Gocator 2100, 2300 & 2880

USER MANUAL
Series
Firmware version: 4.4.x.xx
Document revision: B
Copyright
Copyright © 2016 by LMI Technologies, Inc. All rights reserved.

Proprietary
This document, submitted in confidence, contains proprietary information which shall not be
reproduced or transferred to other documents or disclosed to others or used for manufacturing or any
other purpose without prior written permission of LMI Technologies Inc.

No part of this publication may be copied, photocopied, reproduced, transmitted, transcribed, or

reduced to any electronic medium or machine readable form without prior written consent of LMI
Technologies, Inc.

Trademarks and Restrictions

Gocator™ is a registered trademark of LMI Technologies, Inc. Any other company or product names
mentioned herein may be trademarks of their respective owners.

Information contained within this manual is subject to change.

This product is designated for use solely as a component and as such it does not comply with the
standards relating to laser products specified in U.S. FDA CFR Title 21 Part 1040.

Contact Information
For more information, please contact LMI Technologies.

LMI Technologies, Inc. 1673 Cliveden Ave.

Delta, BC V3M 6V5
Canada

Telephone: +1 604 636 1011

Facsimile: +1 604 516 8368

www.lmi3D.com

Gocator 2100, 2300 & 2880 Series 2

Table of Contents Running a Dual-Sensor System
Next Steps
36
39
Theory of Operation 41
Copyright 2
3D Acquisition 41
Table of Contents 3
Principle of 3D Acquisition 41
Introduction 10
Resolution and Accuracy 42
Safety and Maintenance 11
X Resolution 42
Laser Safety 11
Z Resolution 42
Laser Classes 12
Z Linearity 43
Precautions and Responsibilities 13
Profile Output 44
Class 3B Responsibilities 13
Coordinate Systems 44
Nominal Ocular Hazard Distance (NOHD) 14
Sensor Coordinates 44
Systems Sold or Used in the USA 15
System Coordinates 44
Electrical Safety 15
Uniform Spacing (Data Resampling) 45
Handling, Cleaning, and Maintenance 16
Gocator Web Interface 46
Environment and Lighting 16
User Interface Overview 46
Getting Started 18
Toolbar 47
System Overview 18
Creating, Saving and Loading Jobs (Settings) 47
Standalone System 18
Recording, Playback, and Measurement
Dual-Sensor System 18 Simulation 49
Multi-Sensor System 19 Recording Filtering 51
Hardware Overview 21 Downloading, Uploading, and Exporting
Gocator 2100, 2300 & 2880 Sensor 21 Replay Data 52

Gocator 2100, 2300 & 2880 Cordsets 21 Log 54

Master 100 22 Metrics Area 55

Master 400/800 23 Data Viewer 55

Master 1200/2400 23 System Management and Maintenance 56

Calibration Targets 24 Manage Page Overview 56

Installation 26 Sensor System 57

Grounding - Gocator 26 Sensor Autostart 57

Recommended Grounding Practices - Cordsets 26 Dual-Sensor System Layout 57

Grounding - Master 400/800/1200/2400 27 Buddy Assignment 59

Mounting 27 Exposure Multiplexing 60

Orientations 28 Over Temperature Protection 60

Rut-Scanning System Setup 30 Networking 61

Layout 30 Motion and Alignment 61

System Setup 31 Alignment Reference 62

Software Configuration 31 Encoder Resolution 62

System Operation 32 Encoder Value and Frequency 63

Network Setup 33 Travel Speed 63

Client Setup 33 Jobs 63

Gocator Setup 35 Security 65

Running a Standalone Sensor System 35 Maintenance 66

Gocator 2100, 2300 & 2880 Series 3

 Sensor Backups and Factory Reset 67 Exposure Information 106
Firmware Upgrade 68 Exposures 106
Support 69 Overexposure and Underexposure 107
Support Files 70 Spots and Dropouts 108
Manual Access 70 Profile Mode 109
Software Development Kit 71 Section Mode 111
Scan Setup and Alignment 72 Surface Mode 112
Scan Page Overview 72 Height Map Color Scale 114
Scan Modes 73 Region Definition 115
Triggers 74 Intensity Output 116
Trigger Examples 76 Models 117
Trigger Settings 77 Model Page Overview 117
Sensor 79 Part Matching 118
Active Area 79 Using Edge Detection 119
Tracking Window 80 Creating a Model 122
Transformations 82 Modifying a Model's Edge Points 124
Exposure 83 Adjusting Target Sensitivity 127
Single Exposure 84 Setting the Match Acceptance Criteria 128
Dynamic Exposure 85 Running Part Matching 128
Multiple Exposure 86 Using Bounding Box and Ellipse 128
Spacing 87 Configuring a Bounding Box or an Ellipse130
Sub-Sampling 87 Running Part Matching 131
Spacing Interval 88 Using Part Matching to Accept or Reject a
Material 89 Part 132

Alignment 91 Sections 132

Alignment States 91 Creating a Section 135

Alignment Types 91 Deleting a Section 137

Alignment: With and Without Encoder Measurement 138

Calibration 92 Measure Page Overview 138
Aligning Sensors 92 Data Viewer 139
Clearing Alignment 95 Tools Panel 139
Filters 95 Adding and Configuring a Tool 139
Gap Filling 95 Source 140
Median 96 Streams (Sections) 141
Smoothing 97 Regions 141
Decimation 98 Decisions 142
Surface Generation 98 Filters 143
Part Detection 101 Measurement Anchoring 144
Edge Filtering 104 Enabling and Disabling Measurements 146
Data Viewer 105 Editing a Tool or Measurement Name 148
Data Viewer Controls 106 Changing a Measurement ID 148
Video Mode 106 Removing a Tool 149

Gocator 2100, 2300 & 2880 Series 4

 Profile Measurement 149 Dashboard 228
Feature Points 149 Dashboard Page Overview 228
Fit Lines 151 System Panel 228
Measurement Tools 152 Measurements 229
Area 152 Gocator Emulator 231
Bounding Box 154 Limitations 231
Bridge Value 156 Downloading a Support File 232
Circle 158 Running the Emulator 232
Dimension 159 Adding a Scenario to the Emulator 233
Groove 161 Running a Scenario 234
Intersect 165 Removing a Scenario from the Emulator 235
Line 167 Using Replay Protection 235
Panel 168 Stopping and Restarting the Emulator 236
Gap 168 Working with Jobs and Data 236
Flush 169 Creating, Saving, and Loading Jobs 236
Position 171 Playback and Measurement Simulation 237
Strip 172 Downloading, Uploading, and Exporting
Tilt 176 Replay Data 238

Script 176 Downloading and Uploading Jobs 240

Surface Measurement 177 Scan, Model, and Measurement Settings 242

Measurement Tools 178 Calculating Potential Maximum Frame Rate 242

Bounding Box 178 Protocol Output 243

Countersunk Hole 182 Gocator Device Files 243

Ellipse 187 Live Files 243

Hole 189 Log File 244

Measurement Region 193 Job Files 244

Opening 194 Job File Components 245

Measurement Region 200 Accessing Files and Components 245

Plane 200 Configuration 245

Position 203 Setup 246

Stud 205 Filters 247

Measurement Region 208 XSmoothing 247

Volume 208 YSmoothing 247

Script 210 XGapFilling 248

Script Measurement 211 YGapFilling 248

Built-in Functions 211 XMedian 248

Output 216 YMedian 248

Output Page Overview 216 XDecimation 248

Ethernet Output 217 YDecimation 249

Digital Output 220 Trigger 249

Analog Output 223 Layout 250

Serial Output 225 Alignment 251

Gocator 2100, 2300 & 2880 Series 5

 Disk 251 ProfileCircle 271
Bar 252 ProfileDimension 273
Plate 252 ProfileGroove 274
Devices / Device 252 ProfileIntersect 276
Tracking 254 ProfileLine 277
Material 254 ProfilePanel 279
SurfaceGeneration 256 ProfilePosition 281
FixedLength 256 ProfileStrip 282
VariableLength 257 Script 284
Rotational 257 SurfaceBoundingBox 285
SurfaceSections 257 SurfaceCsHole 286
ProfileGeneration 258 SurfaceEllipse 289
FixedLength 258 SurfaceHole 290
VariableLength 258 SurfaceOpening 292
Rotational 259 SurfacePlane 294
PartDetection 259 SurfacePosition 296
EdgeFiltering 260 SurfaceStud 297
PartMatching 260 SurfaceVolume 299
Edge 261 Output 301
BoundingBox 261 Ethernet 301
Ellipse 261 Ascii 303
Replay 262 EIP 304
RecordingFiltering 262 Modbus 304
Conditions/AnyMeasurement 262 Digital0 and Digital1 304
Conditions/AnyData 262 Analog 305
Conditions/Measurement 263 Serial 306
Streams/Stream (Read-only) 263 Selcom 306
ToolOptions 264 Ascii 307
MeasurementOptions 264 Transform 307
StreamOption 264 Device 308
Tools 265 Part Models 308
Profile Types 265 Edge Points 309
ProfileFeature 265 Configuration 310
ProfileLine 265 Protocols 311
ProfileRegion2d 266 Gocator Protocol 311
Surface Types 266 Data Types 312
Region3D 266 Commands 312
SurfaceFeature 266 Discovery Commands 313
SurfaceRegion2d 267 Get Address 313
ProfileArea 267 Set Address 314
ProfileBoundingBox 268 Get Info 315
ProfileBridgeValue 270 Control Commands 316

Gocator 2100, 2300 & 2880 Series 6

 Protocol Version 317 Simulate 337
Get Address 317 Seek Playback 337
Set Address 318 Step Playback 338
Get System Info 318 Playback Position 338
Get States 319 Clear Measurement Stats 339
Log In/Out 320 Clear Log 339
Change Password 321 Simulate Unaligned 339
Set Buddy 321 Acquire 340
List Files 322 Acquire Unaligned 340
Copy File 322 Create Model 340
Read File 323 Detect Edges 341
Write File 323 Add Tool 341
Delete File 324 Add Measurement 341
Get Default Job 324 Read File (Progressive) 342
Set Default Job 325 Export CSV (Progressive) 343
Get Loaded Job 325 Export Bitmap (Progressive) 344
Get Alignment Reference 326 Upgrade Commands 344
Set Alignment Reference 326 Start Upgrade 345
Clear Alignment 326 Start Upgrade Extended 345
Get Timestamp 327 Get Upgrade Status 346
Get Encoder 327 Get Upgrade Log 346
Reset Encoder 327 Results 346
Start 328 Data Results 347
Scheduled Start 328 Stamp 347
Stop 329 Video 348
Get Auto Start Enabled 329 Profile 349
Set Auto Start Enabled 329 Resampled Profile 350
Start Alignment 330 Profile Intensity 350
Start Exposure Auto-set 330 Surface 351
Software Trigger 331 Surface Intensity 351
Schedule Digital Output 331 Surface Section 352
Schedule Analog Output 332 Surface Section Intensity 353
Ping 332 Measurement 353
Reset 333 Operation Result 354
Backup 333 Exposure Calibration Result 355
Restore 334 Edge Match Result 355
Restore Factory 334 Bounding Box Match Result 355
Get Recording Enabled 335 Ellipse Match Result 356
Set Recording Enabled 335 Health Results 356
Clear Replay Data 336 Modbus Protocol 361
Get Playback Source 336 Concepts 361
Set Playback Source 336 Messages 361

Gocator 2100, 2300 & 2880 Series 7

 Registers 362 Connection Settings 383
Control Registers 363 Message Format 383
Output Registers 364 Software Development Kit 385
State 364 Setup and Locations 385
Stamp 364 Class Reference 385
Measurement Registers 365 Examples 386
EtherNet/IP Protocol 367 Sample Project Environment Variable 386
Concepts 367 Header Files 386
Basic Object 368 Class Hierarchy 386
Identity Object (Class 0x01) 368 GoSystem 387
TCP/IP Object (Class 0xF5) 368 GoSensor 387
Ethernet Link Object (Class 0xF6) 368 GoSetup 387
Assembly Object (Class 0x04) 369 GoLayout 387
Command Assembly 369 GoTools 387
Sensor State Assembly 370 GoTransform 387
Sample State Assembly 371 GoOutput 387
ASCII Protocol 373 Data Types 387
Connection Settings 373 Value Types 388
Ethernet Communication 373 Output Types 388
Serial Communication 373 GoDataSet Type 389
Polling Operation Commands (Ethernet Only) 374 Measurement Values and Decisions 389
Command and Reply Format 374 Operation Workflow 390
Special Characters 375 Initialize GoSdk API Object 391
Control Commands 375 Discover Sensors 391
Start 375 Connect Sensors 391
Stop 376 Configure Sensors 391
Trigger 376 Enable Data Channels 392
LoadJob 376 Perform Operations 392
Stamp 377 Limiting Flash Memory Write Operations 393
Stationary Alignment 377 Tools and Native Drivers 395
Moving Alignment 378 Sensor Recovery Tool 395
Clear Alignment 378 GenTL Driver 397
Data Commands 378 16-bit RGB Image 398
Result 379 16-bit Grey Scale Image 399
Value 379 Registers 401
Decision 380 XML Settings File 402
Health Commands 381 Interfacing with Halcon 402
Health 381 Setting Up Halcon 403
Standard Result Format 381 Halcon Procedures 406
Custom Result Format 382 Generating Halcon Acquisition Code 410
Selcom Protocol 383 CSV Converter Tool 412
Serial Communication 383 Troubleshooting 415

Gocator 2100, 2300 & 2880 Series 8

 Specifications 417
Gocator 2100 & 2300 Series 418
Gocator 2320 420
Gocator 2130 and 2330 421
Gocator 2140 and 2340 423
Gocator 2342 424
Gocator 2150 and 2350 426
Gocator 2170 and 2370 428
Gocator 2375 431
Gocator 2180 and 2380 433
Gocator 2880 Sensor 436
Gocator 2880 437
Gocator Power/LAN Connector 439
Grounding Shield 439
Power 440
Laser Safety Input 440
Gocator 2100, 2300 , and 2880 I/O Connector 441
Grounding Shield 441
Digital Outputs 441
Inverting Outputs 442
Digital Inputs 442
Encoder Input 443
Serial Output 444
Analog Output 444
Master 100 445
Master 100 Dimensions 446
Master 400/800 447
Master 400/800 Electrical Specifications 448
Master 400/800 Dimensions 449
Master 1200/2400 450
Master 1200/2400 Electrical Specifications 451
Master 1200/2400 Dimensions 452
Accessories 453
Return Policy 455
Software Licenses 456
Support 462
Contact 463

Gocator 2100, 2300 & 2880 Series 9

Introduction
The Gocator 2100/2300/2880 series of laser profiling sensors is designed for 3D measurement and
control applications. Gocator sensors are configured using a web browser and can be connected to a
variety of input and output devices.

This documentation describes how to connect, configure, and use a Gocator. It also contains reference
information on the device's protocols and job files.

B series Gocator sensors are only supported by firmware version 4.3 or later.

Notational Conventions
This guide uses the following notational conventions:

Follow these safety guidelines to avoid potential injury or property damage.

Consider this information in order to make best use of the product.

Gocator 2100, 2300 & 2880 Series 10

 Safety and Maintenance

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

Laser Safety
Gocator sensors contain
semiconductor lasers that emit visible
or invisible light and are designated as
Class 2M, Class 3R, or Class 3B,
depending on the chosen laser option.
See Laser Classes on the next page for
more information on the laser classes
used in Gocator sensors.
Gocator sensors are referred to as
components, indicating that they are
sold only to qualified customers for
incorporation into their own
equipment. These sensors do not
incorporate safety items that the
customer may be required to provide
in their own equipment (e.g., remote
interlocks, key control; refer to the
references below for detailed
information). As such, these sensors
do not fully comply with the standards
relating to laser products specified in
IEC 60825-1 and FDA CFR Title 21 Part
1040.

Use of controls or adjustments or performance of procedures other than those specified herein
may result in hazardous radiation exposure.

References
1. International standard IEC 60825-1 (2001-08) consolidated edition, Safety of laser products – Part 1:
Equipment classification, requirements and user's guide.
2. Technical report 60825-10, Safety of laser products – Part 10. Application guidelines and explanatory
notes to IEC 60825-1.
3. Laser Notice No. 50, FDA and CDRH http://www.fda.gov/cdrh/rad-health.html

Gocator 2100, 2300 & 2880 Series 11

Laser Classes
Class 2M laser components
Class 2M laser components should not cause
permanent damage to the eye under
reasonably foreseeable conditions of operation,
provided that:
l No optical aids are used (these could focus

the beam).
l The user’s blink reflex can terminate
exposure (in under 0.25 seconds).
l Users do not need to look repeatedly at the
beam or reflected light.
l Exposure is only accidental.

Class 3R laser components

Class 3R laser products emit radiation where
direct intrabeam viewing is potentially
hazardous, but the risk is lower with 3R lasers
than for 3B lasers. Fewer manufacturing
requirements and control measures for 3R laser
users apply than for 3B lasers. Eye protection
and protective clothing are not required. The
laser beam must be terminated at the end of an
appropriate path. Avoid unintentional
reflections. Personnel must be trained in
working with laser equipment.

Class 3B laser components

Class 3B components are unsafe for eye
exposure. Usually only eye protection is
required. Protective gloves may also be used.
Diffuse reflections are safe if viewed for less
than 10 seconds at a minimum distance of 13
cm. There is a risk of fire if the beam encounters
flammable materials. The laser area must be
clearly identified. Use a key switch or other
mechanism to prevent unauthorized use. Use a
clearly visible indicator to show that a laser is in
use, such as “Laser in operation.” Restrict the
laser beam to the working area. Ensure that
there are no reflective surfaces in this area.

Labels reprinted here are examples only. For accurate specifications, refer to the label on your
sensor.

Gocator 2100, 2300 & 2880 Series Safety and Maintenance • Laser Safety • 12
For more information, see Precautions and Responsibilities below.

Precautions and Responsibilities

Precautions specified in IEC 60825-1 and FDA CFR Title 21 Part 1040 are as follows:

Requirement Class 2M Class 3R Class 3B

Remote interlock Not required Not required Required*
Key control Not required Not required Required – cannot remove
key when in use*
Power-on delays Not required Not required Required*
Beam attenuator Not required Not required Required*
Emission indicator Not required Not required Required*
Warning signs Not required Not required Required*
Beam path Not required Terminate beam at useful Terminate beam at useful
length length
Specular reflection Not required Prevent unintentional Prevent unintentional
reflections reflections
Eye protection Not required Not required Required under special
conditions
Laser safety officer Not required Not required Required
Training Not required Required for operator and Required for operator and
maintenance personnel maintenance personnel

*LMI Class 3B laser components do not incorporate these laser safety items. These items must be added and completed by customers
in their system design. For more information, see Class 3B Responsibilities below.

Class 3B Responsibilities
LMI Technologies has filed reports with the FDA to assist customers in achieving certification of laser
products. These reports can be referenced by an accession number, provided upon request. Detailed
descriptions of the safety items that must be added to the system design are listed below.

Remote Interlock
A remote interlock connection must be present in Class 3B laser systems. This permits remote switches
to be attached in serial with the keylock switch on the controls. The deactivation of any remote switches
must prevent power from being supplied to any lasers.

Key Control
A key operated master control to the lasers is required that prevents any power from being supplied to
the lasers while in the OFF position. The key can be removed in the OFF position but the switch must not
allow the key to be removed from the lock while in the ON position.

Gocator 2100, 2300 & 2880 Series Safety and Maintenance • Laser Safety • 13
Power-On Delays
A delay circuit is required that illuminates warning indicators for a short period of time before supplying
power to the lasers.

Beam Attenuators
A permanently attached method of preventing human access to laser radiation other than switches,
power connectors or key control must be employed. On some LMI laser sensors, the beam attenuator is
supplied with the sensor as an integrated mechanical shutter.

Emission Indicator
It is required that the controls that operate the sensors incorporate a visible or audible indicator when
power is applied and the lasers are operating. If the distance between the sensor and controls is more
than 2 meters, or mounting of sensors intervenes with observation of these indicators, then a second
power-on indicator should be mounted at some readily-observable position. When mounting the
warning indicators, it is important not to mount them in a location that would require human exposure
to the laser emissions. User must ensure that the emission indicator, if supplied by OEM, is visible when
viewed through protective eyewear.

Warning Signs
Laser warning signs must be located in the vicinity of the sensor such that they will be readily observed.

Examples of laser warning signs are as follows:

FDA warning sign example IEC warning sign example

Nominal Ocular Hazard Distance (NOHD)

Nominal Ocular Hazard Distance (NOHD) is the distance from the source at which the intensity or the
energy per surface unit becomes lower than the Maximum Permissible Exposure (MPE) on the cornea
and on the skin.

The laser beam is considered dangerous if the operator is closer to the source than the NOHD.

The following table shows example calculations of the NOHD values for each Gocator model and laser
class, assuming continuous operation of the laser. As a configurable device the Gocator, lets you set the
laser exposure (laser on-time) independently of the frame period (total cycle time for data acquisition).
Continuous operation of the laser means that the laser exposure is configured to be identical to the
frame period, which is also referred to as 100% duty cycle. However, in many applications the laser

Gocator 2100, 2300 & 2880 Series Safety and Maintenance • Laser Safety • 14
exposure can be smaller than the frame period (less than 100% duty cycle) thereby reducing the NOHD.
The table therefore shows the worst-case NOHD.

Class II NOHD
Model Laser Class Model Constant Class I MPE (mW) Class II MPE (mw) Class I NOHD (mm)
(mm)

2x20 2M 101 0.39 0.98 259 103

2x30 2M 101 0.39 0.98 259 103

3R 351 0.39 0.98 900 358

3B 2246 0.39 0.98 5759 2292

2x40 2M 101 0.39 0.98 259 103

3R 351 0.39 0.98 900 358

3B 2246 0.39 0.98 5759 2292

2x50 2M 101 0.39 0.98 259 103

3R 351 0.39 0.98 900 358

3B 2246 0.39 0.98 5759 2292

2x70 2M 98 0.39 0.98 251 100

3R 341 0.39 0.98 875 348

3B 1422 0.39 0.98 3645 1451

2x75 3B-N 8817 0.64 13777

2x80 2M 95 0.39 0.98 245 97

3R 335 0.39 0.98 859 342

3B 1031 0.39 0.98 2645 1052

To calculate the NOHD value for a specific laser class, use the following formula:

NOHD = Model Constant / MPE

Model Constant includes a consideration of the fan angle for the individual models.

Systems Sold or Used in the USA

Systems that incorporate laser components or laser products manufactured by LMI Technologies
require certification by the FDA.

Customers are responsible for achieving and maintaining this certification.

Customers are advised to obtain the information booklet Regulations for the Administration and
Enforcement of the Radiation Control for Health and Safety Act of 1968: HHS Publication FDA 88-8035.

This publication, containing the full details of laser safety requirements, can be obtained directly from
the FDA, or downloaded from their web site at http://www.fda.gov/cdrh.

Electrical Safety
Failure to follow the guidelines described in this section may result in electrical shock or
equipment damage.

Gocator 2100, 2300 & 2880 Series Safety and Maintenance • Electrical Safety • 15
Sensors should be connected to earth ground
All sensors should be connected to earth ground through their housing. All sensors should be mounted
on an earth grounded frame using electrically conductive hardware to ensure the housing of the sensor
is connected to earth ground. Use a multi-meter to check the continuity between the sensor connector
and earth ground to ensure a proper connection.

Minimize voltage potential between system ground and sensor ground

Care should be taken to minimize the voltage potential between system ground (ground reference for
I/O signals) and sensor ground. This voltage potential can be determined by measuring the voltage
between Analog_out- and system ground. The maximum permissible voltage potential is 12 V but should
be kept below 10 V to avoid damage to the serial and encoder connections.

See Gocator 2100, 2300 , and 2880 I/O Connector on page 441 for a description of connector pins used
with Gocator 2300 series sensors.

Use a suitable power supply

The +24 to +48 VDC power supply used with Gocator sensors should be an isolated supply with inrush
current protection or be able to handle a high capacitive load.

Use care when handling powered devices

Wires connecting to the sensor should not be handled while the sensor is powered. Doing so may cause
electrical shock to the user or damage to the equipment.

Handling, Cleaning, and Maintenance

Dirty or damaged sensor windows (emitter or camera) can affect accuracy. Use caution when
handling the sensor or cleaning the sensor's windows.

Keep sensor windows clean

Use dry, clean air to remove dust or other dirt particles. If dirt remains, clean the windows carefully with
a soft, lint-free cloth and non-streaking glass cleaner or isopropyl alcohol. Ensure that no residue is left
on the windows after cleaning.

Turn off lasers when not in use

LMI Technologies uses semiconductor lasers in 3D measurement sensors. To maximize the lifespan of
the sensor, turn off the laser when not in use.

Avoid excessive modifications to files stored on the sensor

Settings for Gocator sensors are stored in flash memory inside the sensor. Flash memory has an
expected lifetime of 100,000 writes. To maximize lifetime, avoid frequent or unnecessary file save
operations.

Environment and Lighting

Avoid strong ambient light sources
The imager used in this product is highly sensitive to ambient light hence stray light may have adverse
effects on measurement. Do not operate this device near windows or lighting fixtures that could
influence measurement. If the unit must be installed in an environment with high ambient light levels, a
lighting shield or similar device may need to be installed to prevent light from affecting measurement.

Gocator 2100, 2300 & 2880 Series Safety and Maintenance • Handling, Cleaning, and Maintenance • 16
Avoid installing sensors in hazardous environments
To ensure reliable operation and to prevent damage to Gocator sensors, avoid installing the sensor in
locations

l that are humid, dusty, or poorly ventilated;

l with a high temperature, such as places exposed to direct sunlight;
l where there are flammable or corrosive gases;
l where the unit may be directly subjected to harsh vibration or impact;
l where water, oil, or chemicals may splash onto the unit;
l where static electricity is easily generated.

Ensure that ambient conditions are within specifications

Gocator sensors are suitable for operation between 0–50° C and 25–85% relative humidity (non-
condensing). Measurement error due to temperature is limited to 0.015% of full scale per degree C.

The Master 400/800/1200/2400 is similarly rated for operation between 0–50° C.

The storage temperature is -30–70° C.

The sensor must be heat-sunk through the frame it is mounted to. When a sensor is properly
heat sunk, the difference between ambient temperature and the temperature reported in the
sensor's health channel is less
than 15° C.

Gocator sensors are high-accuracy devices, and the temperature of all of its components must
therefore be in equilibrium. When the sensor is powered up, a warm-up time of at least one
hour is required to reach a consistent spread of temperature in the sensor.

Gocator 2100, 2300 & 2880 Series Safety and Maintenance • Environment and Lighting • 17
 Getting Started

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

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

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

Dual-Sensor System
In a dual-sensor system, two Gocator sensors work together to perform profiling and output the
combined results. The controlling sensor is referred to as the Main sensor, and the other sensor is
referred to as the Buddy sensor. Gocator's software recognizes three installation orientations: Opposite,
Wide, and Reverse.

Gocator 2100, 2300 & 2880 Series 18

A Master 400/800/1200/2400 must be used to connect two sensors in a dual-sensor system. Gocator
Power and Ethernet to Master cordsets are used to connect sensors to the Master.

Multi-Sensor System
Master 400/800/1200/2400 networking hardware can be used to connect two or more sensors into a
multi-sensor system. Gocator Master cordsets are used to connect the sensors to a Master. The Master
provides a single point of connection for power, safety, encoder, and digital inputs. A Master
400/800/1200/2400 can be used to ensure that the scan timing is precisely synchronized across
sensors. Sensors and client computers communicate via an Ethernet switch (1 Gigabit/s recommended).

Master 400/800/1200/2400 networking hardware does not support digital, serial, or analog output.

Gocator 2100, 2300 & 2880 Series Getting Started • System Overview • 19
Gocator 2100, 2300 & 2880 Series Getting Started • System Overview • 20
Hardware Overview
The following sections describe Gocator and its associated hardware.

Gocator 2100, 2300 & 2880 Sensor

Gocator 2130 / 2330

Item Description

Camera Observes laser light reflected from target surfaces.

Laser Emitter Emits structured light for laser profiling.
I/O Connector Accepts input and output signals.
Power / LAN Connector Accepts power and laser safety signals and connects to 1000 Mbit/s Ethernet network.
Power Indicator Illuminates when power is applied (blue).
Range Indicator Illuminates when camera detects laser light and is within the target range (green).
Laser Indicator Illuminates when laser safety input is active (amber).
Serial Number Unique sensor serial number.

Gocator 2100, 2300 & 2880 Cordsets

Gocator 2100, 2300 and 2880 sensors use two types of cordsets.

The Power & Ethernet cordset provides power, laser safety interlock to the sensor. It is also used for
sensor communication via 1000 Mbit/s Ethernet with a standard RJ45 connector. The Master version of
the Power & Ethernet cordset provides direct connection between the sensor and a Master
400/800/1200/2400.

The Gocator I/O cordset provides digital I/O connections, an encoder interface, RS-485 serial connection,
and an analog output.

Gocator 2100, 2300 & 2880 Series Getting Started • Hardware Overview • 21
The maximum cordset length is 60 m. See Gocator 2100, 2300 , and 2880 I/O Connector on page 441 for
pinout details.

See Accessories on page 453 for cordset lengths and part numbers. Contact LMI for information on
creating cordsets with customized lengths and connector orientations.

Master 100
The Master 100 is used by the Gocator 2100, 2300, and 2880 series for standalone system setup.

Item Description

Master Ethernet Port Connects to the RJ45 connector labeled Ethernet on the Power/LAN to Master cordset.
Master Power Port Connects to the RJ45 connector labeled Power/Sync on the Power/LAN to Master
cordset. Provides power and laser safety to the Gocator.
Sensor I/O Port Connects to the Gocator I/O cordset.
Master Host Port Connects to the host PC's Ethernet port.
Power Accepts power (+48 V).
Power Switch Toggles sensor power.
Laser Safety Switch Toggles laser safety signal provided to the sensors [O= laser off, I= laser on].
Trigger Signals a digital input trigger to the Gocator.
Encoder Accepts encoder A, B and Z signals.
Digital Output Provides digital output.

Gocator 2100, 2300 & 2880 Series Getting Started • Hardware Overview • 22
See Master 100 on page 445 for pinout details.

Master 400/800
The Master 400 and the Master 800 allow you to connect more than two sensors. The Master 400
accepts four sensors, and the Master 800 accepts eight sensors.

Item Description

Sensor Ports Master connection for Gocator sensors (no specific order required).
Ground Connection Earth ground connection point.
Laser Safety Laser safety connection.
Encoder Accepts encoder signal.
Input Accepts digital input.

See Master 400/800 on page 447 for pinout details.

Master 1200/2400
The Master 1200 and the Master 2400 allow you to connect more than two sensors. The Master 1200
accepts twelve sensors, and the Master 2400 accepts twenty-four sensors.

Gocator 2100, 2300 & 2880 Series Getting Started • Hardware Overview • 23
Item Description

Sensor Ports Master connection for Gocator sensors (no specific order required).
Ground Connection Earth ground connection point.
Laser Safety Laser safety connection.
Encoder Accepts encoder signal.
Input Accepts digital input.

See Master 1200/2400 on page 450 for pinout details.

Calibration Targets
Targets are used for alignment and calibrating encoder systems.

Disks are typically used with systems containing a single sensor and can be ordered from LMI
Technologies. When choosing a disk for your application, select the largest disk that fits entirely within
the required field of view. See Accessories on page 453 for disk part numbers.

For wide, multi-sensor systems, bars are required to match the length of the system by following the
guidelines illustrated below. (LMI Technologies does not manufacture or sell bars.)

Gocator 2100, 2300 & 2880 Series Getting Started • Hardware Overview • 24
See Aligning Sensors on page 92 for more information on alignment.

Gocator 2100, 2300 & 2880 Series Getting Started • Hardware Overview • 25
Installation
The following sections provide grounding, mounting, and orientation information.

Grounding - Gocator
Gocators should be grounded to the earth/chassis through their housings and through the grounding
shield of the Power I/O cordset. Gocator sensors have been designed to provide adequate grounding
through the use of M5 x 0.8 pitch mounting screws. Always check grounding with a multi-meter to
ensure electrical continuity between the mounting frame and the Gocator's connectors.

The frame or electrical cabinet that the Gocator is mounted to must be connected to earth
ground.

Recommended Grounding Practices - Cordsets

If you need to minimize interference with other equipment, you can ground the Power & Ethernet or the
Power & Ethernet to Master cordset (depending on which cordset you are using) by terminating the
shield of the cordset before the split. The most effective grounding method is to use a 360-degree
clamp.

To terminate the cordset's shield:

1. Expose the cordset's braided shield by cutting
the plastic jacket before the point where the
cordset splits.

Gocator 2100, 2300 & 2880 Series Getting Started • Installation • 26

2. Install a 360-degree ground clamp.

Grounding - Master 400/800/1200/2400

The mounting brackets of all Masters have been designed to provide adequate grounding through the
use of star washers. Always check grounding with a multi-meter by ensuring electrical continuity
between the mounting frame and RJ45 connectors on the front.

The frame or electrical cabinet that the Master is mounted to must be connected to earth
ground.

Mounting
Sensors should be mounted using four or six (depending on the model) M5 x 0.8 pitch screws of suitable
length. The recommended thread engagement into the housing is 8 - 10 mm. Proper care should be
taken in order to ensure that the internal threads are not damaged from cross-threading or improper
insertion of screws.

With the exception of Gocator 2880, sensors should not be installed near objects that might occlude a
camera's view of the laser. (Gocator 2880 is specifically designed to compensate for occlusions.)

Sensors should not be installed near surfaces that might create unanticipated laser reflections.

Gocator 2100, 2300 & 2880 Series Getting Started • Installation • 27

 The sensor must be heat sunk through the frame it is mounted to. When a sensor is properly
heat sunk, the difference between ambient temperature and the temperature reported in the
sensor's health channel is less than 15° C.

Gocator sensors are high-accuracy devices. The temperature of all of its components must be
in equilibrium. When the sensor is powered up, a warm-up time of at least one hour is required
to reach a consistent spread of temperature within the sensor.

Orientations
The examples below illustrate the possible mounting orientations for standalone and dual-sensor
systems.

See Dual-Sensor System Layout on page 57 for more information on orientations.

Standalone Orientations

Single sensor above conveyor

Gocator 2100, 2300 & 2880 Series Getting Started • Installation • 28

 Single sensor on robot arm

Dual-Sensor System Orientations:

Side-by-side for wide-area measurement (Wide) Main must be on the left side (when
looking into the connector)
of the Buddy (Wide)

Gocator 2100, 2300 & 2880 Series Getting Started • Installation • 29

 Above/below for two-sided measurement (Opposite) Main must be on the top
with Buddy on the bottom (Opposite)

For more information on setting up a dual-sensor system, see

http://lmi3d.com/sites/default/files/APPNOTE_Gocator_2300_Gocator_4.x_Dual_Sensor_Setup_
Guide.pdf.

Rut-Scanning System Setup

The following sections describe how to set up a Gocator 2375 rut-scanning system.

Layout
The Gocator 2375 sensor is designed to cover a scan width of up to 4.2 m by using 8 sensors mounted
in parallel.

Gocator 2100, 2300 & 2880 Series Getting Started • Installation • 30

The diagram above shows the clearance distance and measurement range required in a typical setup.
Use the specification estimator (Gocator-2375_Specification_Estimator.xlsx) to calculate the X and Z
resolution of the sensors with different combinations of clearance distance and measurement range.

System Setup
A typical Gocator 2375 system is set up as a multi-sensor system. The sensors are powered using a
Master 400/800/1200/2400.

To connect a Gocator 2375:

1. Connect the Power and Ethernet to Master cordset to the Power/LAN connector on the sensor.

2. Connect the RJ45 jack labeled Power to an unused port on the Master.

3. Connect the RJ45 jack labeled Ethernet to an unused port on the Master.

4. Repeat the steps above for each sensor.

See Master 400/800 on page 447 and Master 1200/2400 on page 450 for more information on how to
install a Master.

Software Configuration
Each sensor is shipped with a default IP address of 192.168.1.10. Before you add a sensor to a multi-
sensor system, its firmware version must match that of the other sensors, and its IP address must be
unique.

To configure a Gocator 2375 for the first time:

1. Set up the sensor’s IP address.
a. Follow the steps in Running a Standalone Sensor System on page 35.

b. Make sure that there is no other sensor in the network with the IP address 192.168.1.10.

Gocator 2100, 2300 & 2880 Series Getting Started • Installation • 31

2. Upgrade the firmware.
a. Follow the steps in Firmware Upgrade on page 68.

3. Set up profiling parameters.

a. Follow the steps in Scan Setup and Alignment on page 72 to set up profiling parameters. Typically,
trigger, active area, and exposure will need to be adjusted.

System Operation
An isolated layout should be used. Under this layout, each sensor can be independently controlled by
the SDK. The following application notes explain how to operate a multi-sensor system using the SDK.

APPNOTE_Gocator_4.x_Multi_Sensor_Guide.zip
Explains how to use the SDK to create a multi-sensor system, and multiplex their timing.

Gocator-2000-2300_appnote_multi-sensor-alignment-calibration.zip
Explains how to use the SDK to perform alignment calibration of a multi-sensor system.

Example code is included with both of the application notes above.

Gocator 2100, 2300 & 2880 Series Getting Started • Installation • 32

Network Setup
The following sections provide procedures for client PC and Gocator network setup.

DHCP is not recommended for Gocator sensors. If you choose to use DHCP, the DHCP server
should try to preserve IP addresses. Ideally, you should use static IP address assignment (by
MAC address) to do this.

Client Setup
Sensors are shipped with the following default network configuration:

Setting Default

DHCP Disabled
IP Address 192.168.1.10
Subnet Mask 255.255.255.0
Gateway 0.0.0.0

All Gocator sensors are configured to 192.168.1.10 as the default IP address. For a dual-sensor
system, the Main and Buddy sensors must be assigned unique addresses before they can be
used on the same network. Before proceeding, connect the Main and Buddy sensors one at a
time (to avoid an address conflict) and use the steps in See Running a Dual-Sensor System on
page 36 to assign each sensor a unique address.

To connect to a sensor for the first time:

1. Connect cables and apply power.
Sensor cabling is illustrated in
System Overview on page 18.

Gocator 2100, 2300 & 2880 Series Getting Started • Network Setup • 33
2. Change the client PC's network
settings.
Windows 7
a. Open the Control Panel, select
Network and Sharing
Center, and then click Change
Adapter Settings.

b. Right-click the network

connection you want to
modify, and then click
Properties.

c. On the Networking tab, click

Internet Protocol Version 4
(TCP/IPv4), and then click
Properties.

d. Select the Use the following

IP address option.

e. Enter IP Address "192.168.1.5"

and Subnet Mask
"255.255.255.0", then click OK.

Mac OS X v10.6
a. Open the Network pane in
System Preferences and
select Ethernet.

b. Set Configure to Manually.

c. Enter IP Address "192.168.1.5"

and Subnet Mask
"255.255.255.0", then click
Apply.

See Troubleshooting on page 415 if you experience any problems while attempting to establish a
connection to the sensor.

Gocator 2100, 2300 & 2880 Series Getting Started • Network Setup • 34
Gocator Setup
The Gocator is shipped with a default configuration that will produce laser profiles on most targets.

The following sections walk you through the steps required to set up a standalone sensor system and a
dual-sensor system for operations. After you have completed the setup, you can perform laser profiling
to verify basic sensor operation.

Running a Standalone Sensor System

To configure a standalone sensor system:
1. Power up the sensor.
The power indicator (blue) should turn on immediately.

2. Enter the sensor's IP address (192.168.1.10) in a web

browser.

3. Log in as Administrator with no password.

The interface display language can be changed using
the language option. After selecting the language, the
browser will refresh and the web interface will display in
the selected language.

4. Go to the Manage page.

5. Ensure that Replay mode is off (the slider is set to the

left).

6. Ensure that the Laser Safety Switch is enabled or the

Laser Safety input is high.
7. Go to the Scan page.
8. Press the Start button or the Snapshot on the Toolbar
to start the sensor. Master 200
The Start button is used to run sensors continuously.

Gocator 2100, 2300 & 2880 Series Getting Started • Network Setup • 35
 The Snapshot button is used to trigger the capture of a
single profile.

Standalone

Master 400/800/1200/2400

9. Move a target into the laser plane.

If a target object is within the sensor's measurement
range, the data viewer will display the shape of the
target, and the sensor's range indicator will illuminate.
If you cannot see the laser, or if a profile is not displayed
in the Data Viewer, see Troubleshooting on page 415.

10. Press the Stop button.

The laser should turn off.

Running a Dual-Sensor System

All sensors are shipped with a default IP address of 192.168.1.10. Ethernet networks require a unique IP
address for each device, so you must set up a unique address for each sensor.

To configure a dual-sensor system:

1. Turn off the sensors and unplug the Ethernet network
connection of the Main sensor.
All sensors are shipped with a default IP address of
192.168.1.10. Ethernet networks require a unique IP
address for each device. Skip step 1 to 3 if the Buddy
sensor's IP address is already set up with an unique
address.

2. Power up the Buddy sensor.

The power LED (blue) of the Buddy sensor should turn
on immediately.

Gocator 2100, 2300 & 2880 Series Getting Started • Network Setup • 36
3. Enter the sensor's IP address 192.168.1.10 in a web
browser.
This will log into the Buddy sensor.

4. Log in as Administrator with no password.

5. Go to the Manage Page.

6. Modify the IP address to 192.168.1.11 in the

Networking category and click the Save button.
When you click the Save button, you will be prompted to
confirm your selection.

7. Turn off the sensors, re-connect the Main sensor's

Ethernet connection and power-cycle the sensors.
After changing network configuration, the sensors must
be reset or power-cycled before the change will take
effect.

8. Enter the sensor's IP address 192.168.1.10 in a web

browser.
This will log into the Main sensor.

Gocator 2100, 2300 & 2880 Series Getting Started • Network Setup • 37
9. Log in as Administrator with no password.
The interface display language can be changed using
the language option. After selecting the language, the
browser will refresh and the web interface will display in
the selected language.

10. Select the Manage page.

11. Go to Manage page, Sensor System panel, and select

the Visible Sensors panel.
The serial number of the Buddy sensor is listed in the
Available Sensors panel.

12. Select the Buddy sensor and click the Assign button.
The Buddy sensor will be assigned to the Main sensor
and its status will be updated in the System panel.
The firmware on Main and Buddy sensors must be the
same for Buddy assignment to be successful. If the
firmware is different, connect the Main and Buddy
sensor one at a time and follow the steps in Firmware
Upgrade on page 68 to upgrade the sensors.

13. Ensure that the Laser Safety Switch is enabled or the

Laser Safety input is high.

Master 400/800/1200/2400

Gocator 2100, 2300 & 2880 Series Getting Started • Network Setup • 38
14. Ensure that Replay mode is off (the slider is set to the
left).

15. Go to the the Scan page.

16. Press the Start or the Snapshot button on the
Toolbarto start the sensors.
The Start button is used to run sensors continuously,
while the Snapshot button is used to trigger a single
profile.

17. Move a target into the laser plane.

If a target object is within the sensor's measurement
range, the data viewer will display the shape of the
target, and the sensor's range indicator will illuminate.
If you cannot see the laser, or if a profile is not displayed
in the Data Viewer, see Troubleshooting on page 415.

18. Press the Stop button if you used the Start button to
start the sensors.
The laser should turn off.

Next Steps
After you complete the steps in this section, the Gocator measurement system is ready to be configured
for an application using the software interface. The interface is explained in the following sections:

System Management and Maintenance (page 56)

Contains settings for sensor system layout, network, motion and alignment, handling jobs, and sensor
maintenance.

Scan Setup and Alignment (page 72)

Contains settings for scan mode, trigger source, detailed sensor configuration, and performing
alignment.

Measurement (page 138)

Contains built-in measurement tools and their settings.

Output (page 216)

Contains settings for configuring output protocols used to communicate measurements to external
devices.

Dashboard (page 228)

Provides monitoring of measurement statistics and sensor health.

Toolbar (page 47)

Gocator 2100, 2300 & 2880 Series Getting Started • Next Steps • 39
Controls sensor operation, manages jobs, and replays recorded measurement data.

Gocator 2100, 2300 & 2880 Series Getting Started • Next Steps • 40
 Theory of Operation

The following sections describe the theory of operation of Gocator sensors.

3D Acquisition
Principle of 3D Acquisition
The Gocator 2100, 2300, and 2880 series
sensors are line profiler sensors, meaning that
they capture a single 3D profile for each camera
exposure. The sensor projects a laser line onto
the target. The sensor's camera views the laser
from an angle, and captures the reflection of
the light off the target. Because of this
triangulation angle, the laser line appears in
different positions on the camera depending on
the 3D shape of the target. Gocator sensors are
always pre-calibrated to deliver 3D data in
engineering units throughout the specified
measurement range.

Target objects are typically moved under the sensor on a transportation mechanism, such as a conveyor
belt. The sensor captures a series of 3D slices, building up the full scan of the object. Sensor speed and
required exposure time to measure the target are typically critical factors in applications with line profiler
sensors.

Gocator 2100, 2300 & 2880 Series 41

Resolution and Accuracy
X Resolution
X resolution is the horizontal distance between
each measurement point along the laser line.
This specification is essentially based on the
number of camera columns used to cover the
field of view (FOV) at a particular measurement
range .
Since the FOV is trapezoidal, the distance
between points is closer at the near range than
at the far range. This is reflected in the Gocator
data sheet as the two numbers quoted for X
resolution.
X resolution is important for how accuratel the
width of a target can be measured.
NOTE: When the Gocator runs in Profile mode
and Uniform Spacing is enabled, the 3D data
is resampled to an X interval that is different
from the raw camera resolution.

Z Resolution
Z resolution is the variability of the height
measurement, in each individual 3D point, with
the target at a fixed position. This variability is
caused by camera imager and sensor
electronics.
Like X resolution, the Z resolution is better at
the close range and worse at the far range. This
is reflected in the Gocator data sheet as the two
numbers quoted for Z resolution.
Z Resolution gives an indication of the smallest
detectable height difference.

Gocator 2100, 2300 & 2880 Series Theory of Operation • 3D Acquisition • 42

Z Linearity
Z Linearity is the difference between the actual
distance to the target and the measured
distance to the target, throughout the
measurement range.
Z Linearity is expressed in the Gocator data
sheet as a percentage of the total
measurement range.
Z Linearity gives an indication of the sensor's
ability to measure absolute distance

Gocator 2100, 2300 & 2880 Series Theory of Operation • 3D Acquisition • 43

Profile Output
Gocator measures the height of the object calculated from laser triangulation. The Gocator reports a
series of ranges along the laser line, with each range representing the distance from the sensor's origin
plane. Each range contains a height and a position in the sensor's field of view.

Coordinate Systems
Range data is reported in sensor or system coordinates depending on the alignment state. The
coordinate systems are described below.

Sensor Coordinates
Before alignment, individual sensors use the
coordinate system shown here.
The Z axis represents the sensor's measurement
range (MR), with the values increasing towards the
sensor.
The X axis represents the sensor's field of view
(FOV).
The origin is at the center of the MR and FOV.
In Surface data, the Y axis represents the relative
position of the part in the direction of travel.
Y position increases as the object moves forward
(increasing encoder position).

System Coordinates
Alignment is used with a single sensor to
compensate for mounting misalignment and to
set a zero reference, such as a conveyor belt
surface. Alignment is also used to set a
common coordinate system for dual-sensor
systems. In both cases, alignment determines
the adjustments to X, Z, and tilt (rotation in the
X–Z plane) needed to align sensor data. The
adjustments resulting from alignment are called
transformations. See Alignment on page 91 for
more information on alignment.
System coordinates are aligned so that the
system X axis is parallel to the alignment target
surface. The system Z origin is set to the base of
the alignment target object. The tilt angle is
positive when rotating from the X to the Z axis.
Similar to the sensor coordinates, Y positions
increase when the encoder increases.

Gocator 2100, 2300 & 2880 Series Theory of Operation • Profile Output • 44
For Wide and Opposite layouts, profiles and
measurements from the Main and Buddy
sensors are expressed in a unified coordinate
system. Isolated layouts express results using a
separate coordinate system for each sensor.

Uniform Spacing (Data Resampling)

Profile data produced in Profile mode is available in two formats: with and without uniform spacing.
Uniform spacing is enabled in the Scan Mode panel, on the Scan page.

With uniform spacing enabled, the ranges that make up a profile are resampled so that the spacing is
uniform along the laser line (X axis). The resampling divides the X axis into fixed size "bins." Profile points
that fall into the same bin are combined into a single range value (Z). The size of the spacing interval can
be set under the Spacing tab in the Sensor panel on Scan page.

As a result, when uniform spacing is enabled, in the Ethernet data channel, only the range values (Z) are
reported and the X positions can be reconstructed through the array index at the receiving end (the
client).

Resampling to uniform spacing reduces the complexity for downstream algorithms to process the profile
data from the Gocator, but places a higher processing load on the sensor's CPU.

In contrast, the profile format without uniform spacing set requires no processing on the sensor. Ranges
are reported in (X, Z) coordinate pairs. This frees up processing resources in the Gocator, but usually
requires more complicated processing on the client side.

Most built-in measurement tools in the Gocator in Profile mode operate on profiles with uniform
spacing; some tools can operate on profiles without uniform spacing. For more information on the
profile tools, see Profile Measurement on page 149.

Gocator 2100, 2300 & 2880 Series Theory of Operation • Profile Output • 45
 Gocator Web Interface

The following sections describe the Gocator web interface.

User Interface Overview

Gocator sensors are configured by connecting to a Main sensor with a web browser. The Gocator web
interface is illustrated below.

Element Description

1 Manage page Contains settings for sensor system layout, network, motion and
alignment, handling jobs, and sensor maintenance. See System
Management and Maintenance on page 56.

2 Scan page Contains settings for scan mode, trigger source, detailed sensor
configuration, and performing alignment. See Scan Setup and Alignment on
page 72.

3 Model page Lets you set up part matching. See Models on page 117

4 Measure page Contains built-in measurement tools and their settings. See Measurement
on page 138.

5 Output page Contains settings for configuring output protocols used to communicate
measurements to external devices. See Output on page 216.

6 Dashboard page Provides monitoring of measurement statistics and sensor health. See
Dashboard on page 228.

7 CPU Load and Speed Provides important sensor performance metrics. See Metrics Area on page
55.

8 Toolbar Controls sensor operation, manages jobs, and filters and replays
recorded measurement data. See Toolbar below.

9 Configuration area Provides controls to configure scan and measurement tool settings.

10 Data viewer Displays sensor data, tool setup controls, and measurements. See Data
Viewer on page 105 for its use when the Scan page is active and on page
139 for its use when the Measure page is active.

11 Log Displays messages from the sensor (errors, warnings, and other
information). See Log on page 54.

Toolbar
The toolbar is used for performing operations such as managing jobs, working with replay data, and
starting and stopping the sensor.

Gocator 2100, 2300 & 2880 Series 46

 Element Description

1 Job controls For saving and loading jobs.

2 Replay data controls For downloading, uploading, and exporting recorded data.
3 Sensor operation / replay control Use the sensor operation controls to start sensors, enable and
filter recording, and control recorded data.

Creating, Saving and Loading Jobs (Settings)

A Gocator can store several hundred jobs. Being able to switch between jobs is useful when a Gocator is
used with different constraints during separate production runs. For example, width decision minimum
and maximum values might allow greater variation during one production run of a part, but might allow
less variation during another production run, depending on the desired grade of the part.

Most of the settings that can be changed in the Gocator's web interface, such as the ones in the
Manage, Measure, and Output pages, are temporary until saved in a job file. Each sensor can have
multiple job files. If there is a job file that is designated as the default, it will be loaded automatically
when the sensor is reset.

When you change sensor settings using the Gocator web interfacein the emulator, some changes are
saved automatically, while other changes are temporary until you save them manually. The following
table lists the types of information that can be saved in a sensor.

Setting Type Behavior

Job Most of the settings that can be changed in the Gocator's web interface, such as the ones
in the Manage, Measure, and Output pages, are temporary until saved in a job file.
Each sensor can have multiple job files. If there is a job file that is designated as the
default, it will be loaded automatically when the sensor is reset.

Alignment Alignment can either be fixed or dynamic, as controlled by the Alignment Reference
setting in Motion and Alignment in the Manage page.
Alignment is saved automatically at the end of the alignment procedure when
Alignment Reference is set to Fixed . When Alignment Reference is set to
Dynamic, however, you must manually save the job to save alignment.
Network Address Network address changes are saved when you click the Save button in Networking on
the Manage page. The sensor must be reset before changes take effect.

The job drop-down list in the toolbar shows the jobs stored in the sensor. The job that is currently active
is listed at the top. The job name will be marked with "[unsaved]" to indicate any unsaved changes.

Gocator 2100, 2300 & 2880 Series Gocator Web Interface • User Interface Overview • 47
To create a job:
1. Choose [New] in the job drop-down list and type a name for the job.

2. Click the Save button or press Enter to save the job.

The job is saved to sensor storage using the name you provided. Saving a job automatically sets it as
the default, that is, the job loaded when then sensor is restarted.

To save a job:
l Click the Save button .

The job is saved to sensor storage. Saving a job automatically sets it as the default, that is, the job
loaded when then sensor is restarted.

To load (switch) jobs:

l Select an existing file name in the job drop-down list.

The job is activated. If there are any unsaved changes in the current job, you will be asked whether you want
to discard those changes.

You can perform other job management tasks—such as downloading job files from a sensor to a
computer, uploading job files to a sensor from a computer, and so on—in the Jobs panel in the Manage
page. See Jobs on page 63 for more information.

Recording, Playback, and Measurement Simulation

Gocator sensors can record and replay recorded scan data, and also simulate measurement tools on
recorded data. This feature is most often used for troubleshooting and fine-tuning measurements, but
can also be helpful during setup.

Recording and playback are controlled using the toolbar controls.

Recording and playback controls when replay is off

Gocator 2100, 2300 & 2880 Series Gocator Web Interface • User Interface Overview • 48
To record live data:
1. Toggle Replay mode off by setting the slider to the left in the Toolbar.

2. (Optional) Configure recording filtering.

For more information on recording filtering, see Recording Filtering on page 51.

3. Click the Record button to enable recording.

The center of the Record button turns red.

When recording is enabled (and replay is off), the sensor will store the most recent data as it runs.
Remember to disable recording if you no longer want to record live data. (Press the Record button
again to disable recording).

4. Press the Snapshot button or Start button.

The Snapshot button records a single frame. The Start button will run the sensor continuously and all
frames will be recorded, up to available memory. When the memory limit is reached, the oldest data
will be discarded.

Newly recorded data is appended to existing replay data unless the sensor job has been
modified.

Playback controls when replay is on

To replay data:
1. Toggle Replay mode on by setting the slider to the right in the Toolbar.
The slider's background turns blue and a Replay Mode Enabled message is displayed.

2. Use the Replay slider or the Step Forward, Step Back, or Play buttons to review data.
The Step Forward and Step Back buttons move and the current replay location backward and forward
by a single frame, respectively.
The Play button advances the replay location continuously, animating the playback until the end of the
replay data.

Gocator 2100, 2300 & 2880 Series Gocator Web Interface • User Interface Overview • 49
 The Stop button (replaces the Play button while playing) can be used to pause the replay at a particular
location.
The Replay slider (or Replay Position box) can be used to go to a specific replay frame.

To simulate measurements on replay data:

1. Toggle Replay mode on by setting the slider to the right in the Toolbar.
The slider's background turns blue and a Replay Mode Enabled message is displayed.
To change the mode, Replay Protection must be unchecked.

2. Go to the Measure page.

Modify settings for existing measurements, add new measurement tools, or delete measurement tools
as desired. For information on adding and configuring measurements, see Measurement on page 138.

3. Use the Replay Slider, Step Forward, Step Back, or Play button to simulate measurements.
Step or play through recorded data to execute the measurement tools on the recording.
Individual measurement values can be viewed directly in the data viewer. Statistics on the
measurements that have been simulated can be viewed in the Dashboard page; for more information
on the dashboard, see Dashboard on page 228.

To clear replay data:

1. Stop the sensor if it is running by clicking the Stop button.

2. Click the Clear Replay Data button .

Recording Filtering
Replay data is often used for troubleshooting. But replay data can contain thousands of frames, which
makes finding a specific frame to troubleshoot difficult. Recording filtering lets you choose which frames
Gocator records, based on one or more conditions, which makes it easier to find problems.

How Gocator treats conditions

Setting Description

Any Condition Gocator records a frame when any condition is true.

All Conditions Gocator only records a frame if all conditions are true.

Gocator 2100, 2300 & 2880 Series Gocator Web Interface • User Interface Overview • 50
Conditions
Setting Description

Any Measurement Gocator records a frame when any measurement is in the state you select.
The following states are supported:
l pass
l fail
l valid
l invalid
l fail or invalid

Any Data At/Above Threshold : Gocator records a frame if the number of valid points in the
frame is above the value you specify in Range Count Threshold .
Below Threshold : Gocator records a frame if the number of valid points is below the
threshold you specify.
In Surface mode, the number of valid points in the surface is compared to the
threshold, not any sections that may be defined.
Single Measurement Gocator records a frame if the measurement with the ID you specify in ID is in the state
you select. The following states are supported:
l pass
l fail
l valid
l invalid
l fail or invalid

To set recording filtering:

1. Make sure recording is enabled by clicking the Record button.

2. Click the Recording Filtering button .

3. In the Recording Filtering dialog, choose how Gocator treats conditions:

For information on the available setting, see How Gocator treats conditions on the previous page.

4. Configure the conditions that will cause Gocator to record a frame:

For information on the available setting, see Conditions on the previous page.

5. Click the "x" button or outside of the Recording Filtering dialog to close the dialog.
The recording filter icon turns green to show that recording filters have been set.
When you run the sensor, Gocator only records the frames that satisfy the conditions you have set.

Downloading, Uploading, and Exporting Replay Data

Replay data (recorded scan data) can be downloaded from a Gocator to a client computer, or uploaded
from a client computer to a Gocator.

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Data can also be exported from a Gocator to a client computer in order to process the data using third-
party tools.

You can only upload replay data to the same sensor model that was used to create the data.

Replay data is not loaded or saved when you load or save jobs.

To download replay data:

l Click the Download button .

To upload replay data:

1. Click the Upload button .
If you have unsaved changes in the current job, the firmware asks whether you want to discard the
changes.

Do one of the following:

l Click Discard to discard any unsaved changes.
The Upload menu appears.

l Click Cancel to return to the main window to save your changes.

2. In the Upload menu, choose one of the following:

l Upload: Unloads the current job and creates a new unsaved and untitled job from the content of the
replay data file.

l Upload and merge: Uploads the replay data and merges the data's associated job with the current

Gocator 2100, 2300 & 2880 Series Gocator Web Interface • User Interface Overview • 52
 job. Specifically, the settings on the Scan page are overwritten, but all other settings of the current
job are preserved, including any measurements or models.

3. Navigate to the replay data to upload from the client computer and click OK.
The replay data is loaded, and a new unsaved and untitled job is created.

Replay data can be exported using the CSV format. If you have enabled Acquire Intensity in the Scan
Mode panel on the Scan page, the exported CSV file includes intensity data.

Surface intensity data cannot be exported to the CSV format. It can only be exported separately
as a bitmap.

To export replay data in the CSV format:

1. Click the Export button and select Export Range Data as CSV.
In Profile mode, all data in the record buffer is exported. In Surface mode, only data at the current
replay location is exported.
Use the playback control buttons to move to a different replay location; for information on playback,
see To replay data in Recording, Playback, and Measurement Simulation on page 49.

2. Optionally, convert exported data to another format using the CSV Converter Tool. For information on
this tool, see CSV Converter Tool on page 412.

The decision values in the exported data depend on the current state of the job, not the state
during recording. For example, if you record data when a measurment returns a pass decision,
change the measurement's settings so that a fail decision is returned, and then export to CSV,
you will see a fail decision in the exported data.

Recorded intensity data can be exported to a bitmap (.BMP format). Acquire Intensity must be
checked in the Scan Mode panel while data was being recorded in order to export intensity data.

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To export recorded intensity data to the BMP format:
l Click the Export button and select Intensity data as BMP.

Only the intensity data in the current replay location is exported.

Use the playback control buttons to move to a different replay location; for information on playback,
see To replay data in Recording, Playback, and Measurement Simulation on page 49.

Log
The log, located at the bottom of the web interface, is a centralized location for all messages that the
Gocator displays, including warnings and errors.

A number indicates the number of unread messages:

To use the log:

1. Click on the Log open button at the bottom of the web interface.

2. Click on the appropriate tab for the information you need.

Metrics Area
The Metrics area displays two important sensor performance metrics: CPU load and speed (current
frame rate).

The CPU bar in the Metrics panel (at the top of the interface) displays how much of the CPU is being
utilized. A warning symbol ( ) will appear next to the CPU bar if the sensor drops profiles because the
CPU is over-loaded.

CPU at 100%

The Speed bar displays the frame rate of the sensor. A warning symbol ( ) will appear next to it if
triggers (external input or encoder) are dropped because the external rate exceeds the maximum frame
rate.

Open the log for details on the warning. See Log on the previous page for more information.

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Data Viewer
The data viewer is displayed in both the Scan and the Measure pages, but displays different
information depending on which page is active.

When the Scan page is active, the data viewer displays sensor data and can be used to adjust the active
area and other settings. Depending on the selected operation mode (page 73), the data viewer can
display video images, profiles, sections, or surfaces. For details, see Data Viewer on page 105.

When the Measure page is active, the data viewer displays sensor data onto which representations of
measurement tools and their measurements are superimposed. For details, see Data Viewer on page
139.

Because Gocator 2880 has two cameras, two profiles are displayed in the Gocator web
interface.

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

Manage Page Overview

Gocator's system and maintenance tasks are performed on the Manage page.

Element Description

1 Sensor System Contains settings for configuring sensor system and layout, and
boot-up. See Sensor System on the next page.

2 Networking Contains settings for configuring the network. See Networking on

page 61.

3 Motion and Alignment Contains settings to configure the encoder. See Motion and
Alignment on page 61.

4 Jobs Lets you manage jobs stored on the sensor. See Jobs on page 63.

5 Security Lets you change passwords. See Security on page 65.

6 Maintenance Lets you upgrade firmware, create/restore backups, and reset

sensors. See Maintenance on page 66.

7 Support Lets you open an HTML version or download a PDF version of the
manual, download the SDK, or save a support file. Also provides
device information. See Support on page 69

Sensor System
The following sections describe the Sensor System category on the Manage page. This category lets
you choose the layout standalone or dual-sensor systems, and provides other system settings.

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 Dual-sensor layouts are only displayed when a Buddy sensor has been assigned.

Sensor Autostart
With the Autostart setting enabled, laser ranging profiling and measurement functions will begin
automatically when the sensor is powered on. Autostart must be enabled if the sensor will be used
without being connected to a computer.

To enable/disable Autostart:
1. Go to the Manage page and click on the Sensor System category.

2. Check/uncheck the Autostart option in the Main section.

Dual-Sensor System Layout

Mounting orientations must be specified for a dual-sensor system. This information allows the
alignment procedure to determine the correct system-wide coordinates for laser profiling and
measurements. See Coordinate Systems on page 44 for more information on sensor and system
coordinates.

Supported Layouts
Orientation Example

Standalone
The sensor operates as an isolated device.

Reverse
The sensor operates as an isolated device,
but in a reverse orientation.

Wide
Sensors are mounted in Left (Main) and
Right (Buddy) positions for a larger
combined field of view. Sensors may be
angled to avoid occlusions.

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 Orientation Example

Reverse
Sensors are mounted in a left-right layout as
with the Wide layout, but the Buddy sensor
is mounted such that it is rotated 180
degrees around the Z axis to prevent
occlusion along the Y axis.
Sensors should be shifted along the Y axis so
that the laser lines align.

Opposite
Sensors are mounted in Top (Main) and
Bottom (Buddy) positions for a larger
combined measurement range and the
ability to perform Top/Bottom differential
measurements.

To specify the layout:

1. Go to the Manage page and click on the Sensor System category.

2. Select an assigned Buddy sensor in the Visible Sensors list.

See Buddy Assignment below for information on assigning a Buddy Sensor.

3. Select a layout by clicking on one of the layout buttons.

See the table above for information on layouts.

Buddy Assignment
In a dual-sensor system, the Main sensor assumes control of the Buddy sensor after the Buddy sensor is
assigned to the Main sensor. Configuration for both sensors can be performed through the Main
sensor's interface.

Main and Buddy sensors must be assigned unique IP addresses before they can be used on the
same network. Before proceeding, connect the Main and Buddy sensors one at a time (to avoid
an address conflict) and use the steps outline in Running a Dual-Sensor System (page 30) to
assign each sensor a unique address.

When a sensor is acting as a Buddy, it is not discoverable and its web interface is not
accessible.

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To assign a Buddy sensor:
1. Go to the Manage page and click on the Sensor System category.

2. Select a sensor in the Visible Sensors list.

3. Click the Assign button.

A sensor can only be assigned as a Buddy if its firmware and model number match the firmware and
model number of the Main sensor. The Assign button will be greyed out if a sensor cannot be assigned
as a Buddy.
The Buddy sensor is assigned to the Main sensor and its status is updated in the System panel.

To remove a Buddy, click Remove.

Exposure Multiplexing
If the Main and Buddy sensors are mounted such that the camera from one sensor can detect the laser
from the other sensor, the Exposure Multiplexing option can be used to eliminate laser interference.
This setting creates a time offset for laser exposures and ensures that interfering lasers are not strobed
at the same time. Using the Exposure Multiplexing option may reduce the maximum frame rate.

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To enable/disable exposure multiplexing:
1. Go to the Manage page and click on the Sensor System category.

2. In the Layout section, check/uncheck the Exposure Multiplexing option.

This option is only displayed if a buddy is assigned.

Over Temperature Protection

Sensors equipped with a 3B-N laser by default will turn off the laser if the temperature exceeds the safe
operating range. You can override the setting by disabling the overheat protection.

Disabling the setting is not recommended. Disabling the overheat protection feature could lead
to premature laser failure if the sensor operates outside the specified temperature range.

To enable/disable overheat temperature protection:

1. Check/uncheck the Over Temperature Protection option.

2. Save the job file.

Networking
The Networking category on the Manage page provides network settings. Settings must be configured
to match the network to which the Gocator sensors are connected.

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To configure the network settings:
1. Go to the Manage page.

2. In the Networking category, specify the Type, IP, Subnet Mask, and Gateway settings.
The Gocator sensor can be configured to use DHCP or assigned a static IP address.

3. Click on the Save button.

You will be prompted to confirm your selection.

Motion and Alignment

The Motion and Alignment category on the Manage page lets you configure alignment reference,
encoder resolution, and travel speed.

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Alignment Reference
The Alignment Reference setting can have one of two values: Fixed or Dynamic.

Setting Description

Fixed A single, global alignment is used for all jobs. This is typically used when the sensor
mounting is constant over time and between scans, for example, when the sensor is
mounted in a permanent position over a conveyor belt.

Dynamic A separate alignment is used for each job. This is typically used when the sensor’s position
relative to the object scanned is always changing, for example, when the sensor is mounted
on a robot arm moving to different scanning locations.

To configure alignment reference:

1. Go to the Manage page and click on the Motion and Alignment category.

2. In the Alignment section, choose Fixed or Dynamic in the Alignment Reference drop-down.

Encoder Resolution
You can manually enter the encoder resolution in the Resolution setting , or it can be automatically set
by performing an alignment with Type set to Moving. Establishing the correct encoder resolution is
required for correct scaling of the scan of the target object in the direction of travel.

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Encoder resolution is expressