Free Mode Result Format ........................................................................45
6.4.6 Calibration Mode Result Format...............................................................46
7Warranty ................................................................................................................47
7.1 Warranty policies.............................................................................................47
7.2 Return policy...................................................................................................47
8Getting Help...........................................................................................................48

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.

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

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:

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

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 24x0 Laser Safety Specification
Laser Classification: 3B/IIIb laser component
Peak Power: 130mW
Emitted Wavelength: 660nm

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 the
Master.
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.

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, electric 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 Humidity
(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.

Section 3
3 Product Overview
3.1 Introduction
The chroma+scan 24x0 is the new-generation, high-speed, high-density 3D profile
scanning system for primary log optimization. The 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 24x0 sensors function on the principle of structured light triangulation.
A semiconductor laser with special optics projects fans of light onto the target. Digital
cameras mounted at an angle to the laser plane acquire images of the light pattern
created on the target. These images contain the basic information needed to compute
distances to the target.

3.3 Sensor Models
Two models exist in the chroma+scan 24x0 family: the chroma+scan 2420 and the
chroma+scan 2440.
chroma+scan 2420
chroma+scan 2440
3.4 Features
The chroma+scan 2440 provides a 6” profile spacing, in a flexible 2’ sensor footprint,
whereas the chroma+scan 2420 is a more economical choice, providing 12” profile
spacing in a 4’ sensor footprint.

Section 4
4 System
4.1 List of Components
A chroma+scan 24x0 system consists of following components:
FireSync Master 400/800/1200/2400
Station computer (Host computer)
Client computer
Network switch
48V Power Supply
FireSync Network Cordsets
Other cabling: Ethernet, Power & Encoder
Scanner Frame
System Calibration Target
chroma+scan 24x0 sensor(s)
4.1.1 FireSync Master
The FireSync Master provides sensor power, safety interlock and broadcasts system-
wide synchronization information (ie. time, encoder count, and digital I/O states) to all
sensors. LMI Technologies provides a Master 400, 800, 1200, or 2400.
Master 2400
Warning! Use extreme caution wiring the FireSync master. Do not plug Ethernet
equipment into the RJ45 ports.
4.1.2 Station Computer
A chroma+scan 24x0 system needs a Station computer in order to operate. This
computer is not provided by LMI Technologies.
The station must have two Ethernet adapters. One Gigabit Ethernet adapter is
connected to the sensors network via a gigabit Ethernet network switch. This adapter on
must be assigned a static IP in the range 90.0.0.1 to 90.0.0.5. We refer to this as the “IN”

adapter. The second Gigabit Ethernet adapter must also be assigned a static IP of the
user’s preference. This is the “OUT” adapter.
After installing the chroma+scan 24x0 Station software this computer acts as a FireSync
Host Protocol Server. “OUT” is to be used for the Host Protocol. The next step is to
upgrade the Station and sensors by sending an upgrade package over the FireSync
Host Protocol with a Client computer.
For more information about the FireSync Host Protocol, please refer to the in the Host
Protocol Reference Manual. Refer to the Station Setup Guide for complete details on the
FireSync Station.
4.1.3 Client Computer
The Client computer connects to the Station using the FireSync Host Protocol. This
computer is not provided by LMI Technologies.
The Client computer must be equipped with a Gigabit Ethernet adaptor to communicate
with the Station. The FireSync Host Protocol allows any OS for communication with the
Station. However, the Client installer provided by LMI Technologies requires Windows
XP or Windows 7.
4.1.4 Network Switch
The Network Switch connects all the sensors in the system to the Station and the
Master. This switch must be Gigabit rated and have enough GigE ports to connect to
each sensor plus two extra ports to connect to the Station and the Master.
A network switch is required in a chroma+scan 24x0 sensor system. This switch is not
provided by LMI Technologies.
4.1.5 Power Supply
The user must provide a suitable +48VDC power supply for the system.
These power supplies must be isolated! This means that DC ground is NOT tied to
AC ground!
LMI Technologies recommends use of a Phoenix Contact, QUINT, 10 Amp power supply
(for +48VDC). This is a DIN rail mounted device that can be connected in parallel to
increase the overall available power.
Voltage
+48VDC
Model
QUINT-PS-100-240AC/48DC/10
Order number
2938248
4.1.6 FireSync Network Cordsets
The FireSync Network cordset is a cable that contains two CAT5e cables within one
shroud. One of these CAT5e cables is used to carry data between a sensor and a

network switch, and the other cable is used to send power, safety interlock, and
synchronization signals to a sensor.
Shielded FireSync cordsets and shielded FireSync cable are optionally provided by LMI
Technologies by customer request.
4.1.7 Other Cabling
Ethernet
Shielded CAT5e Gigabit Ethernet cable is used to connect a Station to a client PC. This
cable will connect to the Station OUT.
Power
The 48VDC power supply must be connected to the master. Section 5.6.4 contains
information about the power cable and connector.
Encoder
The user must provide a suitable encoder. The requirements are:

