How it Works
LMI Technologies
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Gocator 2100
User Manual
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LMI Technologies Gocator 2100, Gocator 2500, Gocator 2300, Gocator 2400, Gocator 2880 User Manual

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Gocator Line Profile Sensors
USER MANUAL
Gocator 2100, 2300, 2400, 2500 Series; Gocator 2880
Firmware version:5.2.x.xx
Document revision:A

Copyright

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: +1 604-636-1011 Fax: +1 604-516-8368
www.lmi3D.com
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Table of Contents

Copyright 2
Table of Contents 3
Introduction 13
Gocator Overview 14
Safety and Maintenance 15
Laser Safety 15
Laser Classes 16
Precautions and Responsibilities 17
Class 3B Responsibilities 17
Nominal Ocular Hazard Distance (NOHD) 18
Systems Sold or Used in the USA 19
Electrical Safety 20
Heat Warning 20
Handling, Clean ing, and Maintenance 20
Environment and Lighting 21
Getting Started 22
Hardware and Firmware Capabilities 22
Hardware Overview 23
Gocator Sensor 23
Gocator Cordsets 23
Master 100 24
Master 400 / 800 / 1200 / 2400 25
Master 810 / 2410 26
Alignment Targets 28
System Overview 29
Standalone System 29
Dual-Sensor System 30
Multi-Sensor System 31
Installation 33
Mounting 33
Orientations 34
Grounding 36
Gocator 36
Recommended Practices for Cordsets 36
Master Network Controllers 37
Grounding When Using a DIN Rail (Master 810/2410) 38
Additional Grounding Schemes 38
Installing DIN Rail Clips: Master 810 or 2410 38
Configuring Master 810 40
Setting the Divider 41
Encoder Quadrature Frequency 41
Setting the Debounce Period 42
Rut-Scanning System Setup 42
Layout 42
System Setup 43
Software Configuration 43
System Operation 44
Network Setup 45
Client Setup 45
Gocator Setup 48
Running a Standalone Sensor System 48
Running a Dual-Sensor System 49
Next Steps 51
How Gocator Works 53
3D Acquisition 53
Clearance Distance, Field of Viewand Measurement Range 54
Resolution and Accuracy 55
X Resolution 55
Z Resolution 56
Z Linearity 56
Profile Output 58
Coordinate Systems 58
Sensor Coordinates 58
System Coordinates 59
Part and Section Coordinates 62
Switching between Coordinate Systems 63
Resampled Data and Point Cloud Data 63
Data Generation and Processing 65
Surface Generation 65
Part Detection 65
Sectioning 66
Part Matching 66
Measurement 67
Tool Chaining 67
Anchoring Measurements 68
Geometric Features 70
Tool Data 73
Output and Digital Tracking 77
Gocator Web Interface 79
Browser Compatibility 79
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Internet Explorer 11 Issues 79
Internet Explorer Switches to Software Rend ering 79
Internet Explorer Displays "Out of Memory" 79
User Interface Overview 80
Toolbar 82
Creating, Saving and Loading Jobs (Settings) 82
Recording, Playback, and Measurement Simulation 83
Recording Filtering 85
Downloading, Uploading, and Exporting Replay Data 87
Metrics Area 89
Data Viewer 90
Status Bar 90
Log 90
Frame Information 91
Quick Edit Mode 91
Interface Language 92
Management and Maintenance 93
Manage Page Overview 93
Sensor System 94
Dual- and Multi-sensor Systems 94
Buddy Assignment 95
Over Temperature Protection 96
Sensor Autostart 96
Layout 96
Device Exp osure Multiplexing 103
Networking 104
Motion and Alignment 105
Alignment Reference 105
Encoder Resolution 106
Encoder Value and Frequency 106
Travel Speed 106
Jobs 107
Security 108
Maintenance 109
Sensor Backups and Factory Reset 110
Firmware Upgrade 111
Support 112
Support Files 113
Manual Access 113
Software Development Kit 114
Scan Setup and Alignment 115
Scan Page Overview 115
Scan Modes 116
Triggers 117
Trigger Examples 121
Trigger Settings 122
Maximum Input Trigger Rate 124
Maximum Encoder Rate 124
Sensor 124
Active Area 124
Tracking Window 126
Transformations 128
Exposure 129
Single Exposure 130
Dynamic Exposure 131
Multiple Exposure 132
Spacing 134
Sub-Sampling 134
Spacing In terval 135
Advanced 136
Material 137
Camera Gain and Dynamic Exposure 137
Alignment 138
Alignment Types 138
Aligning Sensors 139
Encoder Calibration 145
Clearing Alignment 146
Filters 146
Gap Fillin g 147
Median 147
Smoothing 148
Decimation 149
Surface Generation 149
Part Detection 153
Part Detection Status 157
Edge Filtering 159
Data Viewer 160
Data Viewer Controls 160
Video Mode 163
Exposure Information 163
Exposures 163
Overexposure and Underexposure 164
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Spots and Dropouts 165
Profile Mode 166
Surface Mode 168
Height Map Color Scale 171
Sections 172
Region Definition 173
Intensity Output 174
Models 176
Model Page Overview 176
Part Matching 176
Using Edge Detection 177
Creating a Model 180
Modifying a Model's Edge Points 182
Adjusting Target Sensitivity 185
Setting the Match Acceptance Criteria 186
Running Part Matching 186
Using Bounding Box and Ellipse 186
Configuring a Bounding Box or an Ellip se188
Running Part Matching 189
Using Part Matching to Accept or Reject a Part 190
Sections 190
Creating a Section 193
Deleting a Section 195
Measurement and Processing 196
Measure Page Overview 196
Data Viewer 197
Tools Panel 198
Adding and Configuring a Measurement Tool 198
Stream 199
Source 201
Regions 201
Feature Points 204
Geometric Features 206
Fit Lines 208
Decisions 208
Filters 209
Measurement Anchoring 211
Enabling and Disabling Measurements 216
Editing Tool, Input, or Output Names 217
Changing a Measurement ID 217
Duplicating a Tool 218
Removing a Tool 218
Reordering Tools 219
Profile Measurement 220
Advanced Height 220
Measurements, Data, and Settings 222
Master Comparison 223
X Correction 224
Reference Line 224
Anchoring 224
Area 225
Measurements, F eatures, and Settings 226
Bounding Box 229
Measurements, F eatures, and Settings 230
Bridge Value 232
Understanding the Window and Skip Settings 232
Measurements and Settings 233
Using Window and StdDev as Metrics Measurements 235
Circle 237
Measurements, F eatures, and Settings 237
Closed Area 240
Measurements and Settings 240
Dimension 244
Measurements and Settings 244
Groove 247
Measurements, F eatures, and Settings 248
Intersect 252
Measurements, F eatures, and Settings 252
Line 255
Measurements, F eatures, and Settings 256
Panel 259
Position 263
Measurements, F eatures, and Settings 263
Round Corner 265
Strip 269
Script 274
Surface Measurement 276
Ball Bar 277
Bounding Box 280
Measurements, F eatures, and Settings 281
Countersunk Hole 285
Measurements, F eatures, and Settings 287
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Dimension 294
Edge 298
Paths and Path Profiles 300
Measurements, F eatures, and Settings 301
Ellipse 312
Measurements, F eatures, and Settings 313
Extend 315
Data and Settings 316
Filter 318
Settings and Available Filters 319
Flatness 321
Measurements, Data, and Settings 322
Hole 327
Measurements, F eatures, and Settings 329
Measurement Region 331
Opening 333
Measurements, F eatures, and Settings 336
Measurement Region 340
Plane 341
Measurements, F eatures, and Settings 343
Position 345
Measurements, F eatures, and Settingss 346
Section 347
Measurements, Data, and Settings 350
Segmentation 356
Measurements, Data, and Settings 358
Sphere 363
Measurements, F eatures, and Settings 364
Stitch 366
Measurements, Data, and Settings 367
Stud 370
Measurements, F eatures, and Settings 372
Measurement Region 373
Track 374
Key Concepts 376
Track Location 378
Peak Detection 379
Side Detection 379
Center Point Detection 380
Configuring the Track Tool 380
Measurements, Data, and Settings 381
Anchoring 385
Using the TrackEditor 386
Transform 389
Combinations of geometric feature inputs and results 392
Plane 392
Line 393
Point 394
Plane +Line 395
Plane +Point 396
Line +Point 397
Plane +Line +Point 398
Measurements, Data, and Settings 400
Vibration Correction 402
Data and Settings 403
Volume 404
Script 407
Feature Measurement 408
Create 409
Line from Two Points 410
Perpendicular or Parallel Line from Point and Line 411
Circle from Points 412
Line from Two Planes 413
Point from Three Planes 414
Point or Line 414
Dimension 417
Intersect 421
Robot Pose 425
Measurements and Settings 427
Scripts 427
Built-in Script Functions 428
Output 433
Output Page Overview 433
Ethernet Output 434
Digital Output 438
Analog Output 441
Serial Output 443
Dashboard 446
Dashboard Page Overview 446
State and Health Information 446
Statistics 448
Measurements 448
Performance 448
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Gocator Acceleration 450
Benefits 451
Dashboard and Health Indicators 451
Hardware Acceleration:GoMax 451
Software-Based Acceleration 451
System Requirements and Recommendations 452
Minimum System Requirements 452
Recommendations 452
Installation 452
Gocator Accelerator Utility 452
SDK Application Integration 455
Estimated Performance 455
Gocator Emulator 457
System Requirements 457
Limitations 458
Downloading a Support File 458
Running the Emulator 459
Adding a Scenario to the Emulator 460
Running a Scenario 461
Removing a Scenario from the Emulator 462
Using Replay Protection 462
Stopping and Restarting the Emulator 463
Running the Emulator in Default Browser 463
Working with Jobs and Data 464
Creating, Saving, and Loading Jobs 464
Playback and Measurement Simulation 464
Downloading, Uploading, and Exporting Replay Data 466
Downloading and Uploading Jobs 468
Scan, Model, and Measurement Settings 470
Calculating Potential Maximum Frame Rate 470
Protocol Output 471
Remote Operation 471
Gocator Device Files 473
Live Files 473
Log File 473
Job File Structure 474
Job File Components 474
Accessing Files and Components 475
Configuration 475
Setup 476
BackgroundSuppression 477
Filters 477
XSmoothing 478
YSmoothing 478
XGapFilling 478
YGapFilling 478
XMedian 479
YMedian 479
XDecimation 479
YDecimation 479
XSlope 479
YSlope 480
Trigger 480
Layout 482
Alignment 483
Disk 484
Bar 484
Plate 484
Polygon 485
Polygon/Corner 485
Devices / Device 485
SurfaceGeneration 491
FixedLength 492
VariableLength 492
Rotational 492
SurfaceSections 492
ProfileGeneration 493
FixedLength 493
VariableLength 494
Rotational 494
PartDetection 494
EdgeFiltering 496
PartMatching 496
Edge 496
BoundingBox 497
Ellipse 497
Replay 498
RecordingFiltering 498
Conditions/AnyMeasurement 498
Conditions/AnyData 499
Conditions/Measurement 499
Streams/Stream (Read-only) 499
ToolOptions 500
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MeasurementOptions 501
FeatureOptions 501
StreamOptions 502
Tools 502
Profile Types 502
ProfileFeature 502
ProfileLine 503
ProfileRegion2d 503
SurfaceTypes 503
Region3D 503
SurfaceFeature 503
SurfaceRegion2d 504
Geometric Feature Types 504
Parameter Types 504
ProfileArea 506
ProfileBoundingBox 508
ProfileBridgeValue 510
ProfileCircle 511
ProfileDimension 513
ProfileGroove 515
ProfileIntersect 517
ProfileLine 519
ProfilePanel 521
ProfilePosition 523
ProfileRoundCorner 525
ProfileStrip 527
Script 529
SurfaceBoundingBox 530
SurfaceCsHole 532
SurfaceDimension 535
Tool (type SurfaceEdge) 537
SurfaceEllipse 540
SurfaceHole 542
SurfaceOpening 544
SurfacePlane 547
SurfacePosition 549
SurfaceStud 551
SurfaceVolume 553
Tool (type FeatureDimension) 555
Tool (type FeatureIntersect) 557
Custom 558
Output 559
Ethernet 559
Ascii 562
EIP 562
Modbus 562
Profinet 562
Digital0 and Digital1 563
Analog 564
Serial 564
Selcom 565
Ascii 565
Transform 566
Device 567
Part Models 567
Edge Points 568
Configuration 569
Protocols 570
Gocator Protocol 570
Data Types 571
Commands 571
Discovery Commands 572
Get Address 572
Set Address 573
Get Info 574
Control Commands 575
Protocol Version 576
Get Address 576
Set Address 577
Get System Info V2 577
Get System Info 580
Get States 581
Log In/Out 582
Change Password 582
Assign Bud dies 583
Remove Buddies 584
Set Buddy 584
List Files 584
Copy File 585
Read File 585
Write File 586
Delete File 587
User Storage Used 587
User Storage Free 587
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Get Default Job 588
Set Default Job 588
Get Loaded Job 588
Get Alignment Reference 589
Set Alignment Reference 589
Clear Alignment 590
Get Timestamp 590
Get Encoder 590
Reset En coder 591
Start 591
Scheduled Start 592
Stop 592
Get Auto Start Enabled 592
Set Auto Start Enabled 593
Get Voltage Settings 593
Set Voltage Settings 594
Get Quick Edit Enab led 594
Set Quick Edit Enabled 594
Start Alignment 595
Start Exposure Auto-set 595
Software Trigger 596
Schedule Digital Output 596
Schedule Analog Output 597
Ping 597
Reset 598
Backup 598
Restore 599
Restore Factory 599
Get Recording Enabled 600
Set Recording Enabled 600
Clear Replay Data 601
Get Playback Source 601
Set Playback Source 601
Simulate 602
Seek Playback 602
Step Playback 603
Playback Position 603
Clear Measurement Stats 604
Read Live Log 604
Clear Log 604
Simulate Unaligned 605
Acquire 605
Acquire Unaligned 605
Create Model 606
Detect Edges 606
Add Tool 607
Add Measurement 607
Read File (Progressive) 608
Export CSV (Progressive) 608
Export Bitmap (Progressive) 609
Get Flag 610
Set Flag 610
Get Runtime Variable Count 611
Set Runtime Variables 611
GetRuntimeVariables 612
Upgrade Commands 612
Start Upgrade 612
Start Upgrade Extended 613
Get Upgrade Status 613
Get Upgrade Log 614
Results 614
Data Results 614
Stamp 615
Video 616
Profile Point Cloud 617
Uniform Profile 617
Profile Inten sity 618
Uniform Surface 619
Surface Intensity 619
Surface Section 620
Surface Section Intensity 621
Measurement 621
Alignment Result 622
Exposure Calibration Result 623
Edge Match Result 623
Bounding Box Match Result 623
Ellipse Match Result 624
Event 624
Feature Point 625
Feature Line 625
Feature Plane 625
Feature Circle 626
Generic Message 626
Health Results 626
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Modbus Protocol 632
Concepts 632
Messages 632
Registers 633
Control Registers 634
Output Registers 635
State 635
Stamp 636
Measurement Registers 637
EtherNet/IP Protocol 639
Explicit Messaging 639
Identity Object (Class 0x01) 640
TCP/IP Object (Class 0xF5) 640
Ethernet Link Object (Class 0xF6) 641
Assembly Object (Class 0x04) 641
Command Assembly 641
Runtime Variable Configuration Assembly 642
Sensor State Assembly 643
Sample State Assembly 644
Implicit Messaging 646
Assembly Object (Class 0x04) 646
Implicit Messaging Command Assembly 646
Implicit Messaging Output Assembly 647
PROFINET Protocol 649
Control Module 649
Runtime Variables Module 650
State Module 650
Stamp Module 651
Measurements Module 651
ASCIIProtocol 652
Connection Settings 652
Ethernet Communication 652
Serial Communication 653
Polling Operation Commands (Ethernet Only) 653
Command and Reply Format 654
Special Characters 654
Command Channel 654
Start 655
Stop 655
Trigger 655
LoadJob 656
Stamp 656
Clear Alignment 657
Moving Align ment 657
Stationary Alignment 657
Set Runtime Variables 658
Get Runtime Variables 658
Data Channel 658
Result 658
Value 659
Decision 660
Health Channel 660
Health 661
Standard Result Format 661
Custom Result Format 662
Selcom Protocol 663
Serial Communication 663
Connection Settings 663
Message Format 663
Development Kits 665
GoSDK 665
Setup and Locations 666
Class Reference 666
Examples 666
Example Project Environment Variable 666
Header Files 666
FunctionalHierarchy of Classes 666
GoSystem 667
GoSensor 667
GoSetup 667
GoLayout 667
GoTools 668
GoTransform 668
GoOutput 668
Data Types 668
Value Types 668
Output Types 668
GoDataSet Type 669
MeasurementValues and Decisions 670
Operation Workflow 670
Initialize GoSdk APIObject 671
Discover Sensors 672
Connect Sensors 672
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Configure Sensors 672
Enable Data Channels 672
Perform Operations 672
Limiting Flash Memory Write Operations 674
GDK 675
Benefits 675
Supported Sensors 675
Typical Workflow 675
Installation and Class Reference 676
Required Tools 676
Getting Started with the Example Code 676
Building the Sample Code 676
Tool Registration 677
Tool Definitions 677
Entry Functions 678
Parameter Configurations 678
Graphics Visualization 679
Debuggin g Your Tools 682
Debuggin g Entry Functions 683
Tips 683
Backward Compatibility with Older Versions of Tools 683
Define new parameters as optional 683
Configuration Versioning 683
Version 685
Common Programming Operations 685
Input Data Objects 685
Setup and Region Info during Tool Initialization 686
Computing Region Based on the Offset from an Anchor Source 686
Part Matching 686
Accessing Sensor Local Storage 686
Print Output 687
Tools and Native Drivers 688
Sensor Discovery Tool 688
GenICam GenTL Driver 689
16-bit RGB Image 693
16-bit Grey Scale Image 694
Registers 696
XMLSettings File 697
Interfacing with Halcon 697
Setting Up Halcon 698
Halcon Procedures 701
Generating Halcon Acquisition Code 705
CSV Converter Tool 706
CSV File Format 708
Info 709
DeviceInfo 710
RecordingFilter 710
Ranges 711
Profile 712
RawProfile 713
Part 713
Surface Section 714
MountainsMap Transfer Tool 715
Configuring Gocator to Work with the Transfer Tool 715
Using the Mountains Map Transfer Tool 716
Troubleshooting 719
Specifications 720
Sensors 720
Gocator 2100 & 2300 Series 720
Gocator 2120 and 2320 723
Gocator 2130 and 2330 725
Gocator 2140 and 2340 727
Gocator 2342 729
Gocator 2150 and 2350 731
Gocator 2170 and 2370 734
Gocator 2375 737
Gocator 2180 and 2380 740
Gocator 2400 Series 743
Gocator 2410 745
Gocator 2420 748
Gocator 2430 751
Gocator 2440 753
Gocator 2500 Series 755
Gocator 2510 756
Gocator 2520 758
Estimated Performance 760
Gocator 2880 Sensor 762
Gocator 2880 763
Sensor Connectors 766
Gocator Power/LAN Connector 766
Grounding Shield 766
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Power 767
Laser Safety Input 767
Gocator I/O Connector 768
Grounding Shield 768
Digital Outputs 768
Inverting Outputs 769
Digital Input 769
Encoder Input 770
Serial Output 771
Selcom Serial Output 771
Analog Output 771
Master Network Controllers 773
Master 100 773
Master 100 Dimensions 774
Master 400/800 775
Master 400/800 Electrical Specifications 776
Master 400/800 Dimensions 778
Master 810/2410 779
Electrical Specifications 781
Encoder 782
Input 784
Master 810 Dimensions 786
Master 2410 Dimensions 787
Master 1200/2400 788
Master 1200/2400 Electrical Specifications 789
Master 1200/2400 Dimensions 790
Accessories 791
Return Policy 793
Software Licenses 794
Support 799
Contact 800
Gocator Line Profile Sensors: User Manual
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Introduction

This documentation describes how to connect, configure, and use a Gocator. It also contains reference information on the device's protocols and job files, as well as an overview of the development kits you can use with Gocator. Finally, the documentation describes the Gocator emulator and accelerator applications.
The documentation applies to the following:
l Gocator 2100 series l Gocator 2300 series l Gocator 2400 series l Gocator 2500 series l Gocator 2880
B series Gocator sensors are only supported by firmware version 4.3 or later.
C revision Gocator sensors are only supported by firmware version 4.5 SR1 or later. These sensors are compatible with SDKapplications built with version 4.x of the SDK. The sensors are also compatible with jobs created on sensors running firmware 4.x.
Notational Conventions
This documentation uses the following notational conventions:
Follow these safety guidelines to avoid potential injury or property damage.
Consider this information in order to make best use of the product.
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Gocator Overview

Gocator laser profile 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. Gocator sensors can also be configured using the provided development kits.
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Safety and Maintenance

The following sections describe the safe use and maintenance of Gocator sensors.

Laser Safety

Gocator sensors contain semiconductor lasers that emit visible or invisible light and are designated as Class 2, 2M, Class 3R, or Class 3B, depending on the chosen laser option. For more information on the laser classes used in Gocator sensors, Laser Classes on the next page.
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 the references below for detailed 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 (https://www.fda.gov/Radiation-Emit-
tingProducts/ElectronicProductRadiationControlProgram/default.htm)
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15

Laser Classes

Class 2 laser components
Class 2 laser components are considered to be safe, provided that:
l The user’s blink reflex can terminate exposure (in under 0.25 seconds).
l Users do not need to look repeatedly at the beam or reflected light.
l Exposure is only accidental.
Class 2M laser components
Class 2M laser components should not cause permanent damage to the eye under reasonably foreseeable conditions of operation, provided that:
l No optical aids are used (these could focus the beam).
l The user’s blink reflex can terminate exposure (in under 0.25 seconds).
l Users do not need to look repeatedly at the beam or reflected light.
l Exposure is only accidental.
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.
l Eye protection and protective clothing are not required.
l The laser beam must be terminated at the end of an appropriate path.
l Avoid unintentional reflections.
l Personnel must be trained in working with laser equipment.
Class 3B laser components
Class 3B components are unsafe for eye exposure.
l Usually only eye protection is required. Protective gloves may also be used.
l Diffuse reflections are safe if viewed for less than 10 seconds at a minimum distance of 13 cm.
l There is a risk of fire if the beam encounters flammablematerials.
l The laser area must be clearly identified.
l Use a key switch or other mechanism to prevent unauthorized use.
l Use a clearly visible indicator to show that a laser is in use, such as “Laser in operation.”
l Restrict the laser beam to the working area.
l Ensure that there are no reflective surfaces in the working area.
Labels reprinted here are examples only. For accurate specifications, refer to the label on your sensor.
Gocator Line Profile Sensors: User Manual
Safety and Maintenance • 16
For more information, see Precautions and Responsibilities below.

Precautions and Responsibilities

Precautions specified in IEC 60825-1 and FDA CFR Title 21 Part 1040 are as follows:
Requirement Class 2 Class 2M Class 3R Class 3B
Remote interlock Not required Not required Not required Required*
Key control Not required Not required Not required Required – cannot
remove key when in use*
Power-on delays Not required Not required Not required Required*
Beam attenuator Not required Not required Not required Required*
Emission indicator
Warning signs Not required Not required Not required Required*
Beam path Not required Not required Terminate beam at
Specular reflection
Eye protection Not required Not required Not required Required under
Laser safety officer
Training Not required Not required Required for operator
*LMI Class 3B laser components do not incorporate these laser safety items. These items must be added and completed by customers
in their system design. For more information, see Class 3B Responsibilities below.
Not required Not required Not required Required*
Terminate beam at
useful length
Not required Not required Prevent unintentional
reflections
Not required Not required Not required Required
and maintenance personnel
useful length
Prevent unintentional reflections
special conditions
Required for operator and maintenance personnel

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 beadded 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.
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Safety and Maintenance • 17
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 before 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.
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 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 requirehuman 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:
FDA warning sign example IEC warning sign example

Nominal Ocular Hazard Distance (NOHD)

Nominal Ocular Hazard Distance (NOHD)is the distance from the source at which the intensity or the energy per surface unit becomes lower than the Maximum Permissible Exposure (MPE) on the cornea and on the skin.
The laser beam is considered dangerous if the operator is closer to the source than the NOHD.
The following tables provide the NOHDvalues for each Gocator model and laser class, assuming continuous operation of the laser. As a configurable device, Gocator lets you set the laser exposure (laser
Gocator Line Profile Sensors: User Manual
Safety and Maintenance • 18
on-time) independently of the frame period (total cycle time for data acquisition). Continuous operation of the laser means that the laser exposure is configured to be identical to the frame period, which is also referred to as 100% duty cycle. However, in many applications the laser exposure can besmaller than the frame period (less than 100% duty cycle), thereby reducing the NOHD. The tables therefore show the worst-case NOHD.
The following table provides NOHDvalues for current hardware versions of Gocator sensors.
Current Hardware Versions
Model Lase r Class Wavele ngth (nm) Class INOHD(mm) Class IINOHD(mm)
2410A
2420A
2430A
2440A
21x0D/23x0D (except 2x80D)
2350C 3B(NIRlaser) 808
2375C 3B (NI Rlaser) 808
2x80D
a
With exp osure time <10 seconds. For longer exposure times, consult IEC60825.
2M 405
3R 405
2 660
3R 660
2
3R 660
660
a
259
a
1300
670 -
3340 1330
19750 -
13777 -
1310 -
4700 1850
103
500
a
a
The following table provides NOHDvalues for older hardware version sensors.
Older Hardware Versions
Model Lase r Class Wavele ngth (nm) Class INOHD(mm) Class IINOHD(mm)
2120A to C, 2320A to C
2130A to C, 2330A to C
2140A to C, 2340Ato C
2150Ato C, 2350A to C
2350A 3B(NIRlaser) 808
2170A to C, 2370A to C 2M 660
2375A 3B (NIRlaser) 808
2180A to C, 2380A to C 2M 660
2M 660
3R 660
3B 660
3R 660
3B 660
3R 660
3B 660
259 103
900 358
5759 2292
19750 -
251 100
875 348
3645 1451
13777 -
245 97
859 342
2645 1052

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.
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Safety and Maintenance • 19
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 https://www.fda.gov/Radiation-
EmittingProducts/ElectronicProductRadiationControlProgram/default.htm.

Electrical Safety

Failure to follow the guidelines described in this section may result in electrical shock or equipment damage.
Sensors should be connected to earth ground
All sensors should beconnected 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 voltagepotential is 12 V but should be kept below 10 V to avoid damage to the serial and encoder connections.
For a description of the connector pins, see Gocator I/O Connector on page 768.
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.

Heat Warning

If a sensor is not adequately heat-sunk, the housing may get hot enough to cause injury.
Sensors should be properly heat-sunk
To avoid injury and to ensure that a sensor functions properly, mount the sensor to a thermally conductive material for good heat-sinking.

Handling, Cleaning, and Maintenance

Dirty or damaged sensor windows (emitter or camera) can affect accuracy. Use caution when handling the sensor or cleaning the sensor's windows.
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Safety and Maintenance • 20
Keep sensor windows clean
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 Gocator 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.

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 beinstalled 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
l that are humid, dusty, or poorly ventilated;
l with a high temperature, such as places exposed to direct sunlight;
l where there are flammable or corrosive gases;
l where the unit may be directly subjected to harsh vibration or impact;
l where water, oil, or chemicals may splash onto the unit;
l where static electricity is easily generated.
Ensure that ambient conditions are within specifications
Gocator sensors are suitable for operation between 0–50° C (0–40° C for Gocator 2500 sensors) and 25–85% relative humidity (non-condensing). Measurement error due to temperature is limited to
0.015% of full scale per degree C. The storage temperature is -30–70° C.
The Master network controllers are similarly rated for operation between 0–50° C.
The sensor must be heat-sunk through the frame it is mounted to. When a sensor is properly heat sunk, the difference between ambient temperature and the temperature reported in the sensor's health channel is less than 15° C.
Gocator sensors are high-accuracy devices, and the temperature of all of its components must therefore be in equilibrium. When the sensor is powered up, a warm-up time of at least one hour is required to reach a consistent spread of temperature in the sensor.
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Getting Started

The following sections provide system and hardware overviews, in addition to installation and setup procedures.

Hardware and Firmware Capabilities

The following table lists the hardwareand firmware capabilities of the different hardware versions of G2 sensors.
Enhanced
processor
2000 X
2100 &2300 A/B X X X
2100 &2300 C X X X
2100 &2300 D X X X X
2400 A X X X X
1
Enhanced
sensitivity
Runs firmware
2
2.0 to 3.6
Runs firmware
4.0 to 4.5 SR1
Runs firmware
4.5 SR1 to
3
latest
New tools and PROFINET in firmware 5.1 and later
4
1. More powerful sensor controller, allowing Gocator-based solutions to run faster than before, at a lower overall temperature.
2. Twicethe sensitivity of previous generations and effectively lower laser classifications (from 3B to 3R in some cases, and from 3R to 2 in many cases). This lets you scan darker targets at higher speeds without the safety considerations of class 3B lasers.
3. The A and B versions of Gocator 2100 and 2300 sensors can run the latest versions of firmware, but they do not support the new tools and PROFINET output protocol available in these versions. You can however use these features if you accelerate the sensors using the PC-based Gocator accelerator. For more information on the accelerator, see Gocator Acceleration on page 450.
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Hardware Overview

The following sections describe Gocator and its associated hardware.

Gocator Sensor

Gocator 2140 / 2340
Item Description
Camera Observes laser light reflected from target surfaces.
Laser Emitter Emits structured light for laser profiling.
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 sensor's measurement
range (green).
Laser Indicator Illuminates when laser safety input is active (amber).
Serial Number Unique sensor serial number.

Gocator Cordsets

Gocator sensors use two types of cordsets:the Power & Ethernet cordset and the I/Ocordset.
The Power & Ethernet cordset provides power, laser safety interlock to the sensor. It is also used for sensor communication via 1000 Mbit/s Ethernet with a standard RJ45 connector. The Master version of the Power & Ethernet cordset provides direct connection between the sensor and a Master network controller, excluding Master 100 (for more information, see Master Network Controllers on page 773).
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The Gocator I/O cordset provides digital I/O connections, an encoder interface, RS-485 serial connection, and an analog output.
The maximum cordset length is 60 m.
See Gocator I/O Connector on page 768 and Gocator Power/LAN Connector on page 766 for pinout details.
See Accessories on page 791 for cordset lengths and part numbers. Contact LMI for information on creating cordsets with customized lengths and connector orientations.

Master 100

The Master 100 is used by Gocator sensors for standalone system setup (that is, a single sensor).
Item Description
Master Ethernet Port Connects to the RJ45 connector labeled Ethernet on the Power/LAN to Master cordset.
Master Power Port Connects to the RJ45 connector labeled Power/Sync on the Power/LAN to Master
cordset. Provides power and laser safety to the Gocator.
Sensor I/O Port Connects to the Gocator I/O cordset.
Master Host Port Connects to the host PC's Ethernet port.
Power Accepts power (+48 V).
Power Switch Toggles sensor power.
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Item Description
Safety Switch Toggles safety signal provided to the sensors [O= off, I= on]. This switch must be set to
on in order to scan with laser-based sensors.
Trigger Signals a digital input trigger to the Gocator.
Encoder Accepts encoder A, B and Z signals.
Digital Output Provides digital output.
See Master 100 on page 773 for pinout details.

Master 400 / 800 / 1200 / 2400

The Master 400, 800, 1200, and 2400 network controllers let you connect more than two sensors:
l Master 400: accepts four sensors l Master 800 accepts eight sensors l Master 1200:accepts twelve sensors l Master 2400:accepts twenty-four sensors
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Master 400 and 800
Getting Started • 25
Master 1200 and 2400
Item Description
Sensor Ports Master connection for Gocator sensors (no specific order required).
Ground Connection Earth ground connection point.
Power and Safety Power and safety connections. Safety input must be high in order to scan with laser-
based Gocators.
Encoder Accepts encoder signal.
Input Accepts digital input.
For pinout details for Master 400 or 800, see Master 400/800 on page 775.
For pinout details for Master 1200 or 2400, see Master 1200/2400 on page 788.

Master 810 / 2410

The Master 810 and 2410 network controllers let you connect multiple sensors to create a multi-sensor system:
l Master 810 accepts up to eight sensors l Master 2410 accepts up to twenty-four sensors
Both models let you divide the quadrature frequency of a connected encoder to make the frequency compatible with the Master, and also set the debounce period to accommodate faster encoders. For more information, see Configuring Master 810 on page 40. (Earlier revisions of these models lack the DIPswitches.)
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Item Description
Master 810
Master 2410
Sensor Ports Master connection for Gocator sensors (no specific order required).
Power and Safety Power and safety connections. Safety input must be high in order to scan with laser-
based Gocators.
Encoder Accepts encoder signal.
Input Accepts digital input.
DIPSwitches Configures the Master (for example, allowing the device to work with faster encoders).
For information on configuring Master 810 and 2410 using the DIPswitches, see
Configuring Master 810 on page 40.
For pinout details, see Master 810/2410 on page779.
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Alignment Targets

Targets are used for alignment and calibrating transport systems.
Disks are typically used with systems containing a single sensor and can be ordered from LMI Technologies. When choosing a disk for your application, select the largest disk that fits entirely within the required field of view. See Accessories on page 791 for disk part numbers.
For dual- and multi-sensor systems, where sensor laser planes are roughly coplanar, bars are required to match the length of the system by following the guidelines illustrated below. (LMI Technologies does not manufacture or sell bars.)
For multi-sensor systems in a ring layout, use a polygon-shaped alignment target. The number of corners in the target should correspond with the number of sensors in the system. Sensors should be positioned so that each sensor can scan a corner and surrounding surface.
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For more information on alignment, seeAligning Sensors on page 139.

System Overview

Gocator sensors can be installed and used in a variety of scenarios. Sensors can be connected as standalone devices, dual-sensor systems, or multi-sensor systems.

Standalone System

Standalone systems are typically used when only a single Gocator is required. The device can be connected to a computer's Ethernet port for setup and can also be connected to devices such as encoders, photocells, or PLCs.
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Dual-Sensor System

In a dual-sensor system, two Gocator sensors work together to perform profiling and output the combined results. The controlling sensor is referred to as the Main sensor, and the other sensor is referred to as the Buddy sensor. Gocator's software recognizes three installation orientations: Opposite, Wide, and Reverse.
A Master network controller (excluding Master 100) must be used to connect two sensors in a dual- sensor system. Gocator Power and Ethernet to Master cordsets areused to connect sensors to the Master.
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Multi-Sensor System

A Master network controller (excluding Master 100) 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 400/800/810/1200/2400/2410 can be used to ensure that the scan timing is precisely synchronized across sensors. Sensors and client computers communicate viaan Ethernet switch (1 Gigabit/s recommended).
Master networking hardware does not support digital, serial, or analog output.
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Installation

The following sections provide grounding, mounting, and orientation information.

Mounting

Sensors should be mounted using a model-dependent number of screws. Some models also provide the option to mount using bolts in through-body holes. Refer to the dimension drawings of the sensors in Specifications on page 720 for the appropriate screw diameter, pitch, and length, and bolt hole diameter.
Proper care should be taken in order to ensure that the internal threads are not damaged from cross-threading or improper insertion of screws.
With the exception of Gocator 2880, sensors should not be installed near objects that might occlude a camera's view of the laser. (Gocator 2880 is specifically designed to compensate for occlusions.)
Sensors should not be installed near surfaces that might create unanticipated laser reflections.
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The sensor must be heat sunk through the frame it is mounted to. When a sensor is properly heat sunk, the difference between ambient temperature and the temperature reported in the sensor's health channel is less than 15° C.
Gocator sensors are high-accuracy devices. The temperature of all of its components must be in equilibrium. When the sensor is powered up, a warm-up time of at least one hour is required to reach a consistent spread of temperature within the sensor.

Orientations

The examples below illustrate the possible mounting orientations for standalone and dual-sensor systems.
See Layout on page 96 for more information on orientations.
Standalone Orientations
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Single sensor above conveyor
Getting Started • 34
Single sensor on robot arm
Dual-Sensor System Orientations:
Side-by-side for wide-area measurement (Wide) Main must be on the left side (when
looking into the connector)
of the Buddy (Wide)
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Above/below for two-sided measurement (Opposite) Main must be on the top
with Buddy on the bottom (Opposite)
For more information on setting up a dual-sensor system, see
http://lmi3d.com/sites/default/files/APPNOTE_Gocator_2300_Gocator_4.x_Dual_Sensor_Setup_ Guide.pdf.

Grounding

Components of a Gocator system should be properly grounded.
Gocator
Gocators should be grounded to the earth/chassis through their housings and through the grounding shield of the Power I/O cordset. Gocator sensors have been designed to provide adequate grounding through the use of M5 x 0.8 pitch mounting screws. Always check grounding with a multi-meter to ensure electrical continuity between the mounting frame and the Gocator's connectors.
The frame or electrical cabinet that the Gocator is mounted to must be connected to earth ground.
Recommended Practices for Cordsets
If you need to minimize interference with other equipment, you can ground the Power & Ethernet or the Power & Ethernet to Master cordset (depending on which cordset you are using) by terminating the shield of the cordset before the split. The most effective grounding method is to use a 360-degree clamp.
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To terminate the cordset's shield:
1. Expose the cordset's braided shield by cutting the plastic jacket before the point where the cordset splits.
2. Install a 360-degree ground clamp.
Master Network Controllers
The rack mount brackets provided with all Masters are designed to provide adequate grounding through the use of star washers. Always check grounding with a multi-meter by ensuring electrical continuity between the mounting frame and RJ45 connectors on the front.
When using the rack mount brackets, you must connect the frame or electrical cabinet to which the Master is mounted to earth ground.
You must check electrical continuity between the mounting frame and RJ45 connectors on the front using a multi-meter.
If you are mounting Master 810 or 2410 using the provided DIN rail mount adapters, you must ground the Master directly; for more information, see Grounding When Using a DIN Rail (Master 810/2410) on the next page.
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Grounding When Using a DIN Rail (Master 810/2410)
If you are using DIN rail adapters instead of the rack mount brackets, you must ensure that the Master is properly grounded by connecting a ground cable to one of the holes indicated below. The holes accept M4x5 screws.
You can use any of the ground holes shown below. However, LMIrecommends using the holes indicated on the housing by a ground symbol.
An additional ground hole is provided on the rear of Master 810 and 2410 network controllers, indicated by a ground symbol.
Additional Grounding Schemes
Potential differences and noise in a system caused by grounding issues can sometimes cause Gocator sensors to reset or otherwisebehave erratically. If you experience such issues, see the Gocator Grounding Guide (https://downloads.lmi3d.com/gocator-grounding-guide) in the Download center for additional grounding schemes.

Installing DIN Rail Clips: Master 810 or 2410

You can mount the Master 810 and 2410 using the included DINrail mounting clips with M4x8 flat socket cap screws. The following DINrail clips (DINM12-RC) are included:
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Older revisions of Master 810 and 2410 network controllers use a different configuration for the DINrail clip holes.
To install the DINrail clips:
1. Remove the 1Urack mount brackets.
2. Locate the DINrail mounting holes on the back of the Master (see below).
Master 810:
Current revision
Master 2410:
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Older revision
Current revision
Getting Started • 39
Older revision
3. Attach the two DINrail mount clips to the back of the Master using two M4x8 flat socket cap screws for each one.
The following illustration shows the installation of clips on a Master 810 (current revision)for horizontal mounting:
Ensure that there is enough clearance around the Master for cabling.

Configuring Master 810

If you are using Master 810 with an encoder that runs at a quadrature frequency higher than 300 kHz, you must use the device's divider DIP switches to limit the incoming frequency to 300 kHz.
Master 810 supports up to a maximum incoming encoder quadrature frequency of 6.5 MHz.
The DIP switches are located on the rear of the device.
Switches 5 to 8 are reserved for future use.
This section describes how to set the DIP switches on Master 810 to do the following:
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l Set the divider so that the quadrature frequency of the connected encoder is compatible with the
Master.
l Set the debounce period to accommodate faster encoders.
Setting the Divider
To set the divider, you use switches 1 to 3. To determine which divider to use, use the following formula:
Output Quadrature Frequency = Input Quadrature Frequency / Divider
In the formula, use the quadrature frequency of the encoder (for more information, see Encoder Quadrature Frequency below) and a divider from the following table so that the Output Quadrature
Frequency is no more than 300 kHz.
Divider Switch 1 Switch 2 Switch 3
1 OFF OFF OFF
2 ON OFF OFF
4 OFF ON OFF
8 ON ON OFF
16 OFF OFF ON
32 ON OFF ON
64 OFF ON ON
128 ON ON ON
The divider works on debounced encoder signals. For more information, see Setting the Debounce Period on the next page.
Encoder Quadrature Frequency
Encoder quadrature frequency is defined as illustrated in the following diagram. It is the frequency of encoder ticks. This may also be referred as the native encoder rate.
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You must use a quadrature frequency when determining which divider to use (see Setting the Divider on the previous page). Consult the datasheet of the encoder you are using to determineits quadrature frequency.
Some encoders may be specified in terms of encoder signal frequency (or period). In this case, convert the signal frequency to quadrature frequency by multiplying the signal frequency by 4.
Setting the Debounce Period
If the quadrature frequency of the encoder you are using is greater than 3 MHz, you must set the debounce period to “short.” Otherwise, set the debounce period to “long.”
You use switch 4 to set the debounce period.
Debounce period Switch 4
short debounce ON
long debounce OFF

Rut-Scanning System Setup

The following sections describe how to set up a Gocator 2375 rut-scanning system.
Layout
The Gocator 2375 sensor is designed to cover a scan width of up to 4.2 m by using 8 sensors mounted in parallel.
The diagram above shows the clearance distanceand measurement range required in a typical setup. Use the specification estimator (Gocator-2375_Specification_Estimator.xlsx) to calculate the X and Z resolution of the sensors with different combinations of clearance distance and measurement range.
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System Setup
A typical Gocator 2375 system is set up as a multi-sensor system. Thesensors are powered using a
Master network controller (excluding Master 100).
To connect a Gocator 2375:
1. Connect the Power and Ethernet to Master cordset to the Power/LAN connector on the sensor.
2. Connect the RJ45 jack labeled Power to an unused port on the Master.
3. Connect the RJ45 jack labeled Ethernet to an unused port on the switch.
4. Repeat the steps above for each sensor.
See Master 400/800 on page 775 and Master 1200/2400 on page 788 for more information on how to install a Master.
Software Configuration
Each sensor is shipped with a default IP address of 192.168.1.10. Before you add a sensor to a multi­sensor system, its firmware version must match that of the other sensors, and its IP address must be unique.
To configure a Gocator 2375 for the first time:
1. Set up the sensor’s IP address.
a. Follow the steps in Running a Standalone Sensor System on page 48.
b. Make sure that there is no other sensor in the network with the IP address 192.168.1.10.
2. Upgrade the firmware.
a. Follow the steps in Firmware Upgrade on page 111.
3. Set up profiling parameters.
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a. Follow the steps in Scan Setup and Alignment on page 115 to set up profiling parameters. Typically,
trigger, active area, and exposure will need to be adjusted.
System Operation
An isolated layout should be used. Under this layout, each sensor can be independently controlled by the SDK. The following application notes explain how to operate a multi-sensor system using the SDK.
APPNOTE_Gocator_4.x_Multi_Sensor_Guide.zip
Explains how to use the SDK to create a multi-sensor system, and multiplex their timing.
Gocator-2000-2300_appnote_multi-sensor-alignment-calibration.zip
Explains how to use the SDK to perform alignment calibration of a multi-sensor system.
You can find the app notes under the How-to category in LMI's online Gocator resources.
Example code is included with both of the application notes above.
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Network Setup

The following sections provide procedures for client PCand Gocator network setup.
DHCP is not recommended for Gocator sensors. If you choose to use DHCP, the DHCPserver should try to preserve IPaddresses. Ideally, you should use static IP address assignment (by MAC address) to do this.

Client Setup

To connect to a sensor from a client PC, you must ensure the client's network card is properly configured.
Sensors are shipped with the following default network configuration:
Setting Default
DHCP Disabled
IP Address 192.168.1.10
Subnet Mask 255.255.255.0
Gateway 0.0.0.0
All Gocator sensors are configured to 192.168.1.10 as the default IP address. For a dual-sensor system, the Main and Buddy sensors must be assigned unique addresses before they can be used on the same network. Before proceeding, connect the Main and Buddy sensors one at a time (to avoid an address conflict) and use the steps in See Running a Dual-Sensor System on page 49 to assign each sensor a unique address.
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To connect to a sensor for the first time:
1. Connect cables and apply power.
Sensor cabling is illustrated in System Overview on page 29.
2. Change the client PC's network settings.
Windows 7
a. Open the Control Panel, select
Network and Sharing Center, and then click Change Adapter Settings.
b. Right-click the network connection
you want to modify, and then click Properties.
c. On the Networking tab, click
Internet Protocol Version 4 (TCP/IPv4), and then click Properties.
d. Select the Use the following IP
address option.
e. Enter IP Address "192.168.1.5"
and Subnet Mask "255.255.255.0", then click OK.
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Mac OS X v10.6
a. Open the Network pane in
System Preferences and select Ethernet.
b. Set Configure to Manually.
c. Enter IP Address "192.168.1.5"
and Subnet Mask "255.255.255.0", then click Apply.
See Troubleshooting on page 719 if you experience any problems while attempting to establish a connection to the sensor.
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Gocator Setup

The Gocator is shipped with a default configuration that will produce laser profiles for most targets.
The following sections describe how to set up a standalone sensor system and a dual-sensor system for operations. After you have completed the setup, you can perform laser profiling to verify basic sensor operation.
Running a Standalone Sensor System
To configure a standalone sensor system:
1. Power up the sensor.
The power indicator (blue) should turn on immediately.
2. Enter the sensor's IP address (192.168.1.10) in a web browser.
The Gocator interface loads.
If a password has been set, you will be prompted to provide it and then log in.
3. Go to the Manage page.
4. Ensure that Replay mode is off (the slider is set to the left).
Replay mode disables measurements.
5. Ensure that the Laser Safety Switch is enabled or the Laser Safety input is high.
6. Go to the Scan page.
7. Observe the profile in the data viewer
8. Press the Start button or the Snapshot on the Toolbar to start the sensor.
The Start button is used to run sensors continuously.
The Snapshot button is used to trigger the capture of a single profile.
Standalone
Master 400/800/1200/2400
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Master 810/2410
9. Move a target into the laser plane.
If a target object is within the sensor's measurement range, the data viewer will display scan data, and the sensor's range indicator will illuminate.
If no scan data is displayed in the data viewer, see Troubleshooting on page 719.
10. Press the Stop button.
The laser should turn off.
Running a Dual-Sensor System
All sensors areshipped with a default IP address of 192.168.1.10. Ethernet networks require a unique IP address for each device, so you must set up a unique address for each sensor.
To configure a dual-sensor system:
1. Turn off the sensors and unplug the Ethernet network connection of the Main sensor.
All sensors are shipped with a default IP address of
192.168.1.10. Ethernet networks require a unique IP address for each device. Skip step 1 to 3 if the Buddy sensor's IP address is already set up with an unique address.
2. Power up the Buddy sensor.
The power LED (blue) of the Buddy sensor should turn on immediately.
3. Enter the sensor's IP address 192.168.1.10 in a web browser.
The Gocator interface loads.
4. Go to the Manage Page.
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5. Modify the IP address to 192.168.1.11 in the Networking category and click the Save button.
When you click the Save button, you will be prompted to confirm your selection.
6. Turn off the sensors, re-connect the Main sensor's Ethernet connection and power-cycle the sensors.
After changing network configuration, the sensors must be reset or power-cycled before the change will take effect.
7. Enter the sensor's IP address 192.168.1.10 in a web browser.
The Gocator interface loads.
8. Select the Manage page.
9. Go to Manage page, Sensor System panel, and select the Visible Sensors panel.
The serial number of the Buddy sensor is listed in the Available Sensors panel.
10. Select the Buddy sensor and click the Assign button.
The Buddy sensor will be assigned to the Main sensor and its status will be updated in the System panel.
The firmware on Main and Buddy sensors must be the same for Buddy assignment to be successful. If the firmware is different, connect the Main and Buddy sensor
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one at a time and follow the steps in Firmware Upgrade on page 111 to upgrade the sensors.
11. Ensure that the Laser Safety Switch is enabled or the Laser Safety input is high.
12. Ensure that Replay mode is off (the slider is set to the left).
13. Go to the the Scan page.
14. Press the Start or the Snapshot button on the Toolbar to start the sensors.
The Start button is used to run sensors continuously, while the Snapshot button is used to trigger a single profile.
Master 400/800/1200/2400
Master 810/2410
15. Move a target into the laser plane.
If a target object is within the sensor's measurement range, the data viewer will display scan data, and the sensor's range indicator will illuminate.
If no scan data is displayed in the data viewer, see Troubleshooting on page 719.
16. Press the Stop button if you used the Start button to start the sensors.
The laser should turn off.

Next Steps

After you complete the steps in this section, the Gocator measurement system is ready to be configured for an application using the software interface. The interfaceis explained in the following sections:
Management and Maintenance (page 93)
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Contains settings for sensor system layout, network, motion and alignment, handling jobs, and sensor maintenance.
Scan Setup and Alignment (page 115)
Contains settings for scan mode, trigger source, detailed sensor configuration, and performing alignment.
Models (page 176)
Contains settings for creating part matching models and sections.
Measurement and Processing (page 196)
Contains built-in measurement tools and their settings.
Output (page 433)
Contains settings for configuring output protocols used to communicate measurements to external devices.
Dashboard (page 446)
Provides monitoring of measurement statistics and sensor health.
Toolbar (page 82)
Controls sensor operation, manages jobs, and replays recorded measurement data.
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How Gocator Works

The following sections provide an overview of how Gocator acquires and produces data, detects and measures parts, and controls devices such as PLCs. Some of these concepts are important for understanding how you should mount sensors and configure settings such as active area.
You can use the Gocator Accelerator to speed up processing of data.For more information, see Gocator Acceleration on page 450.

3D Acquisition

After a Gocator system has been set up and is running, it is ready to start capturing 3D data.
Gocator laser profile sensors project a laser line onto the target.
The sensor's camera views the laser line on the target from an angle and captures the reflection of the laser light off the target. The camera captures a single 3D profile—a slice, in a sense—for each camera exposure. The reflected laser light falls on the camera at different positions, depending on the distance of the target from the sensor. The sensor’s laser emitter, its camera, and the target form a triangle. Gocator uses the known distance between the laser emitter and the camera, and two known angles— one of which depends on the position of the laser light on the camera—to calculate the distance from the sensor to the target. This translates to the height of the target. This method of calculating distance is called laser triangulation.
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Target objects typically move on a conveyor belt or other transportation mechanism under a sensor mounted in a fixed position. Sensors can also bemounted on robot arms and moved over the target. In both cases, the sensor captures a series of 3D profiles, building up a full scan of the target. Sensor speed and required exposure time to measure the target are typically critical factors in applications with line profilesensors.
Gocator sensors are always pre-calibrated to deliver 3D data in engineering units throughout their measurement range.
Clearance Distance, Field of Viewand Measurement Range
Clearance distance (CD), field of view (FOV),and measurement range (MR)are important concepts for understanding the setup of a Gocator sensor and for understanding results.
Clearance distance – The minimum distance from the sensor that a target can be scanned and measured. A target closer than this distance will result in invalid data.
Measurement range – The vertical distance, starting at the end of the clearance distance, in which targets can be scanned and measured. Targets beyond the measurement range will result in invalid data.
Field of view –The width on the X axis along the measurement range. At the far end of the measurement range, the field of view is wider, but the X resolution and Zresolution are lower. At the near end, the field of view is narrower, but the X resolution is higher. When resolution is critical, if possible, place the target closer to the near end. (For more information on the relation between target distance and resolution, see Z Resolution on page 56.)
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Resolution and Accuracy

The following sections describe X Resolution, ZResolution, and ZLinearity. These terms are used in the Gocator datasheets to describe the measurement capabilities of the sensors.
X Resolution
X resolution is the horizontal distance between each measurement point along the laser line. This specification is based on the number of camera columns used to cover the field of view (FOV) at a particular measurement range.
Because the FOV is trapezoidal (shown in red, below), the distance between points is closer at the near range than at the far range. This is reflected in the Gocator data sheet as the two numbers quoted for X resolution.
X Resolution is important for understanding how accurately width on a target can be measured.
When the Gocator runs in Profile mode and Uniform Spacing is enabled, the 3D data is resampled to an X interval that is different from the raw camera resolution. For more information, see Resampled Data and Point Cloud Data on page 63.
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Z Resolution
Z Resolution gives an indication of the smallest detectable height difference at each point, or how accurately height on a target can be measured. Variability of height measurements at any given moment, in each individual 3D point, with the target at a fixed position, limits Z resolution. This variability is caused by camera and sensor electronics.
Like X resolution, Z resolution is better closer to the sensor. This is reflected in the Gocator data sheet as the two numbers quoted for Z resolution.
Z Linearity
Z linearity is the difference between the actual distance to the target and the measured distance to the target, throughout the measurement range. Z linearity gives an indication of the sensor's ability to measure absolute distance.
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Z linearity is expressed in the Gocator data sheet as a percentage of the total measurement range.
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Profile Output

Gocator represents a profile as a series of ranges, with each range representing the distance from the origin. Each range contains a height (on the Z axis) and a position (on the X axis) in the sensor's field of view.

Coordinate Systems

Range data is reported in one of three coordinate systems, which generally depends on the alignment state of the sensor.
l Sensor coordinates: Used on unaligned sensors.
l System coordinates: Used on aligned sensors. Applies to either standalone or multi-sensor sys-
tems.
l Part and section coordinates:Data can optionally be reported using a coordinate system relative
to the part itself.
These coordinate systems are described below.
For most Gocator 2100, 2300, 2400, and 2800 sensors, X and Y increase as illustrated below, relative to the connectors. For Gocator 2320, 2410, and 2420, one or both of these axes increase relative to the laser and camera; for more information, see the coordinate system orientations illustrated in the specification drawings of these sensors in Sensors on page 720.
Sensor Coordinates
Unaligned sensors use sensor coordinates: The measurement range (MR) is along the Z axis. The sensor’s field of view (FOV)is along the X axis. Most importantly, the origin is at the center of the measurement range and field of view.
Gocator 2130/2330 sensor
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The Y axis represents the relative position of the part in the direction of travel. Y position increases as the object moves forward (increasing encoder position). The image below represents a left-handed coordinate system.
Gocator 2130/2330 sensor
The mounting direction, relative to the direction of travel, can be set in Gocator using either the Normal or Reverse layout. For more information, see Layout on page 96.
System Coordinates
Aligning sensors adjusts the coordinate system in relation to sensor coordinates, resulting in system coordinates (for more information on sensor coordinates, see Sensor Coordinates on the previous page).
For more information on aligning sensors, see Alignment on page 138.
The adjustments resulting from alignment are called transformations (offsets along the axes and rotations around the axes). Transformations are displayed in the Sensor panel on the Scan page. For more information on transformations in the web interface, see Transformations on page128.
System coordinates are aligned so that the system X axis is parallel to the alignment target surface. The system Z origin is set to the base of the alignment target object. In both cases, alignment determines the offsets in X and Z.
Alignment is used with a single sensor to compensate for mounting misalignment and to set a zero reference, such as a conveyor belt surface.
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Gocator 2130/2330 sensor
Additionally, in multi-sensor systems, alignment sets a common coordinate system. That is, scan data and measurements from the sensors are expressed in a unified coordinate system.
Gocator 2130/2330 sensors
Alignment can also determine offsets along the Yaxis. This allows setting up a staggered layout in multi­sensor systems. This is especially useful in side-by-side mounting scenarios, as it provides full coverage for models such as Gocator 2410 and Gocator 2420.
As with sensor coordinates, in system coordinates, Y position increases as the object moves forward (increasing encoder position).
Alignment also determines the Y Angle (angle on the X–Z plane, around the Yaxis) needed to align sensor data. This is also sometimes called roll correction.
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Gocator 2130/2330:Y Angle
Y angle is positive when rotating from positive X to positive Z axis.
Similarly, tilt can be determined around the X and the Zaxis, which compensates for the angle in height measurements. These are sometimes called pitch correction and yaw correction, respectively. Rotation around the X axis often used for specular mounting.
Gocator 2130/2330:X Angle
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Gocator 2130/2330 sensor:Z Angle
X angle is positive when rotating from positive Y to positive Z. Z angle is positive when rotating from positive X to positive Y.
When applying the transformations, the object is first rotated around X, then Y, and then Z, and then the offsets are applied.
Part and Section Coordinates
When you work with parts or sections extracted from scan data, a different coordinate system is available.
Part data can be expressed in aligned system coordinates or unaligned sensor coordinates. But part data can also be represented in part coordinates: data and measurement results are in a coordinate system that places the X and Yorigins at the center of the part. The Z origin is at the surface surrounding the alignment target (if the sensor or system has been aligned) or in the center of the center of the measurement range (if the sensor or system has not been aligned).
The Frame of Reference setting, in the Part Detection panel on the Scan page, controls whether part data is recorded using sensor/system coordinates or part coordinates.
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Sections are always represented in a coordinate system similar to part coordinates: the X origin is always at the center of the extracted profile, and the Z origin is at the bottom of the alignment target (or in the center of the measurement range if the sensor is unaligned).
Switching between Coordinate Systems
In many situations, when working with part or section data that has been recorded with Frame of Reference set to Part, it is useful to have access to the "real-world"coordinates, rather than part- or
section-relative coordinates. Gocator provides special "global"measurements, in the Bounding Box tools, that you can use in Gocator scripts to convert from part or section coordinates to sensor/system coordinates.
For more information, see the ProfileBounding Box tool or the Surface Bounding Box tool, and the
Script tool.

Resampled Data and Point Cloud Data

The data that a sensor produces in Profile mode is available in two formats: as resampled data and as point cloud data. The sensor produces resampled data when Uniform Spacing is enabled and produces point cloud data when Uniform Spacing is disabled. The setting is available in the Scan Mode panel, on the Scan page.
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When Uniform Spacing is enabled, the ranges that make up a profile are resampled so that the spacing is uniform along the laser line (X axis). The resampling divides the X axis into fixed size "bins." Profile points that fall into the samebin are combined into a single range value (Z).
The size of the spacing interval is set under the Spacing tab in the Sensor panel on Scan page.
Resampling to uniform spacing reduces the complexity for downstream algorithms to process the profile data from the Gocator, but places a higher processing load on the sensor's CPU.
When uniform spacing is not enabled, no processing is required on the sensor. This frees up processing resources in the Gocator, but usually requires more complicated processing on the client side. Ranges in this case are reported in (X, Z) coordinate pairs.
Most built-in measurement tools in the Gocator in Profile mode operate on profiles with uniform spacing. Alimited number of tools can operate on profiles without uniform spacing. For more information on the profile tools, see Profile Measurement on page 220.
A drawback of uniform spacing is that if sensors are angled to scan the sides of a target, data on the "verticals"is lost because points falling in the same "bin"are combined. When Uniform Spacing is disabled, however, all points are preserved on the sides. In this case, the data can be processed by the subset of tools that work on profiles without uniform spacing. Alternatively, the data can be processed externally using the SDK.
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When uniform spacing is enabled, in the Ethernet output, only the range values (Z) are reported. The X positions can be reconstructed through the array index at the receiving end (the client). For more information on Ethernet output, see Ethernet Output on page 434.
For information on enabling uniform spacing, see Scan Modes on page 116.

Data Generation and Processing

After scanning a target, Gocator can process the scan data to allow the use of more sophisticated measurement tools. This section describes the following concepts:
l Surface generation l Part detection l Sectioning

Surface Generation

Gocator laser profile sensors create a single profile with each exposure. These sensors can combine a series of profiles gathered as a target moves under the sensor to generate a height map, or surface, of the entire target.
For more information, see Surface Generation on page 149.

Part Detection

After Gocator has generated a surface by combining single exposures into larger pieces of data, the firmware can isolate discrete parts on a generated surface into separate scans representing parts.
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Gocator can then perform measurements on these isolated parts.
Part detection is useful when measurements on individual parts are needed and for robotic pick and place applications.
For more information on part detection, see Part Detection on page 153.

Sectioning

In Surface mode, Gocator can also extract a profile from a surface or part using a line you define on that surface or part. The resulting profile is called a “section.” A section can have any orientation on the surface, but its profile is parallel to the Z axis.
You can use most of Gocator's profile measurement tools on a section, letting you perform measurements that are not possible with surface measurement tools.
For more information on sections, see Sections on page 190.

Part Matching

Gocator can match scanned parts to the edges of a model based on a previously scanned part (see Using Edge Detection on page 177) or to the dimensions of a fitted bounding box or ellipse that encapsulate
the model (seeUsing Bounding Box and Ellipse on page 186). When parts match, Gocator can rotate scans so that they are all oriented in the sameway. This allows measurement tools to be applied consistently to parts, regardless of the orientation of the part you are trying to match.
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Measurement

After Gocator scans a target and, optionally, further processes the data, the sensor is ready to take measurements on the scan data.
Gocator provides several measurement tools, each of which provides a set of individual measurements, giving you dozens of measurements ideal for a wide variety of applications to choose from. The configured measurements start returning pass/fail decisions, as well as the actual measured values, which are then sent over the enabled output channels to control devices such as PLCs, which can in turn control ejection or sorting mechanisms. (For moreinformation on measurements and configuring measurements, see Measurement and Processing on page 196. For more information on output channels, seeOutput and Digital Tracking on page 77.)
You can create custom tools that run your own algorithms. For more information, see GDK on page 675.
A part's position can vary on a transport system. To compensate for this variation, Gocator can anchor a measurement to the positional measurement (X, Y, or Z) or Z angle of an easily detectable feature, such as the edge of a part. The calculated offset between the two ensures that the anchored measurement will always be properly positioned on different parts.

Tool Chaining

Gocator’s measurement and processing tools can be linked together: one tool uses another tool’s output as input. This gives you a great deal of control and flexibility when it comes to implementing your application.
The following table lists the available outputs from Gocator’s tools:
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Gocator tool outputs
Data Type
Supported Output Protocol
Visualization in Data Viewer
Input for Other Tools
Measurement Single 64-bit value SDK, PLCp rotocols Rendered on tool's input
data
Geometric
Features
Tool Data Binary data
Structured data
values: for
example, point or
line
structure: Profile,
Surface, or Generic
Cannot be output via
protocols
SDK
Rend ered on tool's input
data
Rendered separately
Not supported as
input, positional and
Zangle measurements
can be used by some
tools for anchoring
Tools that accept the
specific features
Tools that accept the
specific data type
The following sections describe these types of output and how you use them as input.

Anchoring Measurements

Tools can use the positional measurements (X, Y, or Z) of other tools as anchors to compensate for minor shifts of parts: anchored tools are “locked” to the positional measurements of the anchoring tool’s measurements. Some tools can also use a Z Angle measurement as an anchor. Typically, you will use measurements from more easily found features on a target—such as an edge or a hole—as anchors to accurately place other positional and dimensional measurements. This can help improve repeatability and accuracy in the anchored tools.Note that anchoring measurements are used to calculate the offsets of the anchored tools:the results from these measurements are not used as part of the anchored tool's measurements.
Anchoring measurements are rendered as overlays on a tool's input data.
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Height measurements rendered a tool's input: a small PCB component (F2) relative to nearby surface (F1),
anchored to positional (X and Y) measurements of the hole (lower right)
and to the Z angle of a larger component to the left (white arrow)
You enable anchoring on the Anchoring tab on the Tools panel:
Note that anchoring is visualized on the anchored tool’s input.
When combined with the matching and rotation capabilities of part matching, anchoring accounts for most sources of variation in part position and orientation and, consequently, avoids many measurement errors. For more information on anchoring, see Measurement Anchoring on page 211.
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Geometric Features

Many of Gocator’s measurement tools can output data structures such as points, lines, planes, and circles. These structures are called geometric features and contain the components you would expect: a point geometric feature contains X, Y, and Z components (representing the location of the point in 3D space). Examples of point geometric features output by Gocator’s measurement tools are hole center points, the tip and base of studs, or a position on a surface.
Geometric features are rendered as overlays on a tool's input data.
Point geometric feature (a hole's Center Point)rendered
on a tool's input as a small white circle
Gocator’s “Feature” tools (such as Feature Dimension and Feature Intersect) use geometric features as inputs. For example, because the point geometric feature representing the center of a hole has X, Y, and Z components, you can perform dimensional measurements between it and another geometric feature, such as another hole or an edge. For more information on Feature tools, see Feature Measurement on page408. The Feature Create tool takes one or more geometric features as input and generates new
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geometric features (for example, creating a line from two point geometric features). You can then perform measurements on thosefeatures directly in the tool or in other Feature measurement tools. You can also use angle measurements on the newly created features for anchoring.
You enable geometric feature output on a tool’s Features tab:
Center Point geometric feature of a Surface Hole tool enabled on Features tab
You enable geometric feature inputs on a Feature tool’s Parameters tab:
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Setting the Point and Reference Feature to the Center Point
geometric features of two different holes
Geometric features are distinct from the “feature points” used by certain tools to determine which data point in a region should be used in a measurement, for example, the maximum versus the minimum on the Z axis of a data point in a region of interest:
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For more information on feature points, see Feature Points on page 204.

Tool Data

Some measurement and processing tools can output more complex data, which can be used as input by other tools or SDK applications. Thefollowing types of data are available: Profile, Surface, and Generic.
Profile and Surface tool data are identical in nature to the data produced by a sensor scan, except that they are the processed result from a tool. This kind of data can be used as input in compatible tools. Examples of this kind of this kind of data are the Stitched Surface output from the Surface Stitch tool, or the Corrected Surface output from the Surface Vibration Correction tool. Another important kind of data is the Transformed Surface produced by the Surface Transform tool, which transforms (shifting or rotating on the X, Y, and Z axes)the sensor's scan data; the Surface Transform tool supports a full 6 degrees of freedom. For more information, see Transform on page 389.
Both Profile and Surface tool data can be visualized in the data viewer, not as an overlay, however, but as independent data. The following is the output of the SurfaceVibration Correction tool. Note that the first drop-down is set to Tool, to tell the sensor to display the tool data output, rather than the sensor output:
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The following shows the scan data coming directly from the sensor's scan engine. Note that the first drop-down is set to Surface, rather than Tool.
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You enable this processed output in a tool’s Data tab:
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Stitched Surface tool enabled in Surface Stitch tool
You enable tool data input on a tool’s Parameters tab, using the Stream drop-down:
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Setting aSurface Flatness tool's input to a Surface Stitch tool's data output
Generic tool data can’t be visualized. It can however be accessed from GDKtools or SDK applications you create. Examples of Generic tool data are the Segments Array data produced by the Surface Segmentation tool, or the Output Measurement data produced by the Surface Flatness. For more information on the SDK, see GoSDK on page 665. Generic tool data is enabled in the same way as Profile and Surface tool data, from the tool’s Data tab.
You may need to switch the first data viewer drop-down to “Tool” to view Profile or Surface tool data:

Output and Digital Tracking

After Gocator has scanned and measured parts, the last step in the operation flow is to output the results and/or measurements.
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One of the main functions of Gocator sensors is to produce pass/fail decisions, and then control something based on that decision. Typically, this involves rejecting a part through an eject gate, but it can also involve making decisions on good, but different, parts. This is described as “output” in Gocator. Gocator supports the following output types:
l Ethernet (which provides industry-standard protocols such as Modbus, EtherNet/IP, and ASCII, in
addition to the Gocator protocol)
l Digital l Analog l Serial interfaces
An important concept is digital output tracking. Production lines can place an ejection or sorting mechanism at different distances from where the sensor scans the target. For this reason, Gocator lets you schedule a delayed decision over the digital interfaces. Because the conveyor system on a typical production line will use an encoder or have a known, constant speed, targets can effectively be “tracked” or "tagged."Gocator will know when a defective part has traveled far enough and trigger a PLC to activate an ejection/sorting mechanism at the correct moment. For more information on digital output tracking, see Digital Output on page 438.
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Gocator Web Interface

The following sections describe the Gocator web interface.

Browser Compatibility

LMI recommends Chrome, Firefox, or Edge for use with the Gocator web interface.
Internet Explorer 11 is supported with limitations; for more information, see below.

Internet Explorer 11 Issues

If you use Gocator with large datasets on Internet Explorer 11, you may encounter the following issues.
Internet Explorer Switches to Software Rendering
If the PC connected to a Gocator sensor is busy, Internet Explorer may switch to software rendering after a specific amount of time. If this occurs, data is not displayed in the data viewer, and the only reliable way to recover from the situation is to restart the browser.
It is possible to remove the time limit that causes this issue, but you must modify the computer’s registry. To do so, follow Microsoft's instructions at https://support.microsoft.com/en-
us/help/3099259/update-to-add-a-setting-to-disable-500-msec-time-limit-for-webgl-frame.
Internet Explorer Displays "Out of Memory"
In some situations, you may encounter “Out of Memory” errors in the Gocator web interface. This issue can be resolved by checking two options in Internet Explorer.
To correct out of memory issues in Internet Explorer 11:
1. In upper right corner, click the settings icon ( ), and choose Internet options.
2. In the dialog that opens, click the Advanced tab, and scroll down to the Security section.
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3. In the dialog, check both "Enable 64-bit processes for Enhanced Protected Mode" and "Enable Enhanced Protected Mode".
4. Click OK and then restart your computer for the changes to take effect.

User Interface Overview

Gocator sensors are configured by connecting to the IPaddress of a sensor with a web browser.
The Gocator web interface is shown below.
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Element Description
1 Manage page Contains settings for sensor system layout, network, motion and
alignment, handling jobs, and sensor maintenance. See Management and
Maintenance on page 93.
2 Scan page Contains settings for scan mode, trigger source, detailed sensor
configuration, and performing alignment. See Scan Setup and Alignment on
page 115.
3 Model page Lets you set up sections and part matching. See Models on page 176
4 Measure page Contains built-in measurement tools and their settings. See Measurement
and Processing on page 196.
5 Output page Contains settings for configuring output protocols used to communicate
measurements to external devices. See Output on page 433.
6 Dashboard page Provides monitoring of measurement statistics and sensor health. See
Dashboard on page 446.
7 CPULoad and Speed Provides important sensor performance metrics. See Metrics Area on page
89.
8 Toolbar Controls sensor operation, manages jobs, and filters and replays
recorded measurement data. See Toolbar on the next page.
9 Configuration area Provides controls to configure scan and measurement tool settings.
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Element Description
10
11
Data viewer
Status bar
Displays sensor data, tool setup controls, and measurements. See Data
Viewer on page 160 for its use when the Scan page is active and on page
197 for its use when the Measure page is active.
Displays log messages from the sensor (errors, warnings, and other
information) and frame information, and lets you switch the interface
language. For more information, see Status Bar on page 90.

Toolbar

The toolbar is used for performing operations such as managing jobs, working with replay data, and starting and stopping the sensor.
Element Description
1 Job controls For saving and loading jobs.
2 Replay data controls For downloading, uploading, and exporting recorded data.
3 Sensor operation / replay control Use the sensor operation controls to start sensors, enable and
filter recording, and control recorded data.
Creating, Saving and Loading Jobs (Settings)
A Gocator can store several hundred jobs. Being able to switch between jobs is useful when a Gocator is used with different constraints during separate production runs. For example, width decision minimum and maximum values might allow greater variation during one production run of a part, but might allow less variation during another production run, depending on the desired grade of the part.
Most of the settings that can be changed in the Gocator's web interface, such as the ones in the Manage, Measure, and Output pages, are temporary until saved in a job file. Each sensor can have multiple job files. If there is a job file that is designated as the default, it will be loaded automatically when the sensor is reset.
When you change sensor settings using the Gocator web interface in the emulator, some changes are saved automatically, while other changes are temporary until you save them manually. The following table lists the types of information that can be saved in a sensor.
Setting Type Behavior
Job Most of the settings that can be changed in the Gocator's web interface, such as the ones
in the Manage, Measure, and Output pages, are temporary until saved in a job file.
Each sensor can have multiple job files. If there is a job file that is designated as the
default, it will be loaded automatically when the sensor is reset.
Alignment
Alignment can either be fixed or dynamic, as controlled by the Alignment Reference
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Setting Type Behavior
setting in Motion and Alignment in the Manage page.
Alignment is saved automatically at the end of the alignment procedure when
Alignment Reference is set to Fixed. When Alignment Reference is set to Dynamic, however, you must manually save the job to save alignment.
Network Address Network address changes are saved when you click the
the
Manage
page. The sensor must be reset before changes take effect.
Save
button in
Networking
on
The job drop-down list in the toolbar shows the jobs stored in the sensor. The job that is currently active is listed at the top. The job name will be marked with "[unsaved]" to indicate any unsaved changes.
To create a job:
1. Choose [New] in the job drop-down list and type a name for the job.
2. Click the Save button or press Enter to save the job.
The job is saved to sensor storage using the name you provided. Saving a job automatically sets it as the default, that is, the job loaded when then sensor is restarted.
To save a job:
l Click the Save button .
The job is saved to sensor storage. Saving a job automatically sets it as the default, that is, the job loaded when then sensor is restarted.
To load (switch) jobs:
l Select an existing file name in the job drop-down list.
The job is activated. If there are any unsaved changes in the current job, you will be asked whether you want to discard those changes.
You can perform other job management tasks—such as downloading job files from a sensor to a computer, uploading job files to a sensor from a computer, and so on—in the Jobs panel in the Manage page. See Jobs on page 107 for more information.
Recording, Playback, and Measurement Simulation
Gocator sensors can record and replay recorded scan data, and also simulate measurement tools on recorded data. This feature is most often used for troubleshooting and fine-tuning measurements, but can also be helpful during setup.
Recording and playback are controlled using the toolbar controls.
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Recording and playback controls when replay is off
To record live data:
1. Toggle Replay mode off by setting the slider to the left in the Toolbar.
Replay mode disables measurements.
2. (Optional) Configure recording filtering.
For more information on recording filtering, see Recording Filtering on the next page.
3. Click the Record button to enable recording.
The center of the Record button turns red.
When recording is enabled (and replay is off), the sensor will store the most recent data as it runs. Remember to disable recording if you no longer want to record live data. (Press the Record button again to disable recording).
4. Press the Snapshot button or Start button.
The Snapshot button records a single frame. The Start button will run the sensor continuously and all frames will be recorded, up to available memory. When the memory limit is reached, the oldest data will be discarded.
Newly recorded data is appended to existing replay data unless the sensor job has been modified.
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Playback controls when replay is on
To replay data:
1. Toggle Replay mode on by setting the slider to the right in the Toolbar.
The slider's background turns blue and a Replay Mode Enabled message is displayed.
2. Use the Replay slider or the Step Forward, Step Back, or Play buttons to review data.
The Step Forward and Step Back buttons move the current replay location forward and backward by a single frame, respectively.
The Play button advances the replay location continuously, animating the playback until the end of the replay data.
The Stop button (replaces the Play button while playing) can be used to pause the replay at a particular location.
The Replay slider (or Replay Position box) can be used to go to a specific replay frame.
To simulate measurements on replay data:
1. Toggle Replay mode on by setting the slider to the right in the Toolbar.
The slider's background turns blue and a Replay Mode Enabled message is displayed.
To change the mode, Replay Protection must be unchecked.
2. Go to the Measure page.
Modify settings for existing measurements, add new measurement tools, or delete measurement tools as desired. For information on adding and configuring measurements, see Measurement and Processing on page 196.
3. Use the Replay Slider, Step Forward, Step Back, or Play button to simulate measurements.
Step or play through recorded data to execute the measurement tools on the recording.
Individual measurement values can be viewed directly in the data viewer. Statistics on the measurements that have been simulated can be viewed in the Dashboard page; for more information on the dashboard, see Dashboard on page 446.
To clear replay data:
1. Stop the sensor if it is running by clicking the Stop button.
2. Click the Clear Replay Data button .
Recording Filtering
Replay data is often used for troubleshooting. But replay data can contain thousands of frames, which makes finding a specific frame to troubleshoot difficult. Recording filtering lets you choose which frames Gocator records, based on one or more conditions, which makes it easier to find problems.
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How Gocator treats conditions
Setting Description
Any Condition
All Conditions
Gocator records a frame when any condition is true.
Gocator only records a frame if all conditions are true.
Conditions
Setting Description
Any Measurement
Gocator records a frame when any measurement is in the state you select.
The following states are supported:
l pass l fail or invalid l fail and valid l valid l invalid
Single Measurement
Gocator records a frame if the measurement with the IDyou specify in IDis in the state you select. This setting supports the same states as the Any Measurement setting (see
above).
Any Data
At/Above Threshold: Gocator records a frame if the number of valid points in the
frame is above the value you specify in Range Count Threshold.
Below Threshold: Gocator records a frame if the number of valid points is below the
threshold you specify.
In Surface mode, the number of valid points in the surface is compared to the threshold, not any sections that may be defined.
To set recording filtering:
1. Make sure recording is enabled by clicking the Record button.
2. Click the Recording Filtering button .
3. In the Recording Filtering dialog, choose how Gocator treats conditions:
For information on the available settings, see How Gocator treats conditions above.
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4. Configure the conditions that will cause Gocator to record a frame:
For information on the available settings, see Conditions on the previous page.
5. Click the "x"button or outside of the Recording Filtering dialog to close the dialog.
The recording filter icon turns green to show that recording filters have been set.
When you run the sensor, Gocator only records the frames that satisfy the conditions you have set.
Downloading, Uploading, and Exporting Replay Data
Replay data (recorded scan data) can bedownloaded from a Gocator to a client computer, or uploaded from a client computer to a Gocator.
Data can also be exported from a Gocator to a client computer in order to process the data using third­party tools.
You can only upload replay data to the same sensor model that was used to create the data.
Replay data is not loaded or saved when you load or save jobs.
To download replay data:
1. Click the Download button .
2. In the File Download dialog, click Save.
3. In the Save As... dialog, choose a location, optionally change the name, and click Save.
To upload replay data:
1. Click the Upload button .
The Upload menu appears.
2. In the Upload menu, choose one of the following:
l Upload:Unloads the current job and creates a new unsaved and untitled job from the content of the
replay data file.
l Upload and merge:Uploads the replay data and merges the data's associated job with the current
job. Specifically, the settings on the Scan page are overwritten, but all other settings of the current job are preserved, including any measurements or models.
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If you have unsaved changes in the current job, the firmware asks whether you want to discard the changes.
3. Do one of the following:
l Click Discard to discard any unsaved changes.
l Click Cancel to return to the main window to save your changes.
4. If you clicked Discard, navigate to the replay data to upload from the client computer and click OK.
The replay data is loaded, and anew unsaved, untitled job is created.
Replay data can be exported using the CSVformat. If you have enabled Acquire Intensity in the Scan Mode panel on the Scan page, the exported CSVfile includes intensity data.
Surface intensity data cannot be exported to the CSVformat. It can only be exported separately
as a bitmap.
To export replay data in the CSV format:
1. In the Scan Mode panel, switch to Profile or Surface.
2. Switch to Replay mode.
3. Click the Export button and select All Data as CSV.
In Profile mode, all data in the record buffer is exported. In Surface mode, only data at the current replay location is exported.
Use the playback control buttons to move to a different replay location; for information on playback, see To replay data in Recording, Playback, and Measurement Simulation on page 83.
4. (Optional) Convert exported data to another format using the CSVConverter Tool. For information on this tool, see CSV Converter Tool on page 706.
The decision values in the exported data depend on the current state of the job, not the state
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during recording. For example, if you record data when a measurment returns a pass decision, change the measurement's settings so that a fail decision is returned, and then export to CSV, you will see a fail decision in the exported data.
Recorded intensity data can be exported to a bitmap (.BMP format). Acquire Intensity must be checked in the Scan Mode panel while data was being recorded in order to export intensity data.
To export recorded intensity data to the BMP format:
l Switch to Replay mode and click the Export button and select Intensity data as BMP.
Only the intensity data in the current replay location is exported.
Use the playback control buttons to move to a different replay location; for information on playback, see To replay data in Recording, Playback, and Measurement Simulation on page 83.
To export video data to a BMPfile:
1. In the Scan Mode panel, switch to Video mode.
Use the playback control buttons to move to a different replay location; for information on playback, see To replay data in Recording, Playback, and Measurement Simulation on page 83.
2. Switch to Replay mode.
3. Click the Export button and select Video data as BMP.

Metrics Area

The Metrics area displays two important sensor performance metrics: CPU load and speed (current frame rate).
The CPU bar in the Metrics panel (at the top of the interface) displays how much of the CPU is being utilized. A warning symbol ( ) will appear next to the CPUbar if the sensor drops data because the CPU is over-loaded.
CPUat 100%
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The Speed bar displays the frame rate of the sensor. A warning symbol ( ) will appear next to it if triggers (external input or encoder) are dropped because the external rate exceeds the maximum frame rate.
Open the log for details on the warning. For more information on logs, see Log below.
When a sensor is accelerated a "rocket"icon appears in the metrics area.

Data Viewer

The data viewer is displayed in both the Scan and the Measure pages, but displays different information depending on which page is active.
When the Scan page is active, the data viewer displays sensor data and can be used to adjust the active area and other settings. Depending on the selected operation mode (page 116), the data viewer can display video images, profiles, sections, or surfaces. For details, see Data Viewer on page 160.
When the Measure page is active, the data viewer displays sensor data onto which representations of measurement tools and their measurements are superimposed. For details, see Data Viewer on page
197.

Status Bar

The status bar lets you do the following:
l See sensor messages in the log. l See frame information. l Change the interface language. l Switch to Quick Edit mode.
Log
The log, located at the bottom of the web interface, is a centralized location for all messages that the Gocator displays, including warnings and errors.
A number indicates the number of unread messages:
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To use the log:
1. Click on the Log open button at the bottom of the web interface.
2. Click on the appropriate tab for the information you need.
Frame Information
The area to the right of the status bar displays useful frame information, both when the sensor is running and when viewing recorded data.
This information is especially useful when you have enabled recording filtering. If you look at a recording playback, when you have enabled recording filtering, someframes can be excluded, resulting in variable "gaps" in the data.
The following information is available:
Frame Index: Displays the index in the data buffer of the current frame. The value resets to 0 when the sensor is restarted or when recording is enabled.
Master Time: Displays the recording time of the current frame, with respect to when the sensor was started.
Encoder Index: Displays the encoder value at the time of the last encoder Z index pulse. Note this is not the same as the encoder value at the time the frame was captured.
Timestamp: Displays the timestamp the current frame, in microseconds from when the sensor was started.
To switch between types of frame information:
l Click the frame information area to switch to the next available type of information.
Quick Edit Mode
When working with a very large number of measurement tools (for example, a few dozen) or a very complex user-created GDK tool, you can switch to a "Quick Edit"mode to make configuration faster.
When this mode is enabled, the data viewer and measurement results are not refreshed after each setting change. Also, when Quick Edit is enabled, in Replay mode, stepping through frames or playing back scan data does not change the displayed frame.
When a sensor is running, Quick Edit mode is ignored:all changes to settings are reflected immediately in the data viewer.
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Interface Language
The language button on the right side of the status bar at the bottom of the interface lets you change the languageof the interface.
To change the language:
1. Click the language button at the bottom of the web interface.
2. Choose a language from the list.
The interface reloads on the page you were working in, displaying the page using the language you chose. The sensor state is preserved.
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Management and Maintenance

The following sections describe how to set up the sensor connections and networking, how to calibrate encoders and choose the alignment reference, and how to perform maintenance tasks.

Manage Page Overview

Gocator's system and maintenance tasks are performed on the Manage page.
Element Description
1 Sensor System Contains sensor information, buddy assignment, and the
autostart setting. See Sensor System on the next page.
2 Layout Contains settings for configuring dual- and multi-sensor system
layouts.
3 Networking Contains settings for configuring the network. See Networking on
page 104.
4 Motion and Alignment Contains settings to configure the encoder. See Motion and
Alignment on page 105.
5 Jobs Lets you manage jobs stored on the sensor. See Jobs on page
107.
6 Security Lets you change passwords. See Security on page 108.
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Element Description
7 Maintenance Lets you upgrade firmware, create/restore backups, and reset
sensors. See Maintenance on page 109.
8 Support Lets you open an HTMLversion or download a PDFversion of the
manual, download the SDK, or save a support file.Also provides
device information. See Support on page 112

Sensor System

The following sections describe the Sensor System category on the Manage page. This category provides sensor information and the autostart setting. It also lets you choose which sensors to add to a dual- or multi-sensor system.
Dual- and Multi-sensor Systems
Gocator supports dual- and multi-sensor systems. In these systems, data from each sensor is combined into a single profile or surface, effectively creating a wider field of view. Any measurements you configure work on the combined data.
Although some Gocator models have much wider fields of view, the trade-off is that their resolution is much lower: finer features on targets are below their resolution and therefore can't be measured. Models with smaller fields of view—which limit the maximum size of targets that can be scanned—have vastly finer resolutions. When you combine multiple sensors with a smaller field of view, you obtain a wider overall field of view with the finer resolution of those models.
Gocator lets you easily and quickly set up dual- and multi-sensor systems from the web interface. Setting up these systems involves two steps:
1. Assigning oneor more additional sensors, called Buddy sensors, to the Main sensor. For more inform­ation, see Buddy Assignment on the next page.
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2. Choosing the layout of the dual- or multi-sensor system. For more information, see Layout on the next page.
Buddy Assignment
In a dual- or multi-sensor system, the Main sensor controls a second sensor, called the Buddy sensor, after the Buddy sensor is assigned to the Main sensor. You configure both sensors through the Main sensor's interface.
Main and Buddy sensors must be assigned unique IP addresses before they can be used on the same network. Before proceeding, connect the Main and Buddy sensors one at a time (to avoid an address conflict) and use the steps described in Running a Dual-Sensor System (page 30) to assign each sensor a unique address.
When a sensor is acting as a Buddy, it is not discoverable and its web interface is not accessible.
A sensor can only be assigned as a Buddy if its firmware and model number match the firmware and model number of the Main sensor.
To assign a Buddy sensor:
1. Go to the Manage page and click on the Sensor System category.
2. In the Visible Sensors list, click the "plus"icon next to the sensor you want to add as a Buddy.
The sensor you added to the system appears in a Buddies list.
3. Repeat the previous step to add more sensors to the system.
After you have assigned the desired number of Buddy sensors, you must specify system's layout. For more information, see Layout on the next page.
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To remove a Buddy, click the "minus"icon next to the sensor you want to remove. To remove all Buddies, click Remove All Buddies.
Over Temperature Protection
Sensors equipped with a 3B-N laser by default will turn off the laser if the temperature exceeds the safe operating range. You can override the setting by disabling the overheat protection.
Disabling the setting is not recommended. Disabling the overheat protection feature could lead to premature laser failure if the sensor operates outside the specified temperature range.
To enable/disable overheat temperature protection:
1. Check/uncheck the Over Temperature Shutoff option.
2. Save the job file.
Sensor Autostart
With the Autostart setting enabled, scanning and measurements begin automatically when the sensor is powered on. Autostart must be enabled if the sensor will be used without being connected to a computer.
To enable/disable Autostart:
1. Go to the Manage page and click on the Sensor System category.
2. Check/uncheck the Autostart option in the Main section.

Layout

The following sections describe the Layout category on the Manage page. This category lets you configure dual- and multi-sensor systems.
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Mounting orientations must be specified for a dual- or multi-sensor system. This information allows the alignment procedure to determine the correct system-wide coordinates for laser profiling and measurements. For more information on sensor and system coordinates, see Coordinate Systems on page58.
Dual- and multi-sensor layouts are only displayed when a Buddy sensor has been assigned.
For multi-sensor layouts with sensors angled around the Y axis, to get "side" data, you must uncheck Uniform Spacing before scanning. The Y offset, X angle, and Z angle transformations cannot be non-zero when Uniform Spacing is unchecked. Therefore, when aligning a sensor using a bar alignment target with Uniform Spacing unchecked, set the Degrees of Freedom setting to X, Z, Y Angle, which prevents these transformations from being non-zero.
Supported Layouts
Layout Type Example
Normal
The sensor operates as an isolated device.
Reverse
The sensor operates as an isolated device,
but in a reverse orientation. You can use
this layout to change the handedness of the
data.
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Layout Type Example
Wide
Sensors are mounted in Left (Main) and
Right (Buddy) positions. This allows for a
larger combined field of view. Sensors may
be angled around the Yaxis to avoid
occlusions.
Reverse
Sensors are mounted in a left-right layout
as with the Wide layout, but the Buddy
sensor is mounted such that it is rotated
180 degrees around the Z axis to prevent
occlusion along the Y axis.
Sensors should be shifted along the Yaxis
so that the laser lines align.
Opposite
Sensors are mounted in Top (Main) and
Bottom (Buddy) positions for a larger
combined measurement range and the
ability to perform Top/Bottom differential
measurements.
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Layout Type Example
Grid
For systems composed of three or more
sensors. Sensors can be mounted in a 2-
dimensional grid using the settings in the
Layout Grid area below. Side-by-sideand
top-bottom configurations are supported,
as well as combinations of these and
reversed orientations.
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To specify a standalone layout:
1. Go to the Manage page and click on the Layout category.
2. Under Layout Types, choose Normal or Reverse layout by clicking one of the layout buttons.
See the table above for information on layouts.
Before you can select a dual-sensor layout, you must assign a second sensor as the Buddy sensor. For more information, see Dual- and Multi-sensor Systems on page 94.
To specify a dual-sensor layout:
1. Go to the Manage page and click on the Layout category.
2. Under Layout Types, choose a layout by clicking one of the layout buttons.
See the table above for information on layouts.
Before you can select a multi-sensor layout, you must assign two or more additional sensors as Buddy sensors. For more information, see Dual- and Multi-sensor Systems on page 94.
To specify a multi-sensor layout:
1. Go to the Manage page and click on the Layout category.
2. Under Layout Grid, click the "plus"icon to the right to add the desired number of columns in the grid.
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