User Manual

VMS360

Triple-IN GmbH | Poppenbütteler Bogen 64, 22399 Hamburg

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Document changes

Version Date Authors Last changes

1.00.00 2018-07-07 SC Initial version
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Content

1 ABOUT THIS DOCUMENT ..................................................................................... 7

2 SAFETY INSTRUCTIONS ....................................................................................... 8
2.1 General warnings .................................................................................................................. 8
2.2 Limited warranty ................................................................................................................... 9
2.3 Handling precautions ............................................................................................................ 9

3 OPERATING FEATURES ..................................................................................... 10

3.1 System parts ........................................................................................................................ 10
3.2 Connected sensor terms and parts .................................................................................... 11
3.3 Point of origin and Scan Area ............................................................................................. 12
3.4 VMS Scan field..................................................................................................................... 13
3.5 Power supply ....................................................................................................................... 14
3.6 LED indicators on the RT360 .............................................................................................. 14
3.7 Connectors .......................................................................................................................... 15

4 TRANSPORT, INSTALLATION AND MAINTENANCE ..................................................... 16

4.1 General handling instructions ............................................................................................ 16
4.2 Packaging and transport ..................................................................................................... 16
4.3 Handling .............................................................................................................................. 16
4.4 Condensation avoidance .................................................................................................... 17
4.5 Opening the protection hood ............................................................................................. 18
4.6 Removing the aluminum shield .......................................................................................... 19
4.7 Dust filter ............................................................................................................................ 20
4.8 Installation .......................................................................................................................... 21

5 CONNECTORS ................................................................................................ 22
5.1 Phoenix SPEEDCON ® quick locking system ......................................................................... 22
5.2 Power connector ................................................................................................................. 23
5.3 Data connector ................................................................................................................... 24
5.4 Optional inclinometer connector ....................................................................................... 24

6 MICROSOFT WINDOWS SOFTWARE TOOLS ............................................................ 25

6.1 TCP/IP Manager for managing network configurations .................................................... 25
6.2 Triple-IN PSControlProgram ............................................................................................... 26

7 SETTING INTO OPERATION................................................................................. 28

7.1 Startup Procedure ............................................................................................................... 28
7.2 Ethernet connection ........................................................................................................... 29
7.3 Configuration ...................................................................................................................... 32
7.4 Taking Scans with PS Control Program ............................................................................... 33

8 COORDINATE TRANSFORMATION ........................................................................ 34

8.1 Cartesian coordinate with origin in the sensor.................................................................. 34
8.2 Cartesian coordinate with origin in the rotary table ......................................................... 35

9 FIRMWARE UPDATE ......................................................................................... 37

10 TROUBLESHOOTING ......................................................................................... 39

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A TECHNICAL SPECIFICATION ................................................................................ 41

B TABLE OF FIGURES .......................................................................................... 45

Copyright © 2018 Triple-IN GmbH

All rights reserved, including the right to reproduce this book or

portions thereof in any form whatsoever. All trademarks, product names
and logos are the property of their respective owners.

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1 About this document

Triple-IN’s VMS360 is a complete 3D laser measurement system developed for outdoor

automation, industrial applications, security and surveying.
• 360° x 90° scan field;
• From very slow to fast rotation speeds;
• High precision;
• Robust, IP67;
• Real time data through Ethernet.
VMS360 provide rapidly and efficiently accurate and detailed 3D data. VMS360 is suitable
for both indoor and outdoor applications, ensuring also goals achievement for existing
systems integration.
This document describes the VMS360. It is related to the:

RT360 firmware version 04.00.19

PS Laser Scanner firmware version 03.04.xx

This User Manual is part of a set of documents:

Manual Targeted persons Content

RT360 User’s Manual Technical personnel Transport, mounting and installation
Wiring and maintenance
Operating means, system configuration
Technical data
Programmer’s Manual Software developers Data formats
Commands and responses
Sensor User’s Manual Technical personnel The User’s manual of the connected sensor
Sensor Programmer’s Software developers The Programmer’s manual of the connected
Manual sensor

If you or your colleagues have any comments on this manual, we would be grateful to
hear from you. Please write to:

Triple-IN GmbH
Poppenbütteler Bogen 64
D-22399 Hamburg - Germany
Telefon +49(0)40 50091998
Mail [email protected]

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2 Safety Instructions

2.1 General warnings

 Warning
Laser class 1 product. Emits invisible light (905 nm).
Do not stare into the beam!

 Caution
The red laser marker is a class 2 laser device.
Do not stare into the beam!

 Caution
Before using the VMS360 the user manual must be read and all the instructions must be
carefully observed.
The VMS360 must be installed, configured and serviced only by qualified personnel.
National and international rules and regulations must be applied according to the field of
application and usage.
VMS360 cannot be used as safety device.

 Caution
To reduce the risk of electric shock, do not remove the cover. Device contains high voltage
components!
Connect and disconnect electrical linkages only under de-energized conditions.

 Warning
Do not open the VMS360.
If opened, the mechanical adjustment will be damaged, and warranty will get void!

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2.2 Limited warranty

Triple-IN’s General Condition of Sales grants limited warranty for defects in material or
workmanship in the VMS360.

 Limited Warranty
The limited warranty does not cover:
(a) Any problem that is caused by accident, abuse, neglect, shock, electrostatic
discharge, degaussing, heat or humidity beyond product specifications, improper
installation, operation, maintenance or modification;
(b) Any use contrary to the instructions in this and other related manuals;
(c) Lost firmware passwords;
(d) Malfunctions caused by other equipment;
(e) Damage resulting during shipment (Claim must be presented and examined by the
shipper);
(f) Damages resulting from modifications or alterations to the product in any way,
including any alterations or removal of its identification marks and labels.

2.3 Handling precautions

VMS360 is a delicate mechanical instrument. Such equipment must be handled with
special care to protect the it from possible damage.

 Caution
Don't exert any pressure on the device.
Do not open the device.

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3 Operating features

3.1 System parts

Sensor front window

Sensor operating LEDs

RT360 operating LEDs

Rotating part

Fixed part

Inclinometer

Inclinometer power Data connector

and data connector
Power connector

Figure 1: VMS360 with sensor front/right side

PS Laser sensor
It is the scanner head of the system that takes care of driving the laser to provide the
measurement lines as described below.

RT360 Rotary table

Handles the rotation of the system and the communication with the outside world.
The rotary table itself is composed by:
• Microprocessor Unit
Contains an ARM microcontroller and manages all the peripherals and
communications between them and the outside

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• Motor Unit
Drives the step motor that provides the horizontal movement.
• Horizontal Angle Encoder
It is an encoder with a resolution of 32000 coder counts.

Air blower
Ensures the system cleaning with a high-speed fan.

Power cable
Provides the power for the VMS Laser Scanner (24V DC) and the air blower.

Ethernet cable
Allow communications between the VMS and an external computer.

Inclinometer (optional) and its cable

The independent optional inclinometer and its cable, which provides power and
communication lines.
The cable has an RJ45 connector to the and which provide 100Mbit ethernet connection
and Power Over Ethernet wiring.

Protection hood
Covers the entire system and protect it against direct sunlight, dust and rain.

3.2 Connected sensor terms and parts

Please check the connected sensor’s User Manual for more information.

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3.3 Point of origin and Scan Area

The next drawing shows the origin measures defining the scanning area and the point of
origin.

Figure 2: VMS scan area and point of origin

Figure 3: VMS point of origin transversal eccentricity

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For Triple-IN PS sensors:

• The angle encoder zero-direction is pointed by the vertical axis of the sensor.
• The scan field starts at angle encoder position 45° and ends after 90° at encoder
position 135°.
On the connected sensor, the zero point (origin of the measurements) is marked on the
casing with a black dot and the laser source is located with a parallax of 17 mm beside the
vertical axis.

Figure 4: Triple-IN PS sensors scan area and point of origin

3.4 VMS Scan field

3.4.1 Vertical scan field of the PS Laser Scanner

The measurement laser of the PS Laser Scanner is triggered by ticks of the vertical angle
encoder. The sensor contains a cube with four mirrored surfaces, which is tilted on the
rotation axis in order to build four scan lines.
The angle measurement system is defined by a 360° circle with zero-position on the
vertical system axis (see FIGURE 3).
The scan field is defined by the following user settings:

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• Profile start direction: vertical encoder reading to the direction where the profile
starts.
Note that this angle position is different to the actual geometry of the the
outgoing beam, because the laser beam is reflected on a tilted mirror cube.
• The scan angle defines the number of points in each scan.
The mirror tilt angle and the laser beam reflection on the mirror surface lead to unique
vertical and horizontal angles for each outgoing laser beam.

3.4.2 Horizontal movement by the Rotary Table

The Rotary Table RT adds horizontal movement to the PS Laser Scanner and the horizontal
angle position must be considered in order to calculate the correct coordinates.
The RT has a movement range of 360° with a predefined 0 position, from which the RT
can move 180° to the left and 180° to the right

3.5 Power supply

3.5.1 VMS
Power supply is attached to the four pins power connector (see POWER CONNECTOR
paragraph), using the White and Blue wires.
The power supply must provide:

24 Volt, 1.8 Ampere, 45 Watts

3.5.2 Air blower

With the same four pins power connector, but using the Brown and Black wires, the
internal air blower must be powered with:

24 Volt, 1.5 Ampere, 36 Watts

3.5.3 Optional inclinometer

Please refer to the Inclinometer documentation for specific information about how to
power it and detailed specifications on power and communication requirements.

3.6 LED indicators on the RT360

The VMS360 supports 3 LEDs:

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• Green LED: Power indicator.

• Yellow LED: Rotary table movement indicator.
• Red LED: Error indicator.

Indicator Operating Mode LED state

Power off

Start up All LEDs are on

Self-test All LEDs are blinking+

System is ready Green LED is on, Yellow and Red LEDs are off

Firmware update Green, yellow and red are alternatively lit by

a fast blink pattern
Horizontal motor is moving Green and yellow LEDs are steady on.
Red LED is off
System error Red LED is steady on.
Check system health status.

3.7 Connectors

3.7.1 VMS Power connector

The VMS Power connector connects the control computer to the power supply.

3.7.2 VMS Data connector

The VMS Data connector connects the sensor with the local network with an Ethernet
interface.
The connector is type M12 connector/IP67/CAT6 connector. The pin/pair assignment
conforms with the T568B standard.

3.7.3 Optional inclinometer connector

Please refer to the specific documentation for the Inclinometer.

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4 Transport, installation and maintenance

4.1 General handling instructions

• Ensure that the entire system is disconnected from power supply during the
installation.
• Mount the device at a location where it is is protected from damages, pollution
and high humidity.
• Mount the VMS360 in a way that it is not exposed to direct sunlight.
• Route cables such that danger is excluded for persons and all cables are protected
from damages.
• Follow the safety instructions in chapter SAFETY INSTRUCTIONS .

4.2 Packaging and transport

VMS360 is a high precision mechanical and optical instrument. Such equipment must be
transported with special caution and sufficient packaging to protect it from possible
damage.
Please use original Triple-IN packing material to transport the VMS360.

 Warning
Your warranty may be voided if returned device is received with inadequate packaging.
Please always use the same package you received from Triple-IN for sending the device
back.

At the time of delivery, the user should examine the shipment for loss or damage. If there
is evidence of loss or damage, note it on the delivery receipt; this will be used as evidence
to back up the claim. Do not use or install a defective device.

4.3 Handling
The system must be handled with care. Shocks can compromise the mechanic adjustment
or damage the system or part of it.
Please carry the system holding it vertically, holding it from the bottom part and using th e
upper metallic handle to keep it steady.

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 Warning
Do not hold the VMS360 by the plastic hood! The hood is not built to carry the entire
system weight!

When you are placing the VMS360 on some plane, please be sure to lay it gently and
without shocks.

 Warning
Do not power on the VMS360 if it is not firmly fixed!
During the start-up procedure it can make a complete turn to left or right to test the
system!

 Caution
The VMS360 must NOT be turned by hand! The force applied to manually rotate the system
may permanently damage the internal mechanics!

4.4 Condensation avoidance

If the VMS360 is suddenly brought in from the cold into a warm room, condensation may
form on the internal parts. To prevent condensation, first put the sensor in the transport
box, then in a sealed plastic bag and let it adjust to the warmer temperature before
taking it out of the bag.
Do not use the device if condensation forms on it. This is to avoid damages to the
electronics. If there is condensation, remove the power supply from the sensor, and wait
until the condensation has evaporated.

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4.5 Opening the protection hood

1. Remove the two screws on the sides of the aluminium handle;
2. Unscrew the left and right black plastic bolts and remove them;

Left screw Right screw

Left bolt Right bolt

Figure 5: Top handle fixing

3. Unlock the clamps around the cape of the plastic hood;

Clamp Clamp
Clamp

Figure 6: Top plastic hood fixing clamps

4. Gently pull up the plastic cape.

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4.6 Removing the aluminum shield

1. Remove all the pointed screws;

Figure 7: Aluminum shield fixing

2. Now the aluminum shield can be gently removed and the internal parts of the
aluminum enclosure can be accessed

Figure 8: Inside the aluminum shield

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4.7 Dust filter

The dust filter must be checked periodically to avoid the internal accumulation of the
dust.
To remove the filter for cleaning, just remove the four screws on the back of the fan:

Figure 9: Dust filter removal

Clean the fan and the filter with air flow. Replace the filter with a new one if it is too dirty.

 Caution
Do not clean the filter or the fan with water or other liquid product.

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4.8 Installation
VMS360 must be fixed by using 4 M6 screws and nuts through the bore holes of the
baseplate on to an even surface. See Figure 21: VMS360 Laser Scanner outlines on Page
42 for dimensions and specifications.
Use M6 nuts and screws with a strength class of 6.8 and above only. Secure the screws
against loosening and use a 7,6Nm. Screws must be at least 20mm long.
It is highly recommended to use washers.

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5 Connectors

5.1 Phoenix SPEEDCON® quick locking system

 Warning
Before attaching the connectors, make sure the sealing rubber rings in the sockets are all in
place.
Always fit sealing connector caps onto plugs which are not used.

Figure 10: Connector rubber gasket

VMS360 and PS Sensors are equipped with Phoenix SPEEDCON® M12 quick locking
connectors.

Cap

CLICK

Figure 11: Using the quick locking connectors

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1. Make sure the rubber gaskets in the sockets are in place.

2. Turn the retainer ring until you notice a distinct “click”.
3. Align marks at the retainer ring and the socket.
4. Push the connector into the socket.
5. Turn the retainer ring to secure the connection.

5.2 Power connector

The connector is type M12 connector/Phoenix Contact 1436434.

Figure 12: RT360 power connector pinout

Pin Colour Colour code Signal Comment

1 Brown BN Extra +VDC Extra supply voltage
2 White WH +24 VDC Device supply voltage
3 Black BK Extra -VDC Extra supply ground
4 Blue BU -24 VDC Device supply ground

Pins 2 and 4 are used to give power to the RT360 and to the connected sensor.
Pins 1 and 3 are used to give power to an extra connected device.

 Important
In the standard RT360 there is no connector to bring the Extra power line to the rotating
part.
This feature is used on the Triple-IN VMS system to power the cleaning blower.

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5.3 Data connector

5.3.1 Layout of the Data Connector

The Data Connector connects the device with the local network.
• M12 connector/ IP67/CAT6 connector
• Type Phoenix Contact
"Flush-type socket - SACC-CI-M12FS-8CON-L180-10G - 1402457"
• Adapter type reference is Phoenix Contact
" Bus system plug connector - VS-08-M12MR-10G-P SCO - 1417443".
The pin/pair assignment conforms with the T568B standard.

Figure 13: M12 Data and PoE scheme (plug side view)

Pin Colour Signal Purpose

1 White/Orange TX+ Transmit
2 Orange TX- Transmit
3 White/Green RX+ Receive
4 Blue n.c.
5 White/Blue n.c.
6 Green RX- Receive
7 White/Brown n.c.
8 Brown n.c.

In the standard configuration, the VMS360 has one loose cable on the rotating part which
can be connected to the data connector of a PS sensor.

5.4 Optional inclinometer connector

Please refer to the documentation of the optional inclinometer.

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6 Microsoft Windows Software Tools

6.1 TCP/IP Manager for managing network configurations

Triple-IN recommends the open-source Freeware “TCP/IP Manager” (author: A. C.
Tundrea) to prepare the computer’s network settings for VMS360. With this tool, you
may simply save and restore network settings for VMS360 and standard Windows
applications in different profiles.
1. Download TCP/IP Manager from Triple-IN’s web server.
2. Run the installer resp. unpack the ZIP file.
3. Start TCP/IP Manager.
4. Select in “TCP/IP Settings > Network connection name” the network
adapter connected with the sensor.
5. Check if “IP address” matches the Gateway IP address as stored in the sensor.
The default Gateway address is 10.0.10.0.
6. Check if “Subnet mask” matches the subnet mask as stored in the sensor. The
default network mask is 255.255.0.0.
7. For later use, consider “Network profile > Create a new profile” to
save the setup.
8. Choose “Apply Settings”.
9. To connect a sensor with the default settings:

Figure 14: Network configuration with TCP/IP Manager

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After disconnecting the sensor, you may use TCP/IP Manager to restore the Windows
standards:

Figure 15: Restore the network configuration with TCP/IP Manager

1. Start TCP/IP Manager.

2. Select in “TCP/IP Settings > Network connection name” the network
adapter connected with the sensor.
3. “Obtain an IP address automatically” should be checked.
4. For later use, consider “Network profile > Create a new profile” to
save the setup.
5. Choose “Apply Settings”.

6.2 Triple-IN PSControlProgram

Triple-IN’s PSControlProgram is a PC application for controlling the functionality of Triple-
IN Laser sensors via Ethernet connection. It makes the user able to set the user
parameters of the sensor, start measurements, record the scans to files or show it on the
chart or in the table.
The program is available on Triple-IN’s webserver.

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6.2.1 Installation
To install the application please follow the instructions:
1. Start Windows installation program.
2. Confirm that you have administrator permissions to install the program.
3. The installer inspects the version information to use it during the installation
process.
4. The product information (company, product name and version) is displayed on
the screen if it's found during the analysis process.
5. Confirm installation.
A full description of the program can be found in the “PSControlProgram User’s manual”.
The manual is part of the program distribution.

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7 Setting into operation

7.1 Startup Procedure

To start the system:
• Connect the control computer to the same network of the VMS360.
• Connect the power supply to the VMS360.
• After switching on the supply voltage, the device runs through a self-test. After
few seconds, all LEDs will be flashing and the firmware of the device will check
important hardware components and parameters. Commands will respond to the
control computer with a “device not ready” error.
• During the self-test, the RT360 will rotate to search the index and position itself
to the so called “zero position”.
• The Red and Yellow LEDs are switched off after the self-test has passed
successfully.

 Important
After disconnecting the device from power supply, you must wait 30 seconds before
turning it back on. Otherwise capacitors not being discharged could leave the device
peripheral not fully reset.

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7.2 Ethernet connection

7.2.1 Network settings

VMS360 use the Internet Socket Interface for communications over Ethernet. The sensor
socket address is a combination of the IP address (the location of the sensor) and a port
(which is mapped to the application program process) into a single identity.

7.2.2 UDP/IP transport protocol

The UDP transport protocol can be used to send commands to the sensor, receive
responses and receive the online scan stream.

7.2.3 Why choose UDP for scan data stream

TCP was designed to be reliable in data transmission. This means that, if a packet of data
is not correctly (without errors) received by the destination, the sender will try to
transmit it again until it is received correctly.
In a real-time system though it is more important to have always the most recent data
available even if it means to have some previous data lost.
The UDP transport protocol has a lot of advantages for this purpose:
• It is stateless, suitable for very large numbers of clients. It is used for example in
streaming media applications such as IPTV
• The lack of retransmission delays makes it suitable for real-time applications such
as Voice over IP, online games, and many protocols built on top of the Real Time
Streaming Protocol
• It works well in unidirectional communication and is suitable for broadcast
information such as in many kinds of service discovery and shared information
such as broadcast time or Routing Information Protocol
All these attributes (and more) made the UDP protocol the best choice to send the scan
data stream to the requesting consumers.

7.2.4 Sensor IP address, Client IP address, Gateway IP and port

In the described communication pattern, the device provides some functionalities
accessible through the Ethernet. Each one of these functionalities is identified as a
“Service”, and the control computer is the “Client”.
The device socket addresses are a combination of an IP address and a port (which is
mapped to the application program process). Every available combination identifies a
Service.
The sensor has two different IP addresses configured and exposed to the outside:

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• Predefined. Is automatically calculated from the serial number and cannot be

changed. The network mask is 255.255.0.0 and it is calculated this way:

IP = 10.255.(serial / 100).(serial % 100)

• Custom. This address can be modified by the user. It is initially set with a default
value calculated similarly to the Predefined:

IP = 10.0.(serial / 100).(serial % 100)

7.2.5 Timeout
The command interface of the firmware has following time outs:
• for measurement requests: 5 seconds
• for measured scans: 30 seconds
• for changing parameters: 60 seconds
The sensor sends an error (ERR\0) response if a timeout has occurred.

7.2.6 Services
The following are the services available by default on a sensor. As an example, we list t he
IP addresses for a sensor with the serial number as 1234:

Service IP/Port Protocol Service Description

10.0.12.34 UDP/IP Scan and Command communication line for
1024 commands configuration and online data stream
0.0.0.0 TCP/IP Update Used to send firmware updates to the
3007 sensor

7.2.7 Custom Service IP and Port

The IP address set by the user cannot be the same as the Predefined.
The Port set by the user cannot be one of: 22, 80, 3007, 6999 and 6996.

7.2.8 Changing the device’s network configuration using

PSControlProgram
PSControlProgram is useful to change the sensors’ default network settings over
Ethernet:
1. Start PSControlProgram.

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2. Choose button “Connect” to connect the application with a device. The IP and
port dialog appears on the beginning of the connection progress.
3. Enter the device IP address and the computer’s IP address (or 0.0.0.0:0). Note
that, if computer’s IP address is specified, both addresses must be part of the
same network.

Figure 16: PSControlProgram network connection dialog

4. Once the connection has been made, all sensors parameters can be changed on
the “Parameters” view.

 Important
Do not change the network configuration on the connected sensor!
See the next step!

Figure 17: PSControlProgram PS sensor parameters view

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5. To change the network configuration of the RT360, launch the 3D Display plug-in
and change the network configuration from the RT Parameters list:

Figure 18: PSControlProgram RT parameters view

6. Switch-off and restart the sensor to apply the changed network settings.

7.3 Configuration

7.3.1 Ways of configuration

You can configure the VMS360 using the commands “GPRM get parameter” and “SPRM
set parameter” of the binary command/control interface.
This can be done with PSControlProgram.

7.3.2 About User Parameters

The entire sensor configuration is stored in a table of user parameters. Every parameter
has a number as unique parameter identification code. The user can edit the parameter
over Ethernet by use of binary commands.
A list of parameters can be found in the “RT Programmers Manual”.

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 Important
Parameter identifiers always refer to a certain firmware version. Therefore, an individual
parameter reference table exists for every firmware version.
You find the description of the binary commands for the processing of the user parameters
in the “RT Programmer’s Manual”.

7.4 Taking Scans with PS Control Program

Please refer to the PS Control Program User’s manual for more information about how to
drive the RT360 with a PS sensor connected.

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8 Coordinate transformation

8.1 Cartesian coordinate with origin in the sensor

The definition of the sensor coordinate systems is
• The origin of the sensor coordinate system is the measurement zero point. Note
that the origin has an eccentricity to the center axis.
• right hand system; angles count clockwise
• x-axis is pointing in scan direction
• z-axis is pointing to the vertical direction (zenith)
• y-axis is right-angled to x and right-angled to z.

Figure 19: PS sensor coordinate system

Cartesian coordinates can be calculated with the vertical zenith direction ϑ and the
measured distance.

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Xsensor = dpoint * sin(ϑpoint)

Ysensor = 0
Zsensor = dpoint * cos(ϑpoint)

8.2 Cartesian coordinate with origin in the rotary table

The sensor is mounted on a tilted bracket over the rotary table. The eccentricity from the
sensor’s origin to the bracket’s origin the tilt angle δ, and the horizontal direction γ must
be known.

Figure 20: Rotary table coordinate system

If the sensor is tilted around y by the angle δ, the Cartesian coordinates with origin on the
turn table can be calculated as follows:

Xtilted = Xsensor * cos(δ) + Zsensor * sin(δ)

Ytilted = Ysensor
Ztilted = Zsensor * cos(δ) - Xsensor * sin(δ)

The zero point of PS Laser Scanner has an eccentricity of 17 mm to the center axis of the
sensor. To center the sensor’s coordinate system to the origin of the turn table, the
eccentricity must be added, together with the other offsets.

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Xcentered = Xtilted + Xoffset

Ycentered = Ytilted + Yoffset
Zcentered = Ztilted + Zoffset

Finally, the reading of the horizontal angle encoder rotates the sensor’s coordinates into
turn table coordinates:

Xturntable = Xcentered * cos(γ) + Zcentered * sin(γ)

Yturntable = Ycentered * cos(γ) - Xcentered * sin(γ)
Zturntable = Zcentered

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9 Firmware update

The firmware of the VMS360 can be updated using the Ethernet connection.
Download from the Triple-IN’s web server the command line utility “TISendUpdate” and
decompress the content of the archive. The folder directory will look like this:

02/06/2015 17:09 119 822 libgcc_s_dw2-1.dll

02/06/2015 17:09 1 537 038 libstdc++-6.dll
02/06/2015 17:09 80 384 libwinpthread-1.dll
06/11/2017 14:07 456 README.txt
06/11/2017 14:28 1 043 549 tisendupd.exe

The firmware upgrade is performed using a reserved TCP/IP connection on the port 3007.
Using the tool “tisendupd.exe” the update is easy and safe. Just open a command prompt
and write the command using this format:

tisendupd.exe –o UPDATE_FILE –a IPADDRESS[:PORT]

The PORT field can be omitted, and the default port will be used (3007).

 Warning
Do not power off the VMS Laser Scanner until the firmware is completely updated.

The program will provide on screen feedback during the update procedure (see the next
page). Please wait until it’s finished and even when it is done (successful or not), wait at
least 5 minutes before powering off the VMS Laser Scanner.
As soon as the update is finished, the system will be restarted automatically if needed.
Please try to reconnect and verify the firmware version to confirm the update was
successful.

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C:\tisendupdate>tisendupd.exe -o 20180321.ttu -a 10.255.7.98

APU-002
[APU Firmware; 1.00/111B06.3315(rc2)]
Triple-IN Ethernet Updater (c) Triple-IN GmbH 2015-2017

- Connecting to: 10.255.7.98:3007 ...

Connected!
- The device has accepted our request.
> 256.0 KB transferred by now...
> 512.0 KB transferred by now...
> 768.0 KB transferred by now...
> 1024.0 KB transferred by now...

> 7.3 MB transferred by now...

> 7.5 MB transferred by now...
> 7.8 MB transferred by now...
File completely sent. 7.9 MB transferred.
The update process may take a while. Please wait...
- The device has received the update file.
- The device has checked the update file.
- The device is processing the update file.
System is still updating. 4 minutes until timeout

System is still updating. 3 minutes until timeout

- The update process is complete.
The device is updated.
Please restart it if needed!

As soon as the tool will finish its work, the device will be restarted to complete the
update.

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10 Troubleshooting

The LEDs are all off

Be sure that the power cable is connected and the correct voltage and current are
provided.

❖ Information
A very long power cable can incur into voltage loss from the source to the device.
Be sure that the correct voltage and current are available to the device side of the cable.

The LEDs continue to blink indefinitely

Check the connections between the RT360 and the PS Laser Scanner. The Rotary Table
will not be able to complete the initial self-test if it is not able to communicate with the
PS Laser Scanner.

LEDs stays all on indefinitely

Try to perform a power cycle, waiting at least 30 seconds before powering on again.

The device does not respond

Check the LEDs status and be sure that only the green LED is on.
Sometimes the network needs some moments to make a new connected device available.
If after one or two minutes the device is still not available, please try a power cycle.

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Appendix

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A Technical Specification

Ordering information

Model Article number

VMS360 Please contact us!

Rotary Table Technical Data

WORKING RANGE
Horizontal rotation range -180° to +180°
0.011 degrees
Horizontal resolution 0.2 mrad
Minimum Range (m) 2.7
ROTATION SPEED
Minimum 0.11 °/second
Maximum 45 °/second
Predefined
Fast (40 KHz PRF) 7.2 °/second
Normal (40 KHz PRF) 1.8 °/second
Fine (40 KHz PRF) 0.11 °/second
POWER SUPPLY
Rotary table and connected sensor
24V DC – 1A (2A with heater)
power
Extra power line Max. 24VDC, 1.5A
COMMUNICATION
Network interface Ethernet 100MBit/s
Communication protocol Binary Command Interface via UDP/IP
OTHERS
Housing Aluminum Die Cast, Seawater resistant
Operating temperature range -10°C to +50°C
Storage temperature range -30°C to +80°C
Weight < 6 Kg

PS Laser scanner technical data

Please refer to the PS Laser Scanner documentation for the updated technical data of
your system.

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Dimensional drawings and outlines

❖ Note
The following drawings are without scale.

Figure 21: VMS360 Laser Scanner outlines

3D CAD Model
A 3D CAD model (STEP format) of the VMS360 outlines are available on demand.

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Power cable layout

Figure 22: VMS360 Laser Scanner outlines (no scale)

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Ethernet cable layout

Figure 23: Ethernet and PoE cable

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B Table of figures

Figure 1: VMS360 with sensor front/right side ........................................................... 10

Figure 2: VMS scan area and point of origin ............................................................... 12
Figure 3: VMS point of origin transversal eccentricity ................................................ 12
Figure 4: Triple-IN PS sensors scan area and point of origin ....................................... 13
Figure 5: Top handle fixing ......................................................................................... 18
Figure 6: Top plastic hood fixing clamps ..................................................................... 18
Figure 7: Aluminum shield fixing ................................................................................ 19
Figure 8: Inside the aluminum shield .......................................................................... 19
Figure 9: Dust filter removal ....................................................................................... 20
Figure 10: Connector rubber gasket ............................................................................. 22
Figure 11: Using the quick locking connectors ............................................................. 22
Figure 12: RT360 power connector pinout ................................................................... 23
Figure 13: M12 Data and PoE scheme (plug side view) ................................................ 24
Figure 14: Network configuration with TCP/IP Manager .............................................. 25
Figure 15: Restore the network configuration with TCP/IP Manager ........................... 26
Figure 16: PSControlProgram network connection dialog ............................................ 31
Figure 17: PSControlProgram PS sensor parameters view ............................................ 31
Figure 18: PSControlProgram RT parameters view ....................................................... 32
Figure 19: PS sensor coordinate system ....................................................................... 34
Figure 20: Rotary table coordinate system ................................................................... 35
Figure 21: VMS360 Laser Scanner outlines ................................................................... 42
Figure 22: VMS360 Laser Scanner outlines (no scale) .................................................. 43
Figure 23: Ethernet and PoE cable ............................................................................... 44

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