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Category Details
Category Name
Gocator
Category Created
Thu, 27th Feb 2014
Last Article Update
Tue, 23rd Aug 2016
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   Gocator

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Showing the 82 Articles in this Category 

Analog output resolution 

The resolution of Gocator's analog output is fixed at 12 bits, or 4096 steps over a sensor's maximum current range.

The resolution does not change when the Current Range setting is changed in the Gocator web interface (Output page, in the Analog category). This means that if a smaller range is chosen, only a subset of the 4096 steps is available for output.

For legacy Gocator 2000 series sensors, the resolution is 4.88 µA.

For all other Gocator sensors, the resolution is 5.37 µA.

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Encoder quadrature signals and pulses 

Gocator reads the rising edge of each of the four encoder quadrature signals (A+ / A- / B+ / B-). However, encoders are typically specified by pulses per revolution, where a pulse represents a full set of the four quadrature signals. You should therefore keep this in mind when choosing an encoder, given the resolution required for your application.

NOTE: In the Gocator web interface, on the Manage page, in Motion and Alignment, encoder resolution is specified as "mm/tick," where one "tick" corresponds to one of the four quadrature signals.

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Frequency of measurement data updates over PROFINET 

Gocator updates measurement values over the PROFINET protocol at 10 ms intervals.

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Gocator Rescue mode 

A Gocator sensor can enter Rescue mode if power is lost during a flash memory write operation. A faulty power supply that causes a sensor to intermittently lose power can also cause a sensor to enter Rescue mode.

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Maximum number of frames that can be stored on a Gocator sensor 

The maximum number of frames depends on the size of data for each frame.

You can roughly estimate the number of frames that can be saved by first calculating the size of each frame:

  • Use 2 bytes per range point for resampled profiles (Uniform Spacing is checked) or surfaces, 4 bytes per range point for raw profiles (Uniform Spacing is unchecked).
  • Add an additional 1 byte per range point if Acquire Intensity is enabled on the Scan page.

NOTE: The maximum size for recorded data on a Gocator sensor is 64 MB.

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Original rotation angle of part when using part matching 

Sensor Model All
Firmware Version 4.x
SDK Version 4.x

The original rotation angle of a part is available through the Surface Bounding Box tool's Global Z Angle measurement. The Global Z Angle measurement returns a value representing the rotation of the part before part matching rotates it.

It is also available in GoEdgeMatchMsg_ZAngle from the Gocator SDK.

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Reverse power and safety protection 

The following products provide reverse power and reverse safety protection:

Product Reverse Power Reverse Safety
Gocator 1000  
Gocator 2000  
Gocator 2300/2400/3000
Capture/HDI 48V
Capture/HDI 12V  n/a (no safety input)
Master 100  n/a (no safety input)
Master 200  
Master 400/800  
Master 1200/2400  
Master 810/2410

 

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Size of dataQueue 

The size of dataQueue (the amount of memory that can be used to buffer received data messages) can be changed by using GoSystem_SetDataCapacity(). The default buffer size is 50,000,000 bytes (~50 MB).

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Surface plane normal vectors 

Sensor Model G2xxx, G3xxx
Firmware Version All
SDK Version n/a

The surface normal of a plane measured with the Surface Plane tool has the following vector:

nx -sin(Y_angle)
ny -sin(X_angle) * cos(Y_angle)
nz cos(X_angle) * cos(Y_angle)

 

 

 

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Surface plane tilt 

Sensor Model G2xxx, G3xxx
Firmware Version All
SDK Version n/a

The tilt angle is defined here as the angle between the X-Y plane and the plane measured with the Surface Plane tool. 

The tilt angle can also be understood as the angle between the Z axis and the surface normal vector. This allows us to calculate the angle from the dot product of these two vectors. The dot product of the Z axis unit vector and the surface normal is equal to the Z component of the surface normal vector, which is cos(X_Angle) * cos(Y_Angle). The tilt angle can be calculated from the arc-cosine of this value:

    tilt = acos(cos(X_Angle) * cos(Y_Angle))

This calculation can be performed in a script, assuming you have added a Surface Plane tool with the default name.

// Gocator script to calculate Surface Plane tilt angle from X and Y Angles.
// This script assumes you have Surface Plane tool added with the default name.

char* toolName = "Surface Plane";
char* xAngleName = "X Angle";
char* yAngleName = "Y Angle";
float degToRad = 3.141593/180;
float radToDeg = 180/3.141593;

// check if the measurement tool exists
if (Measurement_NameExists(toolName, xAngleName)
 && Measurement_NameExists(toolName, yAngleName))
{
  // get the X and Y Angle outputs from the tool and convert to radians
  float xAngle = degToRad*Measurement_Value(Measurement_Id(toolName, xAngleName));
  float yAngle = degToRad*Measurement_Value(Measurement_Id(toolName, yAngleName));

  // calculate the tilt in radians
  float tiltRad = acos(cos(xAngle)*cos(yAngle));
  
  // set the output
  Output_SetAt(0, tiltRad*radToDeg, 1);
}
else
{
  // set the output to 0 with a measurement failed decision value
  Output_SetAt(0, 0, 0);
}
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UL/CSA certification 

Gocator sensors are not UL/CSA certified, but they fall under the SELV category in the UL/CSA definition, which allows the systems they are put in to be UL/CSA certified without Gocator being a certified component. Gocator sensors operate at a maximum of 48 VDC input voltage (24 VDC to 48 VDC), with 13 watt maximum power consumption. Therefore, at 24 VDC the maximum current would be 0.54 amps. This allows the device to be categorized as SELV, carrying very low risk of dangerous electrical shock.

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Range and intensity data selection in dual-sensor sensor setup with overlapping lasers 

Sensor Model G23xx
Firmware Version 3.x, 4.x
SDK Version n/a

The Data from the sensor that produced the most points will be used. The data from the other sensor is used to fill in any gaps in the first sensor's data.

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Rescuing Gocator firmware 

A Gocator can become unbootable if an upgrade is stopped unexpectedly (for example, because of power failure or loss of connection). If this happens you must "rescue" the firmware.

To rescue the sensor's firmware:

  1. Access the LMI Device Rescue page on the sensor by adding "/rescue" to the IP address of the sensor (for example, http://192.168.1.10/rescue).
  2. Follow the instructions on the page.
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Choosing the correct Master model or standalone connection 

Sensor Model All
Firmware Version 3.x
SDK Version n/a

The correct model of Master must be selected in order for the encoder signal and signal pulses to be properly propagated.

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Parameters that affect recording playback on firmware 3.6 

Sensor Model All
Firmware Version 3.6
SDK Version n/a

The following parameters will affect the simulation of recording playback on firmware 3.6.x.x. Therefore, it is important to obtain configuration or backup files from the Gocator that created the recordings in order to correctly play back the recorded data.

  • Transformation / alignment calibration
  • Encoder resolution
  • Travel speed
  • Buddy configuration
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Purpose of encoder index pulse (Z) 

Sensor Model All
Firmware Version 3.x
SDK Version n/a

The Z (index) signal is triggered once every revolution of the encoder. This signal is typically used for aligning data in a rotational application. When the Z signal is connected, Gocator would capture the encoder tick at which the Z index occured and send it out over Ethernet. 

The encoder value at the last encoder index (last Z pulse) can also be retrieved in the SDK via the function call:

GO2_EXPORT(Go2Int64) Go2Data_EncoderIndexValue(Go2Data data);

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Accessing the Gocator GUI behind a router 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

Yes, the Gocator GUI can be accessed behind a router with the following ports forwarded:

  • 80 - HTTP
  • 843 - Adobe Flash security socket
  • 3190 - Control channel port
  • 3192 - Upgrade port
  • 3194 - Health channel port
  • 3195 - Private diagnostic data port
  • 3196 - Public data port

NOTE: This is for accessing the GUI only. For Gocator-to-Gocator and SDK-to-Gocator communication, an unmanaged network switch is required.

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Y position or Y distance inaccurate when compared to calculating from encoder ticks 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

Encoder spacing is rounded internally in Gocators to multiples of the encoder resolution. The actual encoder spacing or Y resolution is slightly different from the encoder spacing entered in the Gocator interface. For example, using 6.35 mm encoder spacing with an encoder resolution of 0.0975 mm/tick would actually yield 6.3375 mm as the encoder spacing (6.3375 / 0.0975 = 65).

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Shock and vibration tests performed on Gocator 23xx series 

Sensor Model G2xxx
Firmware Version All
SDK Version n/a

The Gocator 2xxx series was tested and passed in accordance with EN60068-2-6. The tests were done by a certified lab in Canada. (See the appropriate Gocator datasheet for the actual shock and vibration resistence values.)

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Calculating centroids 

Sensor Model G2xxx, G3xxx
Firmware Version 3.x, 4.x
SDK Version n/a

Centroid 2D returns (X,Y), where X is the average of the X positions of all the points in the region of interest (ROI) and Y is the average of the Y positions of all the points in the ROI.

Centroid 3D returns (X,Y) where X is the Z-weighted average of the X positions of all the points in the ROI and Y is the Z-weighted average of the Y positions of all the points in the ROI (weighted arithmetic mean, where the weights are the Z values; see http://en.wikipedia.org/wiki/Weighted_arithmetic_mean.)

This means that the 3D centroid is shifted toward the point where the target is the "highest" (i.e., highest Z value).

Here is a simple example. Let's say you have a profile with 4 points in (X, Z)-coordinates (like in Gocator's Profile Mode) and those points are (1,1), (2,2), (3,3), and (4,4).

Then the 2D centroid is (X1 + X2 + X3 + X4) / 4 = (1 + 2 + 3 + 4) / 4 = 2.5.

And the 3D centroid is (X1*Z1 + X2*Z2 + X3*Z3 + X4*Z4) / (Z1 + Z2 + Z3 + Z4) = (1*1 + 2*2 + 3*3 + 4*4) / (1 + 2 + 3 + 4) = 3.

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Impact of dynamic and multiple exposure on sampling speed (G2xxx, G3xxx) 

Sensor Model G2xxx, G3xxx
Firmware Version 3.x, 4.x
SDK Version n/a

The Exposure setting can reduce sampling speed when exceeding a certain value. When the exposure is set to Dynamic, the Max setting is used to calculate the scan cycle time. When the exposure is set to Multiple, the Max setting multiplied by the number of exposures is used to calculate the sensor cycle time.

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Meaning of system calibration/alignment 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

Gocator is pre-calibrated at the time of manufacture, meaning it delivers engineering units (millimeters) out of the box.

In the web interface, Alignment (firmware 4.x) or Calibration (firmware 3.x) refers to establishing the position relative to a target and the mounting position of a multiple-sensor system. Encoder information can also be obtained automatically.

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Seeing laser line when gate trigger option is enabled, but not active (G2xxx) 

Sensor Model G2xxx
Firmware Version 3.x, 4.x
SDK Version n/a

The laser is always triggered, but the data will only be processed when the gate is active. You therefore will see the laser independant of the gate status.

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Manual calibration 

Sensor Model All
Firmware Version 3.x
SDK Version n/a

When you manually enter the encoder resolution and/or transformation settings, the Calibration status in the Layout panel is set to Manually Calibrated in the Gocator web interface.

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Whole part not displayed in web interface (G2xxx) 

Sensor Model G2xxx
Firmware Version 3.x, 4.x
SDK Version n/a

While scanning, the part needs to be scanned Y millimeters (Gap Threshold setting in Gocator 3.x, Gap Length in Gocator 4.x) further than the part end before the data is considered as a whole part and displayed as such.

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Tracking window versus active area (G2xxx) 

Sensor Model G2xxx
Firmware Version 3.x, 4.x
SDK Version n/a

Both active area and tracking window provide a way of improving scanning speed.

Active area refers to the user-defined region within the sensor's maximum field of view that is used for laser profiling. By default, the active area covers the sensor's entire field of view. But by reducing the active area, the sensor can operate at higher speeds.

Tracking window is useful in scenarios where the target can be moving up or down, such as when scanning a road surface. The tracking window is a user-defined area within the field of view that moves up and down as needed to make sure the sensor continues to scan the target.

The main difference is that the tracking window can search the whole measurement range to find the target again, once the defined Search Threshold (the minimum percentage of points detected across the profile for the laser to be considered tracked) is reached. The drawback is a potential loss of scanning speed, once the tracking window is searching for a signal across the whole measurement range. With active area, however, the Gocator doesn't try to find the target once it is outside that defined area.

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Encoder triggered mode not working even though encoder is connected properly 

Sensor Model All
Firmware Version 3.x
SDK Version n/a

The connection type is probably set wrong (e.g., standalone, Master 200, Master 400, etc.). Set the connection type correctly and check the encoder value and frequency on the dashboard.

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How many configuration files can the Gocator store? 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

About 1500. The exact number depends on the size of the configuration file (firmware 3.x) or the job file (firmware 4.x) and the amount of memory dedicated to file storage, which may change sligthly between firmware releases.

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Can't connect to sensor via a web browser, but kDiscovery detects sensor 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

The network adapter settings are probably not set correctly.

Set the adapter's TCP protocol properties to Use the following IP address, and make sure the first three octets of its address are the same as those of the sensor address. For example, if the sensor address is 192.168.1.10, set the adapter to 192.168.1.1, subnet mask 255.255.255.0.

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Gocator cable bending radius 

Sensor Model All
Firmware Version n/a
SDK Version n/a

The bend radius for Gocator 2xxx, Gocator 1xxx, and Gocator 3xxx sensor cordsets is as follows:

Cordset Part Number Outer Diameter (mm) Bend Radius (mm)
Power and Ethernet to Master cordset, 2x RJ45 ends 30856, 30857 8.89 140
Power and Ethernet to Master cordset, 90-deg, 2x RJ45 ends 30875, 30876 8.89 140
Power and Ethernet cordset, 1x open wire end, 1x RJ45 end 30859, 30860 8.89 140
Power and Ethernet cordset, 90-deg, 1x open wire end, 1x RJ45 end 30878, 30879 8.89 140
 I/O cordset, open wire end 30862, 30863 8 124
 I/O cordset, 90-deg, open wire end 30881, 30882 8 124

For Gocator 20xx sensors, the bend radius is as follows:

Cordset Part Number Outer Diameter (mm) Bend Radius (mm)
Ethernet cordset, RJ45 end 30856, 30857 5.33 95.25
Ethernet cordset, 90-deg, RJ45 end 30805, 30806 5.33 95.25
Power and I/O cordset, open wire end 30737, 30738 8 123.8
Power and I/O cordset, 90-deg, open wire end 30896, 30897 8 123.8
Sensor I/O to Master cordset, RJ45 end 30739, 30740 5.33 123.8
Sensor I/O to Master cordset, 90-deg, RJ45 end 30898, 30899 5.33 123.8

For more information, download APPNOTE_Gocator_Cordsets_Supplementary_Information.zip (G23xx, G1xxx, and G3xxx sensors) or appnote_gocator-2000_cordsets-supplementary-information.zip (G20xx). The files can be downloaded from downloads.lmi3d.com.

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kDiscovery doesn't detect sensor 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

This can be caused by the PC's firewall. Turn off the firewall and try again.

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Setting to use with a compatible Selcom output interface (Gocator 1xxx, G2xxx) 

Sensor Model G1xxx, G2xxx
Firmware Version 3.x, 4.x
SDK Version n/a

Set the serial output protocol to "Selcom" and the Selcom rate to 1024000 in order to be compatible with the 32kHz selcom output protocol. Configure the data scale to appropriate settings depending the measurement value.

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Choosing dynamic or multiple exposure mode (G2xxx) 

Sensor Model G2xxx
Firmware Version 3.x, 4.x
SDK Version n/a

Dynamic exposure should be used when the overall target reflectivity or color varies between scans (typically found when objects of different reflectancy/color are scanned one after the other). A minimum and maximum value must be defined.

Multiple exposure should be used when a single target's reflectancy or color varies along the laser line at any given time (for example, if an object is half white and half black, and both white and black are scanned by the laser line at the same time). The sensor will automatically combine the multiple exposed images into one profile.

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Encoder count is only increasing 

Sensor Model All
Firmware Version 3.x
SDK Version n/a

Ensure the correct network controller, i.e., the Master, is selected. Use Standalone for direct input using the I/O cordset. In order to detect the encoder direction, all 4 quadrature signals (A+,A-,B+,B-) have to be present. The voltage levels must be RS-485 compliant.

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No output from the Gocator on EtherNet/IP 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

Make sure you have enabled EtherNet/IP in the Ethernet category on the Output page.

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Laser line flickers after installation 

Sensor Model G2xxx
Firmware Version 3.x, 4.x
SDK Version n/a

Ensure the system is properly grounded. Verify that the ground connection of the power supply and the shield of the Gocator power cable are connected to the same ground level.  

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Maximum encoder rate 

Sensor Model G1xxx, G2xxx
Firmware Version 3.x, 4.x
SDK Version n/a

On a standalone sensor, with the encoder directly wired into the I/O port or through a Master 100, the maximum encoder rate is about 1 MHz.

For sensors connected through a Master 400 or higher, with the encoder signal supplied to the Master, the maximum rate is about 300 kHz.

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Encoder spacing 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

Encoder spacing is set by the user and represents the distance between two measurements when using an encoder as trigger input.

Encoder spacing defines the displacement in millimeters per encoder count. In combination with the entered encoder spacing, the system calculates how many encoder pulses are needed before the sensor is triggered for the next measurement.

Encoder spacing can be any value greater than the encoder resolution.

If encoder spacing is not an exact multiple of the encoder resolution, the Gocator will trigger at the closest encoder count.

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Meaning of output or processing latency 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

Output or processing latency is the delay between camera exposure and the time when the results become available on the output. It varies depending on exposures, active window, and the measurements that are added. This value is reported in the dashboard as Processing Latency. Typical average values are 2 to 10 ms.

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Difference between operating and storage temperature 

Sensor Model All
Firmware Version n/a
SDK Version n/a

Operating temperature is the ambient temperature range that the Gocator can be operated in. Storage temperature is the temperature range the Gocator can be stored in, while not powered on.

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No live profile data in the Gocator web interface 

Sensor Model G2xxx
Firmware Version 3.x, 4.x
SDK Version n/a

To see live profile data in the web interface, ensure that the trigger mode is configured properly and that the Gocator is running. The CPU and Speed indicators at the top of the web interface indicate if the Gocator is running.

For laser-based sensors, verify that the Laser Safety Signal is enabled and that the laser line is visible.

Make sure the target is witin the measurement range of the sensor.

Use the Auto Set function to automatically set the Exposure and Active Area settings to ensure that the full measurement range is being used.

In Gocator 3.x, when using a FireSync Master, select the correct device in the Connection menu of the Gocator.