Differential quadrature output (maximum 18 V)
+5VDC power supply input
The encoder interface on the Master provides the following:
X4 quadrature decoding
Maximum 300kHz count rate
+5VDC to power the encoder
The user should choose an encoder with the appropriate number of pulses per
revolution to match the transport mechanism and speed.
4.1.8 System Calibration Target
System calibration can be used to identify the location and orientation of each sensor
with respect to a calibration target positioned in the measurement range of the sensor(s).
After successful system calibration ranges from the sensor(s) are transformed to a new,
common coordinate system.
The dimensions of the target can be configured manually, which allows for optimal
flexibility in choosing a target. There are, however, properties that affect the chance on
successful calibration. Here are some guidelines for choosing the right target shape,
size, and positioning:
Take a large (400mm X 400mm X …mm), bar shaped object
Make sure the sensors clearly see an edge vertex, ideally a right angle. Seeing
the letter “V” when not calibrated, is ideal.
Make sure as many points as possible are visible along each side of the vertex
Avoid having objects in the FOV other than the calibration target
4.1.9 Sensors
Within a single chroma+scan sensor system various models can be used. Configurations
in which sensors are mounted opposing each other are allowed. When working with
more than one sensor the following restriction applies:
Laser lines may only intersect if the intersecting lines are from sensors in
different groups. The maximum number of groups is two.
It is possible to use different configurations of sensors within each of the two groups, and
no symmetry or alignment between groups is required.

4.2 Connections
The following illustration demonstrates how to connect the various components.
4.2.1 Power to Master 1200/2400
The 48 VDC power supply is wired to the Phoenix connectors on the Master. This
powers the Master and is distributed to all the connected sensors in the system.
4.2.2 Master 1200/2400 to Sensors
Each sensor in the system is connected to the Master in order to receive power and
synchronization signals. This connection is made using the FireSync Network Cordset.
The single connection at the sensor end is through the circular connector on the sensor.
The connection at the Master end is from the black jacketed RJ45 cable. The yellow
jacketed RJ45 cable end is connected to the Network Switch. Do not connect the yellow
jacketed connector to a port on the master!

4.2.3 Safety Interlock on Master 1200/2400
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 between +12V and +48V across the laser
safety +/- connection.
4.2.4 Sensors, Master 1200/2400 and Station to Gigabit Switch
The Gigabit switch connects all the sensor data lines with the Master and the Station.
Each sensor in the system connects to the Gigabit Switch with the yellow jacketed RJ45
cable end of the sensor Network Cordset.
The Master 1200/2400 connects to the Gigabit Switch via the “Link” port on the Master.
The Station connects via its “IN” port to the Network Switch.
4.2.5 Client computer
The Client computer is connected to the Station’s “OUT” Gigabit Ethernet adapter.

Section 5
5 Specifications
5.1 Models
chroma+scan 24x0 sensors are available in two current models:
chroma+scan 2420: 4 Line Profiles, 12” Spacing, 120Hz, 4’ Footprint
chroma+scan 2440: 4 Line Profiles, 6” Spacing, 120Hz, 2’ Footprint
These models all provide the same profile scan zones with a choice of 6” or 12” profile
spacing available in 2’ or 4’ sensor footprints.
5.2 Performance
Range Accuracy
chroma+scan 2420
chroma+scan 2440
±2.54 mm
±3.175 mm
±0.100 in
±0.125 in
Profile Resolution chroma+scan 2420
chroma+scan 2440
2.0 mm
2.0 mm
0.079 in
0.079 in
Scan Resolution @ 2.3m/s (450 fpm)
19.05 mm
0.750 in
5.3 Environment
Operating Temperature
0 - 50°C
32 - 122°F
Input Power
+48VDC
Housing
IP67, Powder Coated Aluminum
5.4 Coordinate Definitions
Throughout this document and software interface, displacements are represented in x-,
y- and/or z-coordinates. The coordinates are defined as follows: