LMI Gocator 1300 Series User manual

USER MANUAL
Gocator Point Profile Sensors
Gocator 1300 Series
Firmware version:5.2.x.xx
Document revision:B

Gocator Point Profile Sensors: User Manual 2
Copyright
Copyright © 2019 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
LMI Technologies, Inc.
9200 Glenlyon Parkway
Burnaby BCV5J 5J8
Canada
Telephone: [phone]
Fax: [phone]
www.lmi3D.com

Gocator Point Profile Sensors: User Manual 3
Table of Contents
Copyright 2
Table of Contents 3
Introduction 11
Gocator Overview 12
Safety and Maintenance 13
Laser Safety 13
Laser Classes 14
Precautions and Responsibilities 15
Class 3B Responsibilities 15
Nominal Ocular Hazard Distance (NOHD) 16
Systems Sold or Used in the USA 16
Electrical Safety 17
Handling, Cleaning, and Maintenance 17
Environment and Lighting 18
Getting Started 19
Hardware Overview 20
Side Mount Package 20
Top Mount Package 20
Gocator Cordsets 21
Master 100 22
Master 400 / 800 / 1200 / 2400 22
Master 810 / 2410 24
Alignment Targets 25
System Overview 27
Standalone System 27
Dual-Sensor System 28
Multi-Sensor System 28
Installation 30
Mounting: Side Mount Package 30
Mounting - Top Mount Package 31
Orientations 32
Grounding 34
Gocator 34
Recommended Practices for Cordsets 35
Master Network Controllers 35
Grounding When Using a DIN Rail (Master
810/2410) 36
Additional Grounding Schemes 36
Installing DIN Rail Clips: Master 810 or 2410 37
Configuring Master 810 38
Setting the Divider 39
Encoder Quadrature Frequency 39
Setting the Debounce Period 40
Network Setup 41
Client Setup 41
Gocator Setup 43
Running a Standalone Sensor System 43
Running a Dual-Sensor System 44
Next Steps 46
How Gocator Works 48
3D Acquisition 48
Clearance Distanceand Measurement Range 49
Resolution and Accuracy 49
Z Resolution 49
Z Linearity 50
RangeOutput 51
Coordinate Systems 51
Sensor Coordinates 51
System Coordinates 51
Data Generation and Processing 53
Profile Generation 53
Part Detection 53
Measurement 54
Output and Digital Tracking 54
Gocator Web Interface 55
Browser Compatibility 55
Internet Explorer 11 Issues 55
Internet Explorer Switches to Software
Rendering 55
Internet Explorer Displays "Out of Memory" 55
User Interface Overview 56
Toolbar 58
Creating, Saving and Loading Jobs (Settings) 58
Recording, Playback, and Measurement
Simulation 59
Recording Filtering 61
Downloading, Uploading, and Exporting
Replay Data 63
Metrics Area 65
Data Viewer 66
Status Bar 66
Log 66
Frame Information 67

Gocator Point Profile Sensors: User Manual 4
Quick Edit Mode 67
Interface Language 67
Management and Maintenance 69
Manage Page Overview 69
Sensor System 70
Dual- and Multi-sensor Systems 70
Buddy Assignment 70
Over Temperature Protection 71
Sensor Autostart 72
Layout 72
Networking 75
Motion and Alignment 76
Alignment Reference 76
Encoder Resolution 77
Encoder Value and Frequency 77
Travel Speed 77
Jobs 78
Security 79
Maintenance 80
Sensor Backups and Factory Reset 81
Firmware Upgrade 82
Support 83
Support Files 84
Manual Access 85
Software Development Kit 85
Scan Setup and Alignment 86
Scan Page Overview 86
Scan Modes 87
Triggers 87
Trigger Examples 91
Trigger Settings 92
Maximum Input Trigger Rate 94
Maximum Encoder Rate 94
Sensor 94
Active Area 94
Transformations 96
Exposure 97
Single Exposure 98
Dynamic Exposure 98
Advanced 99
Material 101
Camera Gain and Dynamic Exposure 101
Alignment 102
Alignment Types 102
Aligning Sensors 102
Encoder Calibration 105
Clearing Alignment 106
Filters 106
Median 107
Smoothing 107
Decimation 108
Slope 109
Profile Generation 110
Part Detection 114
Data Viewer 116
Data Viewer Controls 116
Video Mode 117
Spots and Dropouts 117
Range Mode 118
Profile Mode 119
Region Definition 120
Intensity Output 121
Measurement and Processing 122
Measure Page Overview 122
Data Viewer 122
Tools Panel 124
Adding and Configuring a Measurement
Tool 124
Source 125
Regions 125
Feature Points 127
Geometric Features 129
Fit Lines 130
Decisions 130
Filters 132
Measurement Anchoring 133
Enabling and Disabling Measurements 135
Editing Tool, Input, or Output Names 136
Changing a Measurement ID 137
Duplicating a Tool 137
Removing a Tool 138
Reordering Tools 138
Range Measurement 139
Position 140

Gocator Point Profile Sensors: User Manual 5
Measurements and Settings 140
Thickness 141
Measurements and Settings 141
Script 143
Profile Measurement 144
Area 145
Measurements, Features, and Settings 146
Bounding Box 148
Measurements, Features, and Settings 149
Circle 151
Measurements, Features, and Settings 151
Closed Area 154
Measurements and Settings 154
Dimension 158
Measurements and Settings 158
Groove 161
Measurements, Features, and Settings 162
Intersect 166
Measurements, Features, and Settings 166
Line 169
Measurements, Features, and Settings 170
Panel 173
Position 177
Measurements, Features, and Settings 177
Round Corner 179
Strip 183
Script 188
Feature Measurement 190
Create 191
Line from Two Points 192
Perpendicular or Parallel Line from Point
and Line 193
Circle from Points 194
Line from Two Planes 195
Point from Three Planes 196
Point or Line 196
Dimension 199
Intersect 201
Robot Pose 203
Scripts 203
Built-in Script Functions 203
Output 209
Output Page Overview 209
Ethernet Output 210
Digital Output 214
Analog Output 217
Serial Output 218
Dashboard 221
Dashboard Page Overview 221
State and Health Information 221
Statistics 222
Measurements 223
Performance 223
Gocator Emulator 225
System Requirements 225
Limitations 226
Downloading a Support File 226
Running the Emulator 227
Adding a Scenario to the Emulator 228
Running a Scenario 229
Removing a Scenario from the Emulator 229
Using Replay Protection 230
Stopping and Restarting the Emulator 230
Running the Emulator in Default Browser 231
Working with Jobs and Data 231
Creating, Saving, and Loading Jobs 231
Playback and Measurement Simulation 232
Downloading, Uploading, and Exporting
Replay Data 233
Downloading and Uploading Jobs 236
Scan, Model, and Measurement Settings 237
Calculating Potential Maximum Frame Rate 237
Protocol Output 238
Remote Operation 238
Gocator Accelerator 240
System Requirements and Recommendations 241
Benefits 241
Installation 242
Gocator Accelerator Utility 242
Dashboard and Health Indicators 244
SDK Application Integration 245
Gocator Device Files 246
Live Files 246
Log File 246

Gocator Point Profile Sensors: User Manual 6
Job File Structure 247
Job File Components 247
Accessing Files and Components 248
Configuration 248
Setup 249
BackgroundSuppression 250
Filters 250
XSmoothing 251
YSmoothing 251
XGapFilling 251
YGapFilling 251
XMedian 252
YMedian 252
XDecimation 252
YDecimation 252
XSlope 252
YSlope 253
Trigger 253
Layout 255
Alignment 256
Disk 257
Bar 257
Plate 257
Polygon 258
Polygon/Corner 258
Devices / Device 258
SurfaceGeneration 264
FixedLength 265
VariableLength 265
Rotational 265
SurfaceSections 265
ProfileGeneration 266
FixedLength 266
VariableLength 267
Rotational 267
PartDetection 267
EdgeFiltering 269
PartMatching 269
Edge 269
BoundingBox 270
Ellipse 270
Replay 271
RecordingFiltering 271
Conditions/AnyMeasurement 271
Conditions/AnyData 272
Conditions/Measurement 272
Streams/Stream (Read-only) 272
ToolOptions 273
MeasurementOptions 274
FeatureOptions 274
StreamOptions 275
Tools 275
Profile Types 275
ProfileFeature 275
ProfileLine 276
ProfileRegion2d 276
Geometric Feature Types 276
Parameter Types 276
RangePosition 278
RangeThickness 279
ProfileArea 281
ProfileBoundingBox 282
ProfileCircle 284
ProfileDimension 286
ProfileGroove 288
ProfileIntersect 290
ProfileLine 291
ProfilePanel 293
ProfilePosition 296
ProfileRoundCorner 297
ProfileStrip 299
Script 302
Tool (type FeatureDimension) 302
Tool (type FeatureIntersect) 304
Custom 306
Output 306
Ethernet 307
Ascii 309
EIP 309
Modbus 310
Profinet 310
Digital0 and Digital1 310
Analog 311
Serial 312

Gocator Point Profile Sensors: User Manual 7
Selcom 312
Ascii 313
Transform 313
Device 314
Protocols 316
Gocator Protocol 316
Data Types 317
Commands 317
Discovery Commands 318
Get Address 318
Set Address 319
Get Info 320
Control Commands 321
Protocol Version 322
Get Address 322
Set Address 323
Get System Info V2 323
Get System Info 326
Get States 327
Log In/Out 328
Change Password 328
Assign Buddies 329
Remove Buddies 330
Set Buddy 330
List Files 330
Copy File 331
Read File 331
Write File 332
Delete File 333
User Storage Used 333
User Storage Free 333
Get Default Job 334
Set Default Job 334
Get Loaded Job 334
Get Alignment Reference 335
Set Alignment Reference 335
Clear Alignment 336
Get Timestamp 336
Get Encoder 336
Reset Encoder 337
Start 337
Scheduled Start 338
Stop 338
Get Auto Start Enabled 338
Set Auto Start Enabled 339
Get Voltage Settings 339
Set Voltage Settings 340
Get Quick Edit Enabled 340
Set Quick Edit Enabled 340
Start Alignment 341
Start Exposure Auto-set 341
Software Trigger 342
Schedule Digital Output 342
Schedule Analog Output 343
Ping 343
Reset 344
Backup 344
Restore 345
Restore Factory 345
Get Recording Enabled 346
Set Recording Enabled 346
Clear Replay Data 347
Get Playback Source 347
Set Playback Source 347
Simulate 348
Seek Playback 348
Step Playback 349
Playback Position 349
Clear Measurement Stats 350
Read Live Log 350
Clear Log 350
Simulate Unaligned 351
Acquire 351
Acquire Unaligned 351
Create Model 352
Detect Edges 352
Add Tool 353
Add Measurement 353
Read File (Progressive) 354
Export CSV (Progressive) 354
Export Bitmap (Progressive) 355
Get Flag 356
Set Flag 356
Get Runtime Variable Count 357

Gocator Point Profile Sensors: User Manual 8
Set Runtime Variables 357
GetRuntimeVariables 358
Upgrade Commands 358
Start Upgrade 358
Start Upgrade Extended 359
Get Upgrade Status 359
Get Upgrade Log 360
Results 360
Data Results 360
Stamp 361
Video 362
Range 363
Range Intensity 363
Profile Point Cloud 364
Profile Intensity 364
Measurement 365
Alignment Result 366
Exposure Calibration Result 366
Event 367
Feature Point 367
Feature Line 367
Feature Plane 368
Feature Circle 368
Generic Message 368
Health Results 369
Modbus Protocol 375
Concepts 375
Messages 375
Registers 376
Control Registers 377
Output Registers 378
State 378
Stamp 379
Measurement Registers 380
EtherNet/IP Protocol 382
Explicit Messaging 382
Identity Object (Class 0x01) 383
TCP/IP Object (Class 0xF5) 383
Ethernet Link Object (Class 0xF6) 384
Assembly Object (Class 0x04) 384
Command Assembly 384
Runtime Variable Configuration 385
Assembly
Sensor State Assembly 386
Sample State Assembly 387
Implicit Messaging 388
Assembly Object (Class 0x04) 389
Implicit Messaging Command Assembly 389
Implicit Messaging Output Assembly 390
ASCIIProtocol 391
Connection Settings 392
Ethernet Communication 392
Serial Communication 392
Polling Operation Commands (Ethernet Only) 393
Command and Reply Format 393
Special Characters 393
Command Channel 394
Start 394
Stop 395
Trigger 395
LoadJob 395
Stamp 396
Clear Alignment 396
Moving Alignment 396
Stationary Alignment 397
Set Runtime Variables 397
Get Runtime Variables 397
Data Channel 398
Result 398
Value 398
Decision 399
Health Channel 400
Health 400
Standard Result Format 400
Custom Result Format 401
Selcom Protocol 403
Serial Communication 403
Connection Settings 403
Message Format 403
Development Kits 405
GoSDK 405
Setup and Locations 406
Class Reference 406
Examples 406

Gocator Point Profile Sensors: User Manual 9
Example Project Environment Variable 406
Header Files 406
FunctionalHierarchy of Classes 406
GoSystem 407
GoSensor 407
GoSetup 407
GoLayout 407
GoTools 408
GoTransform 408
GoOutput 408
Data Types 408
Value Types 408
Output Types 408
GoDataSet Type 409
MeasurementValues and Decisions 410
Batching 410
Operation Workflow 411
Initialize GoSdk APIObject 412
Discover Sensors 412
Connect Sensors 412
Configure Sensors 412
Enable Data Channels 412
Perform Operations 413
Limiting Flash Memory Write Operations 414
GDK 416
Benefits 416
Supported Sensors 416
Typical Workflow 416
Installation and Class Reference 417
Required Tools 417
Getting Started with the Example Code 417
Building the Sample Code 417
Tool Registration 418
Tool Definitions 418
Entry Functions 419
Parameter Configurations 419
Graphics Visualization 420
Debugging Your Tools 423
Debugging Entry Functions 424
Tips 424
Backward Compatibility with Older Versions
of Tools 424
Define new parameters as optional 424
Configuration Versioning 424
Version 426
Common Programming Operations 426
Input Data Objects 426
Setup and Region Info during Tool
Initialization 427
Computing Region Based on the Offset
from an Anchor Source 427
Part Matching 427
Accessing Sensor Local Storage 427
Print Output 428
Tools 429
Sensor Discovery Tool 429
CSV Converter Tool 430
CSV File Format 431
Info 432
DeviceInfo 433
RecordingFilter 433
Ranges 434
Profile 435
RawProfile 436
Troubleshooting 437
Specifications 438
Sensors 438
Gocator 1300 Series 438
Gocator 1320 (Side Mount Package) 440
Gocator 1320 (Top Mount Package) 441
Gocator 1340 (Side Mount Package) 442
Gocator 1350 (Side Mount Package) 445
Gocator 1350 (Top Mount Package) 448
Gocator 1365 (Side Mount Package) 451
Gocator 1370 (Side Mount Package) 454
Gocator 1380 (Side Mount Package) 457
Gocator 1390 (Side Mount Package) 460
Sensor Connectors 463
Gocator Power/LAN Connector 463
Grounding Shield 463
Power 464
Laser Safety Input 464
Gocator I/O Connector 465
Grounding Shield 465
Digital Outputs 465

Gocator Point Profile Sensors: User Manual 10
Inverting Outputs 466
Digital Input 466
Encoder Input 467
Serial Output 468
Selcom Serial Output 468
Analog Output 468
Master Network Controllers 470
Master 100 470
Master 100 Dimensions 471
Master 400/800 472
Master 400/800 Electrical Specifications 473
Master 400/800 Dimensions 475
Master 810/2410 476
Electrical Specifications 478
Encoder 479
Input 481
Master 810 Dimensions 483
Master 2410 Dimensions 484
Master 1200/2400 485
Master 1200/2400 Electrical Specifications 486
Master 1200/2400 Dimensions 487
Accessories 488
Return Policy 490
Software Licenses 491
Support 496
Contact 497