 

 

 

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Powering the system with 24VDC when using a Master 

Sensor Model All
Firmware Version n/a
SDK Version n/a

You can power a system with 24 VDC when using Master 810 or 2410.

When using Master 800 or 2400, you must use 48 VDC.

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Frame rate definition 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

Frame rate, also known as frame frequency or scan rate, is the frequency (rate) at which the sensor produces an image (frame) and the measurement based on that profile.

Frame rate is most often expressed in frames per second (FPS) or Hz.

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Using trigger input as digital input 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

Yes, the trigger input can be used as digital input. The value can be accessed through the health indicator, or through the Go2Data_Inputs(data) function, which returns the digital input state associated with each data message.

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Encoders that can be used with Gocator 

Sensor Model All
Firmware Version n/a
SDK Version n/a

Gocator supports quadrature encoders that output RS-485 signals. Master can provide 5V supply to the encoder. If the encoder requires a different power supply level, you will need to use an external power supply for the encoder.

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Files included in a bundle of setting files 

Sensor Model All
Firmware Version 3.x
SDK Version 3.x

The Gocator can hold 3 different types of files, ".cfg", ".tfm" and ".prof". 

  • Configurations Settings (.cfg): Contains settings that are shown in the SetupMeasurement, and Output pages. 
  • Transformation Parameters (.tfm): If "Current Configuration" is selected under Calibration, the tranformation parameters are saved in a file with the same name as the current configuration, but with the .tfm extension.
  • Profile Templates: If Profile Fixturing is enabled, fixturing settings are saved in a file with the same name as the current configuration, but with the .prof extension.

When saving and loading the current configuration using the Gocator web interface tool bar, the saving/loading of the 3 file types is automatically handled. 

When saving and loading the current configuration using the Gocator SDK, the saving/loading of the 3 file types is automatically handled using a special symbolic extension ".set", together with the call Go2System_CopyFile.

 

 

 

 

 

 

 

 

 

 

 

 

To save the current live configuration to a set of files named "test" call Go2System_CopyFile with source "_live.set" and destination "test.set". The sensor will then automatically handle the saving of the 3 files depending on how the sensor is configure (i.e. "test.tfm" is saved if Current Configuration is selected and "test.prof" is saved is profile fixturing is enabled).

To load a set of files named "test", i.e. to make "test" the current live configuration, call Go2System_CopyFile with source "test.set" and destination "_live.set". The sensor will then automatically load any files of the 3 types with the base name "test" that exists in storage.

 

 

 

 

 

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Difference between alignment and travel calibration 

Sensor Model All
Firmware Version 3.x
SDK Version n/a

Travel calibration adds the encoder resolution (mm/tick) to the calibration. The target must be able to move across the sensor during calibration. 

Alignment calibration only corrects sensor alignment when using a stationary surface as target.

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Maximum allowable frequency for encoder inputs on Master 

Sensor Model All
Firmware Version 4.x
SDK Version n/a

With Master 800, 2400, and 2410, as well as early revisions of Master 810, the maximum data rate for encoder input is 300 kHz.

With revisions of Master 810 that provide setting DIP switches, the maximum frequency is 6.5 MHz. For more information on setting the DIP switches to accommodate frequencies up to 6.5 MHz, see Configuring Master in the Gocator 4.x user manual.

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Calculating the value of Vdata for digital input in active-low set-up 

Sensor Model All
Firmware Version n/a
SDK Version n/a

In the active-low setup, the Vdata is the voltage level that the voltage Trigger_in- is pulled to when the low signal active is triggered (typically this is 0V - ground). The 1.2V is built-in internal voltage drop of the Gocator input circuitry.

For more information, please consult the Gocator user manual.

 

 

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Receiving "THERE IS NO MEASUREMENT DATA FOR OUTPUT" from ASCII Protocol Command "Result" 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version All

The error message can occur if you log into the Gocator via the web interface between the Trigger and the Result command. The action of logging into the Gocator via the web interface clears the measurement results.

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Viewing Gocator data in a spreadsheet 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version All

Gocator sensors have the built-in ability to record/replay live data. The Gocator user manual explains recording and playback feature in detail in the "Recording, Playback, and Measurement Simulation" section.

Recorded data can be subsequently downloaded and saved on your computer in the CSV format by pressing the Download icon to the left of the slider control. The downloaded file can then be opened in Excel.

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Sensor autostart 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

When the Autostart option in the Network panel (in the Setup page) is checked, the Gocator will start to work as soon as it powers up.

In Gocator 3.x, the default configuration, transformation, and profile template will be loaded.

In Gocator 4.x, the default job will be loaded.

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Unit of timestamp in Gocator CSV export file 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

Gocator sensors and Master network controllers use an internal time unit equal to 1/1.024 microseconds. This is the unit of the timestamp in the CSV file exported from the Gocator. However, the unit in the web interface is in microseconds.

Example:

If the sensor speed has been configured for 100 Hz operation, then the difference between two consecutive time stamps in the CSV file will be 10240. 10240/1.024 = 10000 microseconds = 0.01 seconds, f=100 Hz.

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Improving speed (max frame rate) on Gocator line profiler (G2xxx) 

Sensor Model G2xxx
Firmware Version 3.x, 4.x
SDK Version n/a

There are various ways of accomplishing this:

  • Reduce the active area in the Z direction.
  • Reduce exposure time if exposure time multiplied by the frame rate (Speed or Current Speed found in the Metrics panel) is greater than 1 second.
  • Change X or Z sub-sampling (Gocator 4.x), or Resolution X or Resolution Z (Gocator 3.x) to 1/2 or 1/4.

Pay attention to CPU or CPU Load in the Metrics panel after adjusting any of these settings to ensure that the CPU load does not go too high.

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EtherNet/IP messaging 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version 3.x, 4.x

The Gocator supports unconnected or connected explicit messaging (via TCP). As of version 4.1, Gocator supports implicit I/O messaging (via UDP).

To communicate with a Gocator sensor integrated with EtherNet/IP protocols, you must create ladder code on the PLC.

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Gocator showing manual calibrated when I did not use the Calibration option 

Sensor Model All
Firmware Version 3.x
SDK Version n/a

The resolution that defines the encoder tick/mm conversion is part of the calibration process. When this value is manually entered, the system will show the Manually Calibrated status. Using the Travel Calibration option, the Gocator will perform a travel and alignment calibration and define the resolution (mm/tick) value. The system will now show the Auto-Calibrated status.

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Trigger Drop warnings in Encoder Trigger mode 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

There are a number of Gocator settings that determine how fast the sensor can run, such as Exposure, Active Area, Sub-Sampling (Gocator 4.x), or Resolution (Gocator 3.x). The maximum speed the sensor can run is displayed in the Trigger panel as the Max Frame Rate.

If the Gocator receives triggers from the encoder at a faster rate than the max frame rate, triggers will start to be dropped and a warning message is displayed.

Example: A Gocator is configured so that the max frame rate is 500 Hz. An encoder is monitoring the movement of a conveyor belt, which is going at a speed of 30 meters/minute. 30 m/min = 500 millimeter/second, so this means that the smallest trigger spacing the user can request is 1 mm, i.e., that's the 500 Hz. Anything below 1 mm will result in trigger drops.

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Encoder resolution definition 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

The encoder resolution is defined in mm/tick.

This value converts encoder counts to a displacement in mm.

The Gocator detects every single rising edge of encoder quadrature pulse (A+ / A- / B+ / B-) thus one quadrature pulse is counted as 4 ticks.

Keep this in mind when calculating the encoder resolution manually.

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Setting up a dual-sensor system without a Master, as standalone 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

No. A dual-sensor system must be set up with a Master. Standalones will not work under dual-sensor mode because the sync pulses and triggering need to be handled by a Master.

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Configuring EtherNet/IP for the Gocator 

Sensor Model All
Firmware Version 3.x, 4.x, 5.x
SDK Version n/a

Gocator supports EtherNet/IP explicit messaging via TCP, which requires setup through the Message Configuration dialog in Allen-Bradley software. A step-by-step configuration guide is available at http://lmi3d.com/sites/default/files/gocator_appnote_ethernetip_allenbradley.pdf.

Gocator 4.1 and higher also supports implicit messaging (Cyclic and Change of State), via UDP. For more information, see http://lmi3d.com/sites/default/files/APPNOTE_Implicit_Messaging_with_Allen-Bradley_PLCs.pdf.

Before attempting anything else, you should confirm the connection to the sensor by doing one of the following:

Explicit messaging – Read the sensor's serial number from the identity object. If that fails, please take screen shots of the EtherNet/IP configuration dialogues and attach them to an email sent to support@lmi3d.com.

Implicit messaging – Check the sensor's running state, which is allocated to byte 0 in the byte index.

Note that there is no Add-On Profile (AOP) available for the Gocator but it can be automatically configured through the EDS file available from the user interface.

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No laser when the sensor is connected out of the box (G1xxx, G2xxx) 

Sensor Model G1xxx, G2xxx
Firmware Version n/a
SDK Version n/a

Be sure to remove the SAFETY label attached to the laser window. Also verify trigger mode to ensure it conforms with your application. Typically when first used, Gocator is likely set to Time trigger mode.

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Pulsing the gate signal when using gated trigger mode 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

When using Gate using External Input and Time as the trigger source, the sensor will continuously capture data at the preset frame rate whenever the gate signal is active. For example, if the sensor is to be triggered to continuously scan for one second, the gate signal has to be held high for one second.

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I/O cable when connecting to Master 

Sensor Model All
Firmware Version n/a
SDK Version n/a

Only the Power/LAN cable is needed. The Master provides both encoder and digital input signals to all sensors connected to a Master. You therefore don't need to wire the encoder or the digital input directly to the sensor when using a Master.

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Difference between using a flat surface and a bar for alignment when using a single sensor 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

When using a single sensor, a bar with one hole will also center the profile along the X=0, whereas a flat surface will only correct the angle.

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Choosing proper exposure time for Gocator line profiler (G2xxx) 

Sensor Model G2xxx
Firmware Version 3.x, 4.x
SDK Version n/a
  1. Switch to Video mode.
  2. Click Configure View button in the upper right corner of the data viewer and check Exposure (Exposure Indication in Gocator 3.x).
  3. The background of the data viewer will be blue when the sensor is running.
  4. Zoom the laser line so that you can see individual pixels in the data viewer.
  5. Adjust the exposure time so that 2-3 red pixels can be seen at the cross-section of the laser line.
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Getting latest SDK and firmware 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version 3.x, 4.x

In Gocator 4.x, click the question mark icon in the top right corner in the Gocator web interface to access a link to the SDK. To access the latest firmware, go to the Maintenance category on the Manage page and click on the Check Updates... button

In Gocator 3.x, click the question mark icon in the top right corner in the Gocator web interface. This will display links to the SDK and firmware.

You can also download the latest SDK, firmware, and documentation from http://downloads.lmi3d.com. You can self-register using your Gocator's serial number and part number.

 

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Laser flashing when Gate using External Input setting is checked and input is low (G2xxx) 

Sensor Model G2xxx
Firmware Version 3.x, 4.x
SDK Version n/a

The laser will always be triggered, but the data are output only when the external input is high.

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Estimating scanning speed under a given X or Z resolution (G2xxx) 

Sensor Model G2xxx
Firmware Version 3.x, 4.x
SDK Version n/a

The scanning speed of Gocator is influenced by several factors, including exposure time/mode, resampling parameters, sub-sampling (in Gocator 4.x), X resolution (in Gocator 3.x), active area, etc. The most accurate way is to simulate the configurations on the Gocator, in which case the maximum scanning speed will be reported by the Gocator.

For active area adjustments, the X and Z sub-sampling (Gocator 4.x), the X and Z resolutions (Gocator 3.x), and the scanning speed will depend on whether the active area lies at the close end or the far end of the measurement range. If the active area lies closer to the sensor, the result will be a higher resolution and a slower scanning speed. If the active area is farther away from the sensor, the scanning speed will increase and the resolution will decrease. This is why resolutions are specified as a range in our datasheets, with the highest resolution at the closest point in the measurement range and the lowest resolution at the farthest point.

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Maximum digital input trigger rate 

Sensor Model All
Firmware Version n/a
SDK Version n/a

The maximum digital input trigger rate in a system including Master 400 or higher is 20 kHz.

When using a standalone sensor or a sensor connected to a Master 100, the maximum trigger rate is 32 kHz. This rate is limited by the fall time of the signal, which depends on the Vin and duty cycles. To achieve the maximum trigger rate, the Vin and duty cycles must be adjusted as follows:

Maximum Speed Vin Maximum Duty Cycle
32 kHz 3.3 V 88%
32 kHz 5 V 56%
32 kHz 7 V 44%
32 kHz 10 V 34%

At 50% duty cycle, the maximum trigger rates are as follows:

Vin Maximum Speed
3.3 V 34 kHz
5 V 34 kHz
10 V 22 kHz
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Can't assign Buddy sensor (G2xxx, G1xxx) 

Sensor Model G2xxx, G1xxx
Firmware Version 3.x, 4.x
SDK Version n/a

You can only assign a Buddy sensor of the same sensor model, running the same firmware.

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Using Gocator with third-party vision software 

Sensor Model All
Firmware Version n/a
SDK Version n/a

Gocator can be used with various vision packages supporting the GeniCam Transportation Layer (GenTL). Examples on how to use the Gocator with Halcon and Common Vision Blocks (CVB) are included in the Gocator Integration Tools download package available on the LMI3D Website at downloads.lmi3d.com

You can also implement your own plug-in by using the supplied open source SDK.

 

 

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Raw versus Profile operation mode (G2xxx) 

Sensor Model G2xxx
Firmware Version 3.x
SDK Version n/a

Raw mode 3D data are unprocessed XZ coordinate pairs, one coordinate pair per pixel column on the camera. Therefore, Raw mode is suitable for high-speed applications where data processing is handled by the client PC. The Gocator's built-in measurement tools cannot operate on Raw mode data.

Profile mode 3D data are resampled into even-sized bins along the X axis and reported as an array of Z values, which results in structured data that the built-in measurement tools can operate on. The resampling takes more CPU on the sensor, reducing the maximum speed.

