LMI Gocator 1100 Series User manual

USER’S MANUAL Gocator 1100 & 1300 Series
Version 3.4.1.145 Revision: A

2Gocator 1100 & 1300 Series
Copyright © 2012 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

3Gocator 1100 & 1300 Series
Introduction
The Gocator 1100 and 1300 series of laser displacement sensors are designed for 3D measurement and
control applications. Gocator sensors are configured using a web browser and can be connected to a
variety of input and output devices. This guide describes the installation and use of Gocator sensors.
Notational Conventions
This guide uses the following notational conventions:
!
Warning Follow these safety guidelines to avoid potential injury or property damage.
Note Consider this information in order to make best use of the product.

4Gocator 1100 & 1300 Series
Introduction 3
Table of Contents 4
Safety and Maintenance 8
Laser Safety 8
Laser Classes 9
Precautions and Responsibilities 10
Class 3B Responsibilities 10
Systems Sold or Used in the USA 11
Electrical Safety 12
Environment and Lighting 13
Sensor Maintenance 13
Getting Started 14
System Overview 14
Standalone System 14
Dual Sensor System 15
Multi-Sensor System 16
Hardware 17
Gocator 1100 Sensor 17
Master 100 18
Master 400/800 19
Master 1200/2400 20
Gocator Cordsets 21
Calibration Targets 22
Installation 23
Grounding - Gocator 23
Grounding - Master 400/800/1200/2400 23
Mounting 24
Orientations 25
Software 27
User Interface Overview 27
Connecting to a New Sensor 28
Running for the First Time 30
Running a Standalone Sensor System 30
Running a Dual Sensor System 32
Next Steps 36
Setup and Calibration 37
Setup Page 37
Operation Modes 39
Data Viewer 40
Video Mode 40
Table of Contents
Range Mode 41
Region Definition 42
View Options 42
Range Output 43
Coordinate Systems 43
Intensity Output 45
Trigger 46
Examples 48
Settings 50
Active Area 51
Exposure 53
Single Exposure 54
Dynamic Exposure 55
Transformations 56
Dual Sensor System Layout 57
Overlap 58
Calibration 59
Calibration States 59
Alignment vs. Travel Calibration 59
Alignment Calibration 60
Travel Calibration 61
Clearing Calibration 62
Measurement 63
Measurement Page 63
Adding and Removing Measurements 64
Changing the Measurement Name 65
Range Sources 67
Decisions 68
Output Filters 69
Script Measurement 70
Built-in Functions 70
Range Measurement Tools 73
Measurement Types 74
Difference 74
Position Z 75
Script 76
Output 77
Output Page 77
Ethernet Control and Output 78
Digital Outputs 81

5Gocator 1100 & 1300 Series
Analog Output 84
Serial Output 86
Toolbar 88
Saving and Loading Settings 89
Managing Multiple Settings 91
Recording and Playback 92
Downloading, Exporting and Uploading
Recorded Data 93
Dashboard 94
Dashboard Page 94
State and Health Information 95
Metric Panel 97
Connection and Maintenance 98
Connection Page 98
Network Settings 99
Auto Starting Sensors 100
Buddy Assignment 101
Security 102
File Management 103
Maintenance 104
Firmware Upgrade 105
Recovery 106
Sensor Recovery Tool 106
Gocator Protocol 107
Concepts 108
Discovery 108
Command Channels 108
Result Channels 108
Modes 109
Buddy Communication Channels 109
States 109
Versions and Upgrades 109
Data Types 110
Range Sources 110
Status Codes 110
Command and Reply Formats 111
Result Format 112
Configuration Files 113
Setup 113
Range 116
Output 118
Calibration File 121
SysCal 122
Discovery Commands 123
Get Address 123
Set Address 124
Upgrade Commands 125
Get Protocol Version 125
Start Upgrade 125
Get Upgrade Status 125
Get Upgrade Log 126
Control Commands 127
Get Protocol Version 127
Get System Info 127
Log In/Out 128
Change Password 129
Change Buddy 129
Get File List 129
Copy File 130
Read File 130
Write File 130
Delete File 131
Get Default File 131
Set Default File 132
Get Loaded File 132
Get Mode 132
Set Mode 133
Get Time 133
Get Encoder 133
Start 134
Scheduled Start 134
Stop 134
Trigger 135
Scheduled Digital Output 135
Scheduled Analog Output 135
Ping 136
Reset 136
Backup 137
Restore 137
Restore Factory 137
Set Connection Type 138
Get Connection Type 138
Clear Calibration 138
Data Results 140
Video 140
Range 140
Range Intensity 141
Alignment Calibration 141
Travel Calibration 141
Exposure Calibration 142
Measurement 143

6Gocator 1100 & 1300 Series
Health Results 144
Modbus TCP Protocol 146
Concepts 146
Messages 147
Registers 149
Control Registers 149
Output Registers 150
Measurement Registers 151
EtherNet/IP 152
Concept 152
Basic Object 153
Identity Object (Class 0x01) 153
TCP/IP Object (Class 0xF5) 153
Ethernet Link Object (Class 0xF6) 154
Assembly Object (Class 0x04) 155
Command Object 155
Sensor State Assembly Object 156
Sample State Assembly 157
Gocator Serial Protocol 158
Connection Settings 158
Message Format 159
Selcom Serial Protocol 161
Connection Settings 161
Message Format 161
Software Development Kit 163
Troubleshooting 164
Mechanical/Environmental 164
Connection 164
Laser Ranging 164
Performance 165
Specification 166
Gocator 1100 Series 166
Gocator 1120 168
Gocator 1125 170
Gocator 1150 172
Gocator 1160 175
Gocator 1165 178
Gocator 1170 181
Gocator 1190 184
Gocator 1000 Power/LAN Connector 187
Grounding Shield 187
Power 187
Laser Safety Input 188
Gocator 1000 I/O Connector 189
Grounding Shield 189
Digital Outputs 190
Digital Inputs 191
Encoder Input 191
Serial Output 192
Selcom Serial Output 193
Analog Output 194
Master 100 195
Master 100 Dimensions 196
Master 400/800 197
Master 400/800 Electrical Specifications 198
Master 400/800 Dimensions 199
Master 1200/2400 200
Master 1200/2400 Electrical Specifications 201
Master 1200/2400 Dimensions 201
Parts and Accessories 202
Warranty and Return Policy 203
Warranty Policy 203
Return Policy 203

7Gocator 1100 & 1300 Series
Software Licenses 204
Support 208

8Gocator 1100 & 1300 Series
Safety and Maintenance
Laser Safety
Gocator sensors contain semiconductor lasers that emit visible
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 detail 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
LASER
SENSOR
WARNING: DO NOT LOOK DIRECTLY
INTO THE LASER BEAM
LASER

Safety and Maintenance • 9Gocator 1100 & 1300 Series
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).
IEC 60825-1:2007
LASER RADIATION
DO NOT STARE INTO THE BEAM
OR VIEW DIRECTLY WITH OPTICAL
INSTRUMENTS OR MAGNIFIERS
CLASS 2M LASER PRODUCT
PEAK POWER:
EMITTED WAVELENGTH:
This product is designated for use solely as a
component and as such it does not fully comply
with the standards relating to laser products
specified in U.S. FDA CFR Title 21 part 1040
and IEC 60825-1
1 mW
660 nm
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.
IEC 60825-1:2007
LASER RADIATION
AVOID DIRECT EYE EXPOSURE
CLASS 3R LASER PRODUCT
PEAK POWER:
EMITTED WAVELENGTH:
This product is designated for use solely as a
component and as such it does not fully comply
with the standards relating to laser products
specified in U.S. FDA CFR Title 21 part 1040
and IEC 60825-1
5 mW
660 nm
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.
IEC 60825-1:2007
LASER RADIATION
AVOID EXPOSURE TO THE BEAM
CLASS 3B LASER PRODUCT
PEAK POWER:
EMITTED WAVELENGTH:
This product is designated for use solely as a
component and as such it does not fully comply
with the standards relating to laser products
specified in U.S. FDA CFR Title 21 part 1040
and IEC 60825-1
130 mW
660 nm
Labels reprinted here are examples only. For accurate specifications, refer to the label on your sensor.

Safety and Maintenance • 10Gocator 1100 & 1300 Series
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*
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 the
customer 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 prior to 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
than 2 meters, or mounting of sensors intervenes with observation of these indicators, then a second

Safety and Maintenance • 11Gocator 1100 & 1300 Series
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:
PEAK POWER
WAVELENGTH
100mW
600-780nm
CLASS IIIb LASER PRODUCT
INVISIBLE AND/OR VISIBLE LASER RADIATION
AVOID DIRECT EXPOSURE TO BEAM
DANGER
FDA warning sign example
IEC 60825-1:2007
CAUTION
AVOID EXPOSURE
TO THE BEAM
CLASS 3B LASER LIGHT
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.

Safety and Maintenance • 12Gocator 1100 & 1300 Series
Electrical Safety
Sensors should be connected to earth ground
All sensors should be connected to earth ground through their housing. All sensors should be mounted
on an earth grounded frame using electrically conductive hardware to ensure the housing of the sensor
is connected to earth ground. Use a multi-meter to check the continuity between the sensor connector
and earth ground to ensure a proper connection.
Minimize voltage potential between system ground and sensor ground
Care should be taken to minimize the voltage potential between system ground (ground reference for
I/O signals) and sensor ground. This voltage potential can be determined by measuring the voltage
between Analog_out- and system ground. The maximum permissible voltage potential is 12 V but should
be kept below 10 V to avoid damage to the serial and encoder connections. Refer to Gocator 1000 I/O
Connector (page 189) 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.
!Failure to adhere to the guidelines described in this section may result in electrical shock or equipment
damage.

Safety and Maintenance • 13Gocator 1100 & 1300 Series
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;
• that are humid, dusty, or poorly ventilated
• with a high temperature, such as places exposed to direct sunlight
• where there are flammable or corrosive gases
• where the unit may be directly subjected to harsh vibration or impact
• where water, oil, or chemicals may splash onto the unit
• where 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.
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.

14Gocator 1100 & 1300 Series
System Overview
Gocator sensors can be installed and used in a variety of scenarios. Sensors can be connected as
standalone devices, dual sensor (Main and Buddy) system, or multi-sensor system.
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.
GOCATOR
POWER AND ETHERNET
CORDSET
GOCATOR I/O
CORDSET
GOCATOR
IN - ENCODER / TRIGGER / SAFETY
OUT - SERIAL / ANALOG / DIGITAL
USER PC
(can be disconnected after setup)
Getting Started

Getting Started • 15Gocator 1100 & 1300 Series
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 helper is referred to
as the Buddy sensor. Gocator’s software recognizes three installation orientations – None, Opposite and
Wide.
A Master 400/800/1200/2400 must be used to connect two sensors in a Dual Sensor (Buddy) system.
Gocator Master cordsets are used to connect sensors to the Master.
GOCATOR
POWER AND ETHERNET
CORDSET
GOCATOR
I/O
CORDSET
MAIN
GOCATOR BUDDY
GOCATOR
POWER, LASER SAFETY,
TRIGGER INPUTS, ENCODER
GIGABIT ETHERNET SWITCH
MASTER 400/800/1200/2400

Getting Started • 16Gocator 1100 & 1300 Series
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 (minimum 100 Mbit/s).
GOCATOR
POWER AND ETHERNET
TO MASTER CORDSET
USER PC
GIGABIT ETHERNET SWITCH
CAT5E ETHERNET CABLE
MASTER 400/800/1200/2400
POWER, LASER SAFETY,
TRIGGER INPUTS, ENCODER
GOCATOR

Getting Started • 17Gocator 1100 & 1300 Series
Hardware
Gocator 1100 Sensor
CAMERA
LASER EMITTER
I/O CONNECTOR
POWER/LAN CONNECTOR
SERIAL NUMBER
POWER, RANGE AND LASER
INDICATOR
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.

Getting Started • 18Gocator 1100 & 1300 Series
Master 100
The Master 100 is used by the Gocator 1100 and 1300 series for standalone system setup. The Master
100 is designed for development use only.
Sensor IO Port
3
Master Host Port
Master Power Port
Encoder/Output Port
Master Ethernet Port
48V Power Supply*
(Pin 1)
(Pin 1)
Item Description
Gocator Power Port Connects to the Gocator Power/LAN connector. Provides power and laser safety to the
Gocator.
Gocator Sensor I/O Port Connects to the Gocator I/O connector.
Laser Safety Switch Toggles laser safety signal provided to the sensors [O= laser off, I= laser on].
Power Switch Toggles sensor power.
Trigger Signals a digital input trigger to the Gocator.
Encoder Accepts encoder A, B and Z signals.
Digital Output Provides digital output.
Power Accepts power (+48 V).
Refer to Master 100 (page 195) for pinout details.

Getting Started • 19Gocator 1100 & 1300 Series
Master 400/800
SENSOR PORTS 5-8
SENSOR PORTS 1-4
LED INDICATORS
MASTER 400 FRONT
MASTER 400 FRONT
MASTER 400/800 REAR
POWER AND SAFETY
ENCODER
INPUT
SENSOR PORTS 1-4
LED INDICATORS
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.
Refer to Master 400/800 (page 197) for pinout details.

Getting Started • 20Gocator 1100 & 1300 Series
Master 1200/2400
SENSOR PORTS 13-24 (2400 ONLY)
SENSOR PORTS 1-12
LED INDICATORS
GROUND CONNECTION
POWER AND SAFETY
ENCODER
INPUT
SENSOR PORTS 1-12
LED INDICATORS
MASTER 1200 FRONT
MASTER 2400 FRONT
MASTER 1200/2400 REAR
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.
Refer to Master 1200/2400 (page 200) for pinout details.