SCHMITT Acuity AccuProfile 820 Series User manual
Acuity AP820 Laser
Scanners Rev. 3.3
Limited Use License Agreement
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Procedures for Obtaining Warranty Service
1.
Contact your Acuity distributor or call Schmitt Industries, Inc. to obtain a return
merchandise authorization (RMA) number within the applicable warranty period. Schmitt
Industries will not accept any returned product without an RMA number.
2.
Ship the product to Schmitt Industries, postage prepaid, together with your bill of sale or
other proof of purchase. your name, address, description of the problem(s). Print the RMA
number you have obtained on the outside of the package.
This device complies with:
FCC Part 15, Class A, CE Mark
CISPR22, CNS13438, EN55022, ICES-003, VCCI
Operation is subject to the following two conditions:
(1) This device may not cause harmful interference, and (2) this device must accept any
interference received, including interference that may cause undesired operation.
Note: This equipment has been tested and found to comply with the limits for a Class A
digital device, pursuant to part 15 of the FCC rules. These limits are designed to provide
reasonable protection against harmful interference when the equipment is operated in a
commercial environment. This equipment generates, uses, and can radiate radio frequency
energy and, if not installed and used in accordance with the instruction manual, may cause
harmful interference to radio communications. Operation of this device in a residential area
is likely to cause harmful interference in which case the user will be required to correct the
interference at his own expense.
This manual copyright © 2013, Schmitt Industries, Inc.
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Table of Contents
Procedures for Obtaining Warranty Service................................................................................ 1
Table of Contents....................................................................................................................... 2
Table of Figures......................................................................................................................... 4
1. Introduction......................................................................................................................... 5
1.1 General Overview ........................................................................................................ 5
2. Definition of Terms.............................................................................................................. 6
2.1 Quick Start Instructions ................................................................................................ 6
2.1.1 Mounting and Power connections.......................................................................... 6
2.1.2 Ethernet connections............................................................................................. 7
2.1.3 Activation.............................................................................................................. 7
3. General Description............................................................................................................ 8
3.1 Principles of Operation................................................................................................. 8
3.2 Mechanical Dimensions ............................................................................................... 8
3.3 Contents .....................................................................................................................12
3.4 Laser Safety................................................................................................................12
3.5 Sensor Maintenance ...................................................................................................13
3.6 Sensor Service............................................................................................................13
3.7 Sensor Specifications..................................................................................................13
4. Installation and Checkout...................................................................................................14
4.1 Mounting.....................................................................................................................14
4.2 Cabling .......................................................................................................................14
4.2.1 Control cable........................................................................................................14
4.2.2 Ethernet cable......................................................................................................15
4.3 Connection box (Optional)...........................................................................................15
4.4 Power On....................................................................................................................16
4.4.1 Communications Check.......................................................................................... 16
4.4.2 Verifying Operation ..............................................................................................16
5. Ethernet Interface Operation..............................................................................................17
5.1 Changing the IP-address.............................................................................................17
6. Transmission Formats Sensor Data...................................................................................... 18
6.1 Scanner data...............................................................................................................18
6.2 Info-Telegram..............................................................................................................19
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7. Data Formats.....................................................................................................................21
7.1 Profile data..................................................................................................................21
7.2 Encoder Position Data.................................................................................................... 21
7.3 Register of Functions ..................................................................................................22
7.4 Sensor temperature.....................................................................................................22
7.5 Scanner Status Register..............................................................................................22
7.6 Version Evaluation Registers.......................................................................................22
7.7 Operating Hours Counter ............................................................................................22
7.8 Switch-on Counter.......................................................................................................23
7.9 Input Status.................................................................................................................23
7.10 Adjusting the laser output............................................................................................ 23
7.11 Number of Horizontal and Vertical Pixels.................................................................... 23
7.12 FIFO-First In, First Out.............................................................................................24
7.13 Serial number..........................................................................................................24
7.14 Z and X values Info-Telegram address 106 to 125....................................................24
7.15 Sensor Data ............................................................................................................24
7.16 Version Firmware.....................................................................................................24
8. Scanner control .................................................................................................................26
8.1 Data format for Register-addresses and Data..............................................................26
8.2 Register of functions....................................................................................................26
9. Description of the control commands .................................................................................28
9.1 Exposure control.........................................................................................................28
9.2 Calculation of the Exposure Time................................................................................28
9.3 Limiting the Range Z...................................................................................................28
9.4 Amplification................................................................................................................28
9.5 AGC (amplification control)..........................................................................................29
9.6 Ambient Light Filter .....................................................................................................29
9.7 Synchronization Mode.................................................................................................... 29
9.8 Measurement Control Trigger......................................................................................29
10. RS232 Interface..............................................................................................................30
11. Description of theWeb-Servers.......................................................................................31
11.1 Changing the IP-address.........................................................................................31
12. Programming using Windows DLL Calls............................................................................ 32
12.1 Importing EthernetScanner.dll..................................................................................32
12.2 Calling EthernetScanner_GetVersion.......................................................................33
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12.3 Establishing Ethernet communication with the AP820................................................ 33
12.4 Calling EthernetScanner_Connect, Ethernet_Scanner_Disconnect, and
EthernetScanner_GetConnectStatus. .34
12.5 Getting AP820 Parameters by calling EthernetScanner_GetInfo...............................35
12.6 Getting Profile Data from the AP820 ........................................................................36
12.6.1 Examples EthernetScanner_GetScanRawData....................................................37
12.7 Description of other parameters returned by EthernetScanner_GetScanRawData..39
12.8 Writing Commands to the AP820.............................................................................39
12.8.1 Examples: Laser on, Triggering............................................................................40
12.8.2 Example: Limiting the Range Z.............................................................................41
12.9 DescriptionofRegisterAddressesaccessibleviaEthernetScanner_WriteData..........42
Table of Figures
Figure 1 AP820-20 mechanical dimensions...............................................9
Figure 2 AP820-40 mechanical dimensions ...............................................9
Figure 3 AP820-60 mechanical dimensions ............................................. 10
Figure 4 AP820-80 mechanical dimensions ............................................. 10
Figure 5 AP820-120 mechanical dimensions ........................................... 10
Figure 6 AP820-240 mechanical dimensions ........................................... 11
Figure 7 AP820-400 mechanical dimensions ........................................... 12
Figure 8 AP820 laser labels .................................................................. 13
Figure 9 LED Configuration................................................................... 16
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1. Introduction
This section is a guide to getting started with the AP820 laser sensor and this manual. The
AP820 scanner has a number of configurable parameters, a minimum of which must be set
before the scanner can be used the first time. However, once the parameters are set, the
sensor will default to that configuration until changed by the user.
The recommended order for reading the manual is:
•
General Overview –Gives a brief understanding of the sensor operation.
•
Operating Guidelines –Provides a few important safety tips.
•
Definition of Terms –An aid for proper communication.
•
Quick Start Instructions –This should provide the information necessary to connect
the sensor and verify its operation with an Ethernet connection.
•
General Description –Gives important laser, operation, mechanical, and mounting
information.
•
Installation and Checkout –Tailor the application. Use the other chapters for
reference:
Signal and Power Interface –how to connect to the laser scanner
Ethernet Interface Operation –modes and formats
Performance Optimization –Sample Rate, Background Elimination, Exposure
control
1.1 General Overview
The Acuity AccuProfile 820 Laser Line Sensor measures surface heights by projecting a
beam of visible laser light that creates a line on a target surface. Reflected light from the
surface is viewed from an angle by a two-dimensional CCD detector array inside the
AP820 sensor. The 2D contour profile is calculated by the scanner’s microprocessor from
the pixel data from the diffusely reflected laser line. The height profile is transmitted
through Ethernet communications to a PC computer. Real-time 3D profiling is created by
synchronizing the position of the scanner with encoder inputs from conveyors, linear
stages or robotic movements.
A variety of models are specified, each to allow a different measurement range and field
of view. The AP820 scanner technical data sheet specifies scanner performance
standards.
A variety of configuration settings can be selected via the Ethernet interface. The
complete list of settings is found in the AP820 Command Set chapter and each setting is
discussed in detail in a specific operation chapter. A DLL Manual also exists for
programming information.
Measurement output is in the form of ASCII data packets for Ethernet models.
The scanner's detector uses a CCD-2D camera, a line laser and the electronics for the
processing of the sensor's data signals.
The scanner provides a 2D scan of an object on the measurement range. The width of
the scan will be indicated with an X-value, the depth of the measurement will be
indicated with a Z-value.
A linearization of the scanner has been carried out in the factory and is stored in the
sensor. Profile data are output in metric units - mm's. A calibration by the user is not
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necessary. Therefore every scanner can be exchanged on-site, without concern for
recalibration.
1.2 Operating Guidelines –Safety Issues
Do not point the line laser at any person, particularly a person’s eyes or face.
Do not attempt to disassemble the scanner. Improper disassembly will destroy
the optical alignment of the sensor and necessitate factory repairs.
Do not operate the sensor in areas where the sensor case is exposed to direct
sunlight for extended periods or where the air temperature is more than 40°C
(104°F) or less than 0°C 32°F). Special order scanners include an air / water cooling
capabilities for hot environments up to 400 °C.
Avoid excessive vibration and shocks. The scanner contains securely-mounted, but
precisely-aligned optical components.
Do not scratch the lenses on the front face of the scanner. Keep the lenses clean
with expert optical procedures. The lenses are glass with an anti-reflection coating.
Avoid the use of organic cleaning solvents.
Do not touch the lenses with bare fingers. The oils are very difficult to remove.
Operate only with DC supply voltages up to 30 volts.
2. Definition of Terms
Scanner, Sensor –The complete 2D profile measuring device.
Target –The object of measurement. The relative distances from the scanner to the
target surface is measured by the sensor.
Laser, Laser line –This light (visible laser line) is emitted from the sensor, reflected from
the target, and collected by the camera lens.
<Range> –The maximum relative distance measurable by the sensor in the Z axis.
Range Beginning, Range Ending- The region over which the target can be measured. At
the near end of the range the sensor measures zero. At the far end of the range the
sensor measures its maximum value (its Range value).
Field of View –The lateral distance profiled by the scanner in the X axis. The Field of
View varies at different Ranges.
2.1 Quick Start Instructions
This will get the AP820 scanner operating for quick measurements in its factory default
configuration. For full instructions use the individual sections of this manual for
mounting, power connections, data connections and configuration.
2.1.1 Mounting and Power connections
Mount the scanner in such a way that the case is not twisted or warped. Use two
screws through the threaded mounting holes on the sides of the AP820 scanner. See
the technical data sheet or the section of this User’s Manual for mounting hole
specifications. The laser should be aimed at a target such that the distance from the
sensor face to the target can be measured, between the Range Beginning and Range
End.
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Attach the Power / Data cable’s M12-A-coded, 8-pin female plug to the male
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receptacle on the top of the scanner while the power is off.
Connect the Supply + (White) and Return (Green) wires of the sensor cable to a 10 to
30 volt DC power supply (or use the sensor’s power supply if it came with one).
2.1.2 Ethernet connections
Attach the Ethernet cable’s 4-pin female plug to the male receptacle on the top of the
scanner.
Connect the Ethernet cable’s RJ45 connector to an available Ethernet port on a PC
computer.
2.1.3 Activation
Plug the AP820’s Ethernet plug into the Ethernet socket on the PC, and power up the
laser. The AP820 has a default IP address of 192.168.1.245 - Port 1096. Subnet
Mask is 255.255.255.0. For sensors older than 4/2014 please use the IP address of
192.168.123.222 with Port 3000. It can be
programmed to use another “working” IP
address via software. If you don’t know how
the AP820 is configured when you first
receive it, you can restore it to the default IP
address by pressing the “reset IP” button
on the side of the laser.
Configure the PC’s TCP/IP properties as follows (assuming we are using the laser’s
default IP address):
Use the Demo Program included in zip files on the CD or available for download from
the Acuity website. This program can be used for testing and demonstration of the
general operation of the scanner. Through the demo program, one can configure
scanner settings and even perform real scans and data archiving.
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Troubleshooting Notes:
If you are unable to “Connect” to the scanner through the demo program, it may be
necessary to manually configure the IP:
Connect the device to a PC Within your Network Connections window, change “local
area” network connection properties for the Ethernet interface in use for TCP/IP as
follows:
The IP of the scanner is set to default to 192.168.1.245, the PC has to be set to
the
appropriate network settings to 192.168.1.244 (or a value that is compatible
with
the IP/mask that was last stored in the device)
Subnet mask 255.255.255.0 (or a value that is compatible with the IP/mask that was
last
stored in the device)
Click OK and exit out of the Network Connections windows
If necessary, reboot pc for settings to take effect.
Power up the scanner and the laser line should be visible.
Ping the IP of the scanner with the command ping 192.168.1.245-t, if the scanner
responds you can start the demo software. If there is no response check the PC's IP
settings again and also the Ethernet cables.
Start the demo software.
The unit is ready to use.
3. General Description
The Acuity™ AP820 Measurement Scanner is a laser-based device intended for non-contact
dimension measuring and checking of surface / object profiles, shapes, target positions,
displacement, dimensions, sorting and sensing. By measuring distances across a laser line,
it replaces the functionality of many single-point laser sensors to achieve surface profile
measurements.
The AP820 scanner series includes numerous scanners models which vary on their
measuring Range, Field of View and mechanical dimensions.
3.1 Principles of Operation
The AccuProfile™820 Profile Measurement Scanner uses optical triangulation principles to
measure surface heights by projecting a beam of visible laser light that creates a line on
a target surface. Reflected light from the target surface is viewed from an angle by a
two-dimensional CCD detector array, 580 by 792 pixels inside the AP820 scanner. The
2D contour profile with 550 points is calculated by the scanner’s signal processor from
the pixel data from the diffusely reflected laser line. The height distance profile is
transmitted through Ethernet communications to a PC computer. Real-time 3D profiling is
created by synchronizing the position of the scanner with encoder inputs from conveyors,
linear stages or robotic movements.
3.2 Mechanical Dimensions
The AccuProfile™ 820 Scanner models have several different enclosure configurations
and sizes.
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Figure 1 AP820-5 mechanical
dimensions
Figure 2 AP820-20 mechanical
dimensions
Figure 3 AP820-40 mechanical
dimensions
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Figure 4 AP820-60 mechanical
dimensions
Figure 5 AP820-80 mechanical
dimensions
Figure 6 AP820-120 mechanical dimensions
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Figure 7 AP820-240 mechanical dimensions
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Figure 8 AP820-400 mechanical dimensions
3.3 Contents
Your AP820 Scanner includes the following items:
1.
The scanner unit
2.
A 2m Ethernet cable with connector (purchased separately)
3.
A 2m power / data cable with solder wire termination (purchased separately)
4.
This User’s Manual (part number LLL000821)
3.4 Laser Safety
The AP820 scanners have a visible laser line produced by a semiconductor laser diode.
The laser class of the scanner depends on the model specifications, but may range from
a Class 2 to a Class 3B laser device in accordance with EN60825-1:2001-11 and FDA
21CFR 1040. This laser device should not be aimed at the human eye. Installers of laser
sensors should follow precautions set forth by FDA 21CFR 1040.10 or by their local safety
oversight organization.
Do not direct the laser beam at other people to avoid potential eye hazards. If required,
use eyewear specifically designed to block laser light of the wavelength used by the sensor.
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Figure 9 AP820 laser labels
3.5 Sensor Maintenance
The AP820 sensor requires little maintenance from the user. The sensor lenses should be
kept clean of dust buildup as a part of regular preventative maintenance. Use
compressed air to blow dirt off the window then use delicate tissue wipes with a light
solvent such as isopropyl alcohol or water. Avoid using pressurized water and do not use
abrasive wipes on the optical glass. For heavy dust or dirt buildup on the lenses, rinse
the lenses before wiping clean to avoid lens scratching. If your sensor does not function
according to specifications, contact Schmitt Industries, Inc.
3.6 Sensor Service
The AP820 sensor has no user-serviceable parts. Do not open the unit. Refer all service
questions to Schmitt Industries, Inc.
3.7 Sensor Specifications
Go to: http://www.acuitylaser.com/docs/ap820-data-sheet.pdf
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4. Installation and Checkout
4.1 Mounting
The scanner should be securely mounted to rigid heat dissipating mechanical fixtures,
brackets or stages.
In environments of high vibration, consider using insulating
bushings with a bracket to
minimize the transfer of this movement to the scanner.
The floors of some industrial
environments could transfer vibration to scanner fixtures
and care should be taken to
eliminate this source of displacement measurement error.
Never weld the scanner in place and avoid using a welder’s arc on metal
fixtures with the scanner connected.
Consult the appropriate mechanical drawings (see section Mechanical Dimensions 3.2) to
locate the size and location of the mounting holes for each scanner model. For the
smaller models, the mounting holes are located on the side of the scanner head to
conserve space. The small enclosures have two mounting holes on the side of the sensor.
The medium enclosure models have three through holes that should be used for secure
mounting.
Sensors should be mounted perpendicular to the target surface that it will be measuring.
Mount the sensor at the appropriate height above the target surface. Consult the
product data sheet to determine the sensor’s standoff distance. It will only measure
distance between the Range Beginning and Range End.
4.2 Cabling
The AP820 sensors have two cable receptacles, one for Ethernet and one for Power /
Interface. The sensors can be ordered with cables of desired length, or users may
choose to manufacture their own cables.
4.2.1 Control cable
The Control cable uses an M12-A-Coded Control and power supply plug.
The AP820 scanner’s OEM multipurpose cable has solder tail wires. Connection and
termination according to the instructions is essential for correct sensor operation.
Read the wire descriptions for connection information. The color labels on the
connectivity box are different from the AP820 wire colors and are shown above.
Wire Color
Pin Number
Function
connectivity box label
White
1
Power +10 –30 VDC, supply
Red
Brown
2
Digital Input 1 / Position indicator
Not connected
Green
3
Ground or 0 V
Black
Yellow
4
Digital Input 2 / Position indicator
Not connected
Gray
5
Sync OUT
Pink
Pink
6
Sync IN / Hardware Trigger
White
Blue
7
TxD
Green
Red
8
RxD
Yellow
Screen
Tied to connector plug housing
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4.2.1.1 Power Supply
The Green wire is the Power Supply Common return, also named Ground. It carries
the return current for the power supply.
The White wire is the Power Supply Input to the sensor. The sensor accepts a wide
range from +10 to +30 VDC power and consumes <4 W.
Power supplies from 10 VDC to 30 VDC may be used. Higher voltages will result in
excessive current drawn by the over voltage protection circuitry and may cause
permanent damage.
4.2.1.2 Drain Wire (Clear)
The cable may have an un-insulated wire, drain, that connects the stainless steel
harness plug of the cable. It should also be connected to ground at the power
supply end of the cable.
4.2.2 Ethernet cable
The Ethernet cable uses a M12-D-Coded 4pol Industrial Ethernet cable. The other end
is a standard RJ45 connector.
Connection
Pin-
No.
Function
Cable colors
Note
M12 round
4-
pol
D-coded
female
1
Tx+
green + white
Sending data Ethernet +
2
Rx+
red + white
Receiving data Ethernet +
3
Tx-
green
Sending data Ethernet -
4
Rx-
red
Receiving data Ethernet -
Screen
Connected with the connector plug
housing
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4.3 Power On
Caution: be sure that the laser will not cause an eye hazard.
When power is applied the red or blue laser line will be emitted from the top window
of the
AP820 scanner. The LEDS adjacent to the cable connectors on the scanner head
should
illuminate.
Figure 10 LED Configuration
Status LEDs
Meaning
Color
OK when
System OK
Illuminates after self-check
Red
Flashing
LAN active
Ethernet Link sending data
Yellow
Flashing
4.3.1 Communications Check
To begin communication with the scanner, you may use your own application software
or the free, demo software described in section 2.1.3.
4.3.2 Verifying Operation
With the scanner mounted above the target surface or reference surface, adjust its
height so that the surface is slightly closer than the Range End for the particular
sensor model you are operating. See the data sheet to verify the Range End for your
model.
With the demo software open and working, place an opaque object of known height
onto the reference surface. Zoom the image if necessary and verify that the
measured height of the object is equal to (within specification tolerances) the known
object height.
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5. Ethernet Interface Operation
An Ethernet interface will be used for the transmission of the profile data. The recommended procedure
for data readout is described in the programming example. For a normal operation of the scanner it is not
necessary to send initialization data to the scanner. The electronics in the head of the scanner will store
all settings automatically in order to provide the optimal profile. Only in cases where the object has a very
strong color / reflectivity variation surface is it useful to activate the AGC function, as described in the
register of functions.
The values in this description that are represented in hexadecimal format will be represented in C++
format. Therefore 0x23 will be the hexadecimal value 23.
5.1Changing the IP-address
The AP820 scanners have a default IP-address, as well as a working IP-address. See the
table in section 6.1 for details. Changes to the working IP-address will be saved
permanently.
The default IP-address will be activated by the RESET IP button.
The default IP-address is fixed and cannot be changed by the user.
Another working IP-address can be set through the Web-Server. The procedure is
explained in section 10.1.
This manual suits for next models
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Table of contents