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Uniform spacing 

Sensor Model G2xxx
Firmware Version 4.x
SDK Version n/a

When the Uniform Spacing setting is enabled in the Scan Mode panel, 3D data is resampled into even-sized bins along the X axis and reported as an array of Z values, which results in structured data that the built-in measurement tools can operate on. The resampling places a heavier load on the sensor's CPU, reducing the maximum speed.

When the Uniform Spacing setting is disabled, 3D data is unprocessed XZ coordinate pairs, one coordinate pair per pixel column on the camera. This is suitable for high-speed applications where data processing is handled by the client PC.

Only a limited number of measurement tools can operate on Profile data when Uniform Spacing is disabled.

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Triggering Gocator via Ethernet 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version All

Yes, you can trigger the Gocator by sending a software trigger command from the SDK.

NOTE: The Gocator can only be triggered via one method in each configuration (e.g., by the internal clock at the maximum or a defined frame rate, that is, "free-running"; by encoder; by digital input; or by software trigger).

 

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Number of jobs / configurations Gocator can save 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

There is no limit to the number of jobs (Gocator 4.x) or configurations (Gocator 3.x), as long as the storage has not been filled.

 

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PC and browser requirements for Gocator web interface 

Sensor Model All
Firmware Version All
SDK Version n/a

For firmware version 5.0 and later:

LMI recommends using Chrome, Firefox, or Edge with the Gocator web interface.

Internet Explorer 11 is supported with limitations; for more information see Browser Compatibility in the user manual for your sensor.

For firmware version 3.x to 4.7:

You must use Internet Explorer 8.0+, Firefox 3.5+, or Chrome 4.0+.

The Adobe Flash browser plug-in, version 10+, must also be installed. For 3D view, the Flash browser plug-in needs to be at least version 11.3.

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Choosing correct setting under Networking 

Sensor Model All
Firmware Version 3.x
SDK Version n/a

The correct model of Master must be selected in the Network panel (in the Setup page) in order for the encoder signal and signal pulses to be properly propagated.

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Only one part showing in web interface even though multiple parts were scanned (G2xxx) 

Sensor Model G2xxx
Firmware Version 3.x, 4.x
SDK Version n/a

When Gap Length / Gap Width (in the Part Detection panel on the Scan page in Gocator 4.x) or Gap Threshold (in the Detection panel on the Setup page in Gocator 3.x) is set correctly, all parts are scanned, but only the last one is displayed.

Use the record tool (see Recording, Playback, and Measurement Simulation in the user manual) while scanning to show all parts in replay mode.

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Gocator smoothing filter 

Sensor Model G2xxx
Firmware Version 3.x, 4.x
SDK Version n/a

The smoothing filter applies a moving average to the data points in the direction indicated in the filter settings. The depth of the filter is user-configurable and specified in millimeter units.

 

 

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Configuring Gocator settings from a PLC 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

The PLC protocols that the Gocator supports do not allow for the PLC to explicitly access individual settings. However, the protocols allow the PLC to switch between setting files stored on the sensor. You first need to use the Web Interface to create job files (configuration files in Gocator 3.x) with the different individual settings and give them appropriate names. The PLC can then load a particular job/configuration using the file name.

Refer to the Gocator user manual for a detailed description of the supported PLC protocols and the available commands.

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Scripting 

Sensor Model All
Firmware Version 3.x, 4.x
SDK Version n/a

Scripting support in the Gocator allows you to provide code to extend the existing measurement tools, just like the Manhattan example in the user manual. However, scripting has a limited scope. It is not possible to access the actual data from the sensor in the script, that is, there is no access to the encoder count, time stamp, or profile data points. The only inputs available in the script are the results from the measurement tools that have been configured.

Another important point is that the script has no state. This means that there is no memory across consecutive frame captures. It only executes on one frame at a time independently. Finally, there can only be one script measurement. 

PicoC is used as the scripting engine, which is a very small C interpreter, suitable for embedded devices. The language is very similar to C, with these notable differences:

  • Explicit type casting (e.g., (int)afloat) is not supported. Values are cast implicitly.
  • Tertiary operation (a ? b : c) is not supported.
  • The “const” keyword is not supported.

The scripting language allows the definition of functions; everything outside of a function definition is executed in order of parsing. The script is executed once when a full set of real measurements are available. The following functions are built-in: output(), exists(), value(), decision(). As a result, these identifiers cannot be reused for functions or global variables.

For more advanced processing that requires state to combine data from consecutive frames, you must use the Gocator Software Development Kit, which is open source and can be downloaded online from the LMI website. The Go2API provides functions to access the raw profile data, encoder counts, and time stamps. Memory can be allocated in a program to buffer data for a full scan of an object and process this data with custom or third-party algorithms.

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