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Gocator 3210
LMI Technologies Gocator 3210 User Manual
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C
2
Table of Contents
Copyright
2
Table of Contents
3
Introduction
11
Gocator Overview
12
Safety and Maintenance
13
Electrical Safety
13
Handling, Cleaning, and Maintenance
13
Environment and Lighting
14
Getting Started
15
Hardware Overview
16
Gocator Sensor
16
Gocator 3X00 Cordsets
16
Master
16
Master 400 / 800
17
Master 100
17
Master 810 / 2410
19
System Overview
21
Standalone System
21
Multi-Sensor System
21
Installation
23
Mounting
23
Grounding
23
Gocator
24
Recommended Practices for Cordsets
24
Grounding When Using a DIN Rail (Master 810/2410)
25
Master Network Controllers
25
Installing DIN Rail Clips: Master 810 or 2410
26
Configuring Master 810
27
Setting the Divider
27
Encoder Quadrature Frequency
28
Setting the Debounce Period
28
Network Setup
30
Client Setup
30
Gocator Setup
32
Running a Standalone Sensor System
32
Running a Multi-Sensor System
33
Next Steps
35
How Gocator Works
36
3D Acquisition
36
Clearance Distance, Field of View and
38
Measurement Range
38
Stereo Correlation Vs. Independent Triangulation
38
3D Data Output
40
Coordinate Systems
40
Sensor Coordinates
40
System Coordinates
41
Resampling
42
Data Generation and Processing
42
Part Detection
43
Sectioning
43
Part Matching
43
Measurement and Anchoring
43
Output and Digital Tracking
44
Gocator Web Interface
45
Unblocking Flash
45
Google Chrome
45
Internet Explorer
46
Firefox
47
Microsoft Edge
48
User Interface Overview
50
Toolbar
51
Creating, Saving and Loading Jobs (Settings)
52
Recording, Playback, and Measurement Simulation
53
Recording Filtering
55
Downloading, Uploading, and Exporting Replay Data
56
Metrics Area
59
Data Viewer
59
Status Bar
59
Frame Information
60
Log
60
Interface Language
61
Quick Edit Mode
61
Management and Maintenance
62
Manage Page Overview
62
Sensor System
63
Sensor Autostart
63
Networking and Power
63
Motion and Alignment
64
Alignment Reference
65
Jobs
65
Security
67
Maintenance
68
Sensor Backups and Factory Reset
69
Firmware Upgrade
70
Support
71
Support Files
71
Manual Access
72
Software Development Kit
72
Scan Setup and Alignment
74
Scan Page Overview
74
Scan Modes
75
Triggers
75
Trigger Examples
77
Trigger Settings
78
Maximum Input Trigger Rate
79
Maximum Encoder Rate
79
Sensor
79
Reduce Occlusion
79
Active Area
80
Transformations
82
Exposure
83
Single Exposure
84
Multiple Exposure
87
Spacing
90
Spacing Interval
90
Advanced
90
Material
91
Camera Gain
92
Alignment
92
Alignment States
93
Alignment Types
93
Aligning Sensors
93
Clearing Alignment
94
Filters
95
Gap Filling
95
Median
96
Smoothing
97
Decimation
97
Part Detection
98
Edge Filtering
100
Data Viewer
102
Data Viewer Controls
102
Video Mode
103
Exposure Information
103
Exposures
103
Overexposure and Underexposure
104
Surface Mode
106
Height Map Color Scale
108
Sections
109
Region Definition
111
Intensity Output
111
Models
112
Model Page Overview
112
Part Matching
113
Using Edge Detection
114
Creating a Model
117
Modifying a Model's Edge Points
119
Adjusting Target Sensitivity
122
Running Part Matching
123
Setting the Match Acceptance Criteria
123
Using Bounding Box and Ellipse
123
Configuring a Bounding Box or an Ellipse125
125
Running Part Matching
126
Using Part Matching to Accept or Reject a Part
127
Sections
127
Creating a Section
130
Deleting a Section
132
Measurement
133
Measure Page Overview
133
Data Viewer
134
Tools Panel
134
Adding and Configuring a Measurement Tool
134
Source
135
Streams (Sections)
135
Regions
136
Feature Points
138
Fit Lines
140
Geometric Features
141
Decisions
142
Filters
143
Measurement Anchoring
145
Enabling and Disabling Measurements
150
Editing a Tool or Measurement Name
151
Changing a Measurement ID
151
Duplicating a Tool
152
Removing a Tool
152
Reordering Tools
153
Profile Measurement
153
Area
153
Measurements, Features, and Settings
155
Bounding Box
157
Measurements, Features, and Settings
158
Circle
159
Measurements, Features, and Settings
160
Dimension
161
Groove
164
Intersect
168
Measurements, Features, and Settings
168
Line
170
Measurements, Features, and Settings
171
Panel
174
Position
177
Measurements, Features, and Settings
178
Round Corner
180
Strip
183
Script
187
Surface Measurement
189
Bounding Box
189
Measurements, Features, and Settings
191
Countersunk Hole
193
Measurements, Features, and Settings
196
Dimension
202
Edge
206
Paths and Path Profiles
209
Measurements, Features, and Settings
210
Ellipse
220
Measurements, Features, and Settings
221
Hole
223
Measurements, Features, and Settings
225
Measurement Region
227
Opening
228
Measurements, Features, and Settings
231
Measurement Region
235
Plane
235
Measurements, Features, and Settingss
238
Position
239
Measurements, Features, and Settingss
240
Stud
242
Measurements, Features, and Settings
244
Measurement Region
246
Volume
246
Script
248
Feature Measurement
249
Dimension
249
Intersect
252
Scripts
256
Built-In Functions
257
Output
262
Output Page Overview
262
Ethernet Output
263
Digital Output
267
Analog Output
270
Serial Output
271
Dashboard
274
Dashboard Page Overview
274
State and Health Information
274
Statistics
276
Measurements
276
Performance
276
Gocator Emulator
278
System Requirements
278
Limitations
279
Downloading a Support File
279
Running the Emulator
280
Adding a Scenario to the Emulator
281
Running a Scenario
281
Removing a Scenario from the Emulator
282
Using Replay Protection
283
Stopping and Restarting the Emulator
283
Running the Emulator in Default Browser
283
Working with Jobs and Data
284
Creating, Saving, and Loading Jobs
284
Playback and Measurement Simulation
285
Downloading, Uploading, and Exporting Replay Data
286
Downloading and Uploading Jobs
288
Scan, Model, and Measurement Settings
290
Calculating Potential Maximum Frame Rate
290
Protocol Output
291
Remote Operation
291
Gocator Accelerator
293
System Requirements
294
Benefits
294
Installation
294
Gocator Accelerator Utility
294
Dashboard and Health Indicators
297
SDK Application Integration
297
Gocator Device Files
299
Live Files
299
Log File
299
Job File Structure
300
Job File Components
300
Accessing Files and Components
301
Configuration
301
Setup
302
Filters
303
Xsmoothing
303
Ysmoothing
303
Xgapfilling
304
Xmedian
304
Ygapfilling
304
Ymedian
304
Xdecimation
305
Xslope
305
Ydecimation
305
Yslope
305
Trigger
306
Layout
307
Alignment
308
Bar
309
Disk
309
Devices / Device
310
Plate
310
Tracking
312
Material
313
Independentexposures
315
Surfacegeneration
315
Fixedlength
316
Variablelength
316
Rotational
316
Surfacesections
317
Profilegeneration
317
Fixedlength
318
Variablelength
318
Rotational
318
Partdetection
318
Edgefiltering
320
Partmatching
320
Edge
320
Boundingbox
320
Ellipse
321
Replay
322
Recordingfiltering
322
Conditions/Anymeasurement
322
Conditions/Anydata
323
Conditions/Measurement
323
Streams/Stream (Read-Only)
323
Tooloptions
324
Measurementoptions
325
Featureoptions
325
Streamoptions
326
Tools
326
Profile Types
326
Profilefeature
326
Profileline
327
Profileregion2D
327
Surface Types
327
Region3D
327
Surfacefeature
327
Surfaceregion2D
328
Geometric Feature Types
328
Parameter Types
328
Profilearea
330
Profileboundingbox
332
Profilecircle
333
Profiledimension
335
Profilegroove
336
Profileintersect
338
Profileline
340
Profilepanel
342
Profileposition
344
Profileroundcorner
345
Profilestrip
347
Script
349
Surfaceboundingbox
350
Surfacecshole
352
Surfacedimension
355
Tool
356
Surfaceellipse
359
Surfacehole
361
Surfaceopening
363
Surfaceplane
365
Surfaceposition
367
Surfacestud
369
Surfacevolume
371
Tool
373
Tool
374
Custom
376
Output
376
Ethernet
377
Ascii
379
Digital0 and Digital1
380
Eip
380
Modbus
380
Analog
381
Selcom
382
Serial
382
Ascii
383
Transform
383
Device
384
Part Models
384
Edge Points
385
Configuration
386
Protocols
387
Gocator Protocol
387
Data Types
388
Commands
388
Discovery Commands
389
Get Address
389
Set Address
390
Get Info
391
Control Commands
392
Protocol Version
393
Get Address
393
Set Address
393
Get System Info V2
394
Get System Info
396
Get States
397
Log In/Out
398
Change Password
399
Set Buddy
399
List Files
400
Copy File
400
Read File
401
Write File
401
Delete File
402
User Storage Used
402
User Storage Free
403
Get Default Job
403
Set Default Job
403
Get Loaded Job
404
Get Alignment Reference
404
Set Alignment Reference
405
Clear Alignment
405
Get Timestamp
406
Get Encoder
406
Reset Encoder
406
Start
407
Scheduled Start
407
Stop
408
Get Auto Start Enabled
408
Set Auto Start Enabled
408
Get Voltage Settings
409
Set Voltage Settings
409
Get Quick Edit Enabled
409
Set Quick Edit Enabled
410
Start Alignment
410
Start Exposure Auto-Set
411
Software Trigger
411
Schedule Digital Output
412
Schedule Analog Output
412
Ping
413
Reset
413
Backup
414
Restore
414
Restore Factory
414
Get Recording Enabled
415
Set Recording Enabled
415
Clear Replay Data
416
Get Playback Source
416
Set Playback Source
416
Simulate
417
Seek Playback
417
Step Playback
418
Playback Position
418
Clear Measurement Stats
419
Read Live Log
419
Clear Log
420
Simulate Unaligned
420
Acquire
420
Acquire Unaligned
421
Create Model
421
Detect Edges
421
Add Tool
422
Add Measurement
422
Read File (Progressive)
423
Export CSV (Progressive)
423
Export Bitmap (Progressive)
424
Get Runtime Variable Count
425
Set Runtime Variables
425
Get Runtime Variables
426
Upgrade Commands
426
Start Upgrade
427
Start Upgrade Extended
427
Get Upgrade Status
427
Get Upgrade Log
428
Results
428
Data Results
428
Stamp
429
Video
430
Surface
430
Surface Intensity
431
Surface Section
432
Surface Section Intensity
433
Measurement
433
Operation Result
434
Exposure Calibration Result
434
Bounding Box Match Result
435
Edge Match Result
435
Ellipse Match Result
436
Event
436
Feature Point
436
Feature Line
437
Health Results
437
Modbus Protocol
443
Concepts
443
Messages
443
Registers
444
Control Registers
445
Output Registers
446
State
446
Stamp
447
Measurement Registers
448
Ethernet/Ip Protocol
450
Concepts
450
Basic Object
451
Identity Object (Class 0X01)
451
TCP/IP Object (Class 0Xf5)
451
Ethernet Link Object (Class 0Xf6)
451
Assembly Object (Class 0X04)
452
Command Assembly
452
Runtime Variable Configuration Assembly
453
Sensor State Assembly
454
Sample State Assembly
455
Implicit Messaging Command Assembly
456
Implicit Messaging Output Assembly
457
ASCII Protocol
459
Connection Settings
459
Ethernet Communication
459
Serial Communication
460
Polling Operation Commands (Ethernet Only)
460
Command and Reply Format
461
Special Characters
461
Command Channel
461
Start
461
Stop
462
Trigger
462
Clear Alignment
463
Loadjob
463
Stamp
463
Get Runtime Variables
464
Set Runtime Variables
464
Stationary Alignment
464
Data Channel
465
Result
465
Decision
466
Value
466
Health
467
Health Channel
467
Standard Result Format
467
Custom Result Format
468
Development Kits
470
Gosdk
470
Setup and Locations
471
Class Reference
471
Examples
471
Header Files
471
Sample Project Environment Variable
471
Class Hierarchy
471
Golayout
472
Gosensor
472
Gosetup
472
Gosystem
472
Gooutput
473
Gotools
473
Gotransform
473
Data Types
473
Output Types
473
Value Types
473
Godataset Type
474
Measurement Values and Decisions
475
Operation Workflow
475
Initialize Gosdk API Object
476
Configure Sensors
477
Connect Sensors
477
Discover Sensors
477
Enable Data Channels
477
Perform Operations
477
Limiting Flash Memory Write Operations
479
Gdk
480
Benefits
480
Supported Sensors
480
Typical Workflow
481
Installation and Class Reference
481
Required Tools
481
Getting Started with the Example Code
482
Building the Sample Code
482
Tool Registration
482
Entry Functions
483
Tool Definitions
483
Parameter Configurations
484
Graphics Visualization
485
Debugging Your Measurement Tools
487
Debugging Entry Functions
488
Tips
488
Backward Compatibility with Older Versions of Tools
488
Configuration Versioning
488
Define New Parameters as Optional
488
Common Programming Operations
490
Input Data Objects
490
Version
490
Computing Region Based on the Offset from an Anchor Source
491
Setup and Region Info During Tool Initialization
491
Accessing Sensor Local Storage
492
Part Matching
492
Print Output
492
Tools and Native Drivers
493
Sensor Discovery Tool
493
Gentl Driver
494
16-Bit RGB Image
498
16-Bit Grey Scale Image
499
Registers
501
XML Settings File
502
Interfacing with Halcon
502
Setting up Halcon
503
Halcon Procedures
506
Generating Halcon Acquisition Code
510
CSV Converter Tool
511
Mountainsmap Transfer Tool
513
Configuring Gocator to Work with the Transfer Tool
514
Using the Mountains Map Transfer Tool
514
Troubleshooting
517
Specifications
519
Sensors
519
Gocator 3210 Sensor
520
Gocator 3210
522
Gocator 3506 Sensor
525
Gocator 3506
526
Estimated Scan Rates
528
Sensor Connectors
530
Gocator Power/Lan Connector
530
Grounding Shield
530
Power
531
Safety Input
531
Gocator I/O Connector
532
Digital Outputs
532
Grounding Shield
532
Digital Input
533
Inverting Outputs
533
Encoder Input
534
Analog Output
535
Serial Output
535
Master Network Controllers
536
Master 100 Dimensions
537
Master 400/800
538
Master 400/800 Electrical Specifications
539
Master 400/800 Dimensions
540
Master 810/2410
541
Electrical Specifications
543
Encoder
544
Input
546
Master 810 Dimensions
548
Master 2410 Dimensions
549
Master 1200/2400
550
Master 1200/2400 Electrical Specifications
551
Master 1200/2400 Dimensions
552
Accessories
553
Return Policy
555
Software Licenses
556
Support
562
Contact
563
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LMI Technologies Gocator 3210 Specifications
General
Brand
LMI Technologies
Model
Gocator 3210
Category
Accessories
Language
English
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