LMI Technologies Gocator 5500 Series User manual

USER MANUAL
GoPxL for G5 Sensors
Gocator 5500 Series Sensors
Firmware version:1.0.x.x
Document revision:B

Gocator Line Confocal Sensors: User Manual 2
Copyright
Copyright © 2023 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.
Contact Information
LMI Technologies, Inc.
9200 Glenlyon Parkway
Burnaby BCV5J 5J8
Canada
Telephone: [phone]
Fax: [phone]
www.lmi3D.com

Gocator Line Confocal Sensors: User Manual 3
Table of Contents
Copyright 2
Table of Contents 3
Introduction 12
Safety and Maintenance 13
Electrical Safety 13
Handling, Cleaning, and Maintenance 13
Environment and Lighting 14
Using the Manual 15
Gocator Overview 16
Getting Started 17
Sensor Part Numbers 17
Upgrading from Gocator Firmware 17
Hardware Overview 18
Gocator Cordsets 18
Gocator Sensor 19
Master 100 19
Master 810 / 2410 20
System Overview 22
Standalone System 22
Dual-Sensor System 22
Installation and Network and Sensor Setup 23
Mounting 23
Grounding 23
Gocator 23
Recommended Practices for Cordsets 23
Master Network Controllers 24
Grounding When Using a DIN Rail (Master
810/2410) 25
Additional Grounding Schemes 25
Installing DIN Rail Clips: Master 810 or 2410 26
Configuring Master 810 27
Setting the Divider 28
Encoder Quadrature Frequency 28
Setting the Debounce Period 29
Cordset Bend Radius Limits 29
Required Ports 31
Warm-up Procedure 32
Key Concepts 35
Sensors, Sensor Groups, and Systems 35
3D Acquisition 35
Multilayer Output 35
Profile Output 37
Coordinate Systems 37
Unaligned Coordinates 37
Aligned Coordinates 37
Uniform Data and Point Cloud Data 38
Data Generation and Processing 38
Surface Generation 39
Part Detection 39
Sectioning 39
Part Matching 39
Measurement and Anchoring 40
Tool Chaining 40
Anchoring Measurements 40
Geometric Features 43
Tool Data 46
Arrays, Batching, and Aggregation 46
Accelerating Sensors 48
User Interface Overview 49
Status Bar 51
System Messages 52
Metrics Area 52
Data Viewer 53
Image Mode 56
Exposure Information 58
Exposures 58
Incorrect Exposure 58
Spots and Dropouts 59
Profile Mode 60
Surface Mode 61
Surface and Perspective Display Options 62
Using Multiple Data Viewer Windows 68
Pinning Outputs 69
Intensity Output 72
FileFormats 73
Working with Scan Data 75
Starting, Stopping, and Recording 76
Playing Back Recorded Data 76
Creating, Saving and Loading Jobs 78
Configuring Systems 79
Sensor Management and Maintenance 80
Settings 80

Gocator Line Confocal Sensors: User Manual 4
Jobs 81
Maintenance 83
Software Upgrade 84
Backup and Restore 84
Factory Restore 85
Support 85
Creating a Sensor System 86
Adding Sensors and Configuring Multi-sensor
Systems 87
Changing Sensor Orientation 90
Enabling Exposure Multiplexing 91
Removing a Sensor from a System 92
Configuring Motion 93
Setting Encoder Resolution 94
Setting Travel Speed 94
Aligning Sensors 94
Aligning Sensors with up to 5 Degrees of
Freedom 96
Performing Stationary Alignment 98
Performing Moving Alignment 100
Stationary Flat Surface 101
Bar Specifications and Procedural
Requirements 101
Configuring GoPxL for Bar Alignment 104
Encoder Calibration 106
Clearing Alignment 106
Transformations 107
Configuring Acquisition 109
Scan Modes and Intensity 110
Uniform Spacing 112
Surface Generation 114
Continuous Surface Generation and Part
Detection 115
Fixed Length 118
Variable Length 119
Rotational 120
Triggers 121
Trigger Settings 125
Maximum Input Trigger Rate 126
Maximum Encoder Rate 127
Filters 127
Active Area 128
Subsampling 131
Exposure and Light Intensity 132
Single Exposure 134
Dynamic Exposure 134
Multiple Exposure 135
Layer Settings 136
Advanced Settings 137
Material Type and Spot Detection 138
Spot Detection 138
Camera Gain 140
Other Advanced Settings 141
Configuring Inspection and Processing Tools 144
Adding a Tool 146
Tool Connection Logic 147
Removing a Tool 149
Duplicating a Tool 150
Renaming a Tool 151
Working with Tool Chains 151
Changing Tool Display Options 153
Reordering Tools 155
Data Types 156
Understanding the Data Flow in Tool Chains 157
Connecting Tools 163
Disconnecting Tools 168
Tool Configuration 170
Inputs and Outputs 171
Arrays, Batching, and Aggregation 172
Arrays from Multi-instance Tools 173
Arrays from Multi-layer Output 174
G2 Multi-sensor Output 175
Batching 176
Aggregating 178
Regions 180
Standard Regions 180
Flexible Regions 181
Working with Circular and Elliptical
Regions 185
Region Rotation 187
Feature Points 189
Geometric Features 192
Fit Lines 192
Decisions 193
Measurement Anchoring 193

Gocator Line Confocal Sensors: User Manual 5
Profile Measurement 198
Profile Advanced Height 198
Inputs 198
Parameters 199
Master Comparison 200
X Correction 201
Reference Line 201
Outputs 201
Profile Area 204
Inputs 204
Parameters 205
Outputs 206
Profile Bounding Box 209
Inputs 209
Parameters 210
Outputs 211
Profile Circle 214
Inputs 214
Parameters 215
Outputs 217
Profile Circle Radii 219
Inputs 219
Parameters 220
Outputs 223
Profile Closed Area 226
Inputs 226
Parameters 227
Outputs 228
Profile Dimension 230
Inputs 230
Parameters 231
Outputs 232
Profile Edge 235
Inputs 235
Parameters 236
Outputs 241
Profile Filter 244
Inputs 244
Parameters 245
Outputs 247
Profile Groove 249
Groove Algorithm 249
Inputs 251
Parameters 252
Outputs 254
Profile Intersect 257
Inputs 257
Parameters 258
Outputs 260
Profile Line 262
Inputs 262
Parameters 263
Outputs 265
Profile Mask 268
Inputs 269
Parameters 270
Outputs 271
Profile Panel 272
Inputs 272
Parameters 273
Outputs 277
Gap and Flush Algorithms 280
Profile Part Detection 282
Inputs 283
Parameters 283
Outputs 286
Profile Position 289
Inputs 289
Parameters 290
Outputs 291
Profile Round Corner 293
Inputs 293
Parameters 294
Outputs 298
Profile Strip 301
Inputs 301
Parameters 302
Outputs 306
Strip Algorithm 307
Strip Start and Terminate Conditions 308
Strip Step Edge Definitions 310
Profile Template Matching 312
Inputs 312
Parameters 314

Gocator Line Confocal Sensors: User Manual 6
Outputs 316
Raw Profile Matching 319
Inputs 319
Parameters 320
Outputs 322
Profile Thickness 324
Inputs 324
Parameters 326
Outputs 327
Profile Transform 328
Inputs 329
Parameters 330
Outputs 331
Surface Measurement 332
Isolating Parts from Surface Data 332
Surface Align Ring 334
Surface Align Wide 335
Surface Arithmetic 336
Inputs 336
Parameters 337
Outputs 338
Surface Ball Bar 339
Inputs 339
Parameters 339
Outputs 341
Surface Blob 343
Inputs 345
Parameters 345
Outputs 351
Surface Bounding Box 354
Inputs 354
Parameters 355
Outputs 360
Surface Circular Edge 364
Calipers, Extracted Paths, and Edge Points364
Inputs 365
Parameters 366
Outputs 374
Surface Countersunk Hole 378
Inputs 378
Parameters 379
Outputs 381
Surface Curvature Correction 386
Inputs 388
Parameters 388
Outputs 391
Surface Cylinder 393
Inputs 393
Parameters 394
Outputs 396
Surface Dimension 398
Inputs 398
Parameters 399
Outputs 400
Surface Direction Filter 403
Inputs 405
Parameters 406
Outputs 408
Surface Edge 409
Paths and Path Profiles 410
Inputs 411
Parameters 412
Outputs 420
Surface Ellipse 424
Inputs 424
Parameters 425
Outputs 426
Surface Extend 429
Inputs 429
Parameters 430
Outputs 432
Surface Feature Mask 433
Inputs 433
Parameters 434
Outputs 438
Surface Filter 440
Inputs 440
Parameters 441
Outputs 444
Surface Flatness 445
Inputs 445
Parameters 446
Outputs 448
Surface Hole 450

Gocator Line Confocal Sensors: User Manual 7
Measurement Region 450
Hole Algorithm 451
Inputs 452
Parameters 452
Outputs 455
Surface Mask 456
Inputs 458
Parameters 459
Outputs 460
Surface Merge Wide 462
Surface Mesh 463
Surface Opening 464
Measurement Region 464
Opening Algorithm 465
Inputs 465
Parameters 466
Outputs 470
Surface Part Detection 472
Inputs 472
Parameters 472
Outputs 475
Surface Pattern Matching 477
Creating a Template 479
Inputs 480
Parameters 481
Outputs 485
Surface Plane 487
Inputs 487
Parameters 489
Outputs 490
Surface Position 493
Inputs 494
Parameters 495
Outputs 496
Surface Roughness 498
Inputs 499
Parameters 499
Outputs 502
Calibration Procedure 503
Roughness Calculation Procedure 504
Surface Section 504
Inputs 505
Parameters 507
Outputs 509
Surface Segmentation 511
Inputs 511
Parameters 512
Outputs 517
Surface Sphere 519
Inputs 519
Parameters 521
Outputs 522
Surface Stitch 526
Inputs 527
Parameters 527
Outputs 529
Surface Stud 531
Stud Algorithm 532
Inputs 532
Parameters 533
Outputs 535
Surface Track 537
Key Concepts 538
Track Location 540
Peak Detection 541
Side Detection 541
Center Point Detection 542
Configuring the Track Tool 542
Inputs 542
Parameters 543
Outputs 548
Using the TrackEditor 551
Surface Transform 554
Inputs 557
Combinations of geometric feature inputs
and results 557
Plane 557
Line 558
Point 559
Plane +Line 560
Plane +Point 561
Line +Point 562
Plane +Line +Point 563
Parameters 564

Gocator Line Confocal Sensors: User Manual 8
Outputs 566
Surface Vibration Correction 567
Inputs 567
Parameters 567
Outputs 568
Surface Volume 570
Inputs 570
Parameters 571
Outputs 572
Feature Measurement 574
Feature Circle Create 575
Inputs 575
Parameters 575
Output Types 576
Constant Circle 576
Circle from Points 577
Circle from point and plane 578
Outputs 578
Feature Dimension 580
Inputs 580
Parameters 581
Outputs 582
Feature Line Create 585
Inputs 585
Parameters 586
Output Types 586
Line 587
Constant Line 587
Line from Two Points 587
Perpendicular or Parallel Line from
Point and Line 588
Perpendicular Line from Point to Plane 590
Intersect Line of Two Planes 590
Projected Line on Plane 591
Bisect Projected Lines on Plane 591
Outputs 592
Feature Plane Create 594
Inputs 594
Parameters 594
Output Types 595
Constant Plane 595
Plane from a Point and Normal 596
Plane from a Point and Line 596
Plane from Three Points 597
Plane from Circle 597
Parallel Plane from Point and Plane 597
Perpendicular Plane from Point and
Plane 598
Perpendicular Plane from Line and
Plane 598
Bisect Plane from Two Planes 598
Outputs 599
Feature Point Create 601
Inputs 601
Parameters 601
Output Types 602
Point 602
Constant Point 603
Point from Offset 603
Point from Three Planes 604
Point from Line and Circle 604
Point from Line and Line 605
Point from Line and Plane 605
Projected Point on Line 606
Projected Point on Plane 606
Outputs 607
Feature Intersect 608
Inputs 608
Parameters 609
Outputs 610
Feature Robot Pose 612
Array Tools 613
Array Create 614
Inputs 614
Parameters 614
Outputs 615
Array Index 616
Inputs 617
Parameters 617
Outputs 618
Mesh Measurement 619
Mesh Bounding Box 620
Inputs 620
Parameters 621

Gocator Line Confocal Sensors: User Manual 9
Outputs 622
Mesh Plane 624
Inputs 625
Parameters 626
Outputs 627
Mesh Projection 629
Inputs 629
Parameters 631
Outputs 631
Mesh Template Matching 633
Inputs 633
Parameters 634
Outputs 636
MeasurementFormula Tool 639
Inputs 639
Parameters 640
Outputs 641
Configuring Control 643
Gocator Communication Protocol 647
Modbus Protocol 649
EtherNet/IPProtocol 653
Ethernet ASCIIProtocol 658
PROFINETProtocol 663
HMI 667
Reporting 671
Health 671
Measurements 673
Performance 675
Accelerating Sensors 677
Running GoPxL on a Windows PC 678
System Requirements 679
Launching GoPxLon a Windows PC 679
Accelerating a Sensor 681
Stopping Acceleration 683
Loading Scan Data 685
GoHMI and GoHMIDesigner 688
Enabling and Configuring GoHMI in GoPxL 689
Launching GoHMIDesigner 694
Opening, Editing, and Saving a Project 698
Publishing Changes 705
Changing Outputs in GoPxL 706
Importing and Exporting an HMI 707
Adding a Data Viewer to an HMI 709
Limiting Flash Memory Write Operations 713
GoPxL SDK and RESTAPI 714
Setup and Location of GoPxLSDKand RESTAPI
References 714
Visual Studio Solution Files and Linux Makefile 714
Building the SDK 715
Header Files 715
Sample Projects 715
Functional Hierarchy of Classes 715
Discover Devices 717
Configure Device Settings 717
Accessing Sensor Resources 718
Accessing Scanner Resources 718
Accessing an Array Element 719
Receive Device Data 720
Receive Health and Metrics Information 721
Accelerated Devices 722
GDP Data Types 722
Value Types 722
Output Types 723
GoDataSet 723
Measurement Values and Decisions 724
Limiting Flash Memory Write Operations 724
Integrations 725
Protocols (PLCs and other hardware) 725
Gocator Protocol 725
Modbus Protocol 726
Messages 726
Connections Map 727
Supported Block Types 728
Control Input 728
Control Output 729
System State 729
Sensor Group State 730
Stamp 730
Measurement 730
Ethernet ASCIIProtocol 731
Commands and Formats 732
Ethernet ASCII client commands 732
Data Output Format Mode 737
Polling Mode 737

Gocator Line Confocal Sensors: User Manual 10
Asynchronous Mode 737
Measurement Output Format 737
EtherNet/IP Protocol 738
Connections Map 738
Mandatory Objects 738
Assembly Objects 738
Supported Block Types 739
Control Input 740
Control Output 740
System State 741
Sensor Group State 741
Stamp 742
Measurement 742
PROFINET Protocol 743
Connections Map 743
Assembly Objects 743
Supported Block Types 744
Control Input 744
Control Output 745
System State 745
Sensor Group State 746
Stamp 746
Measurement 746
GenICam GenTL Driver 748
16-bit RGB Image 751
16-bit Grey Scale Image 752
Registers 754
XMLSettings File 755
Interfacing with Halcon 756
Setting Up Halcon 756
Halcon Procedures 761
XmlSetting and XmlCommand Parameters765
Sensor Settings 765
GenTLDriver Settings and Commands 766
Sample Program for Various
GenTLSettings 768
Generating Halcon Acquisition Code 770
Utilities 772
GoPxLDiscovery Tool 772
Replay Converter Tool 775
Beta Add-on Tool Manager 775
Adding Beta Tools to a Firmware 777
Pattern Editor 782
Launching the Pattern Editor 783
Overview of the Editor 784
Models 785
Adding and Removing Features Manually 787
Setting Required and Locating Features 792
Model Creation Settings and Rebuilding 793
Coarseness Levels 794
Thresholds 795
Tracking Inertia 795
Feature Selection 796
Saving and Discarding Changes 797
Miscellaneous 798
Specifications 799
Sensors 800
Gocator 5500 Series 801
Gocator 5504 802
Gocator 5512 805
Gocator 5516 808
Sensor Connectors 811
Gocator Power/LAN Connector 811
Grounding Shield 812
Power 812
Gocator I/O Connector 813
Grounding Shield 813
Digital Outputs 814
Inverting Outputs 814
Digital Input 814
Encoder Input 815
Serial Output 816
Analog Output 816
Master Network Controllers 818
Master 100 818
Master 100 Dimensions 819
Master 810/2410 820
Power and Safety 822
Encoder 822
Input 823
Electrical Specifications 824
Encoder 825
Input 827
Master 810 Dimensions 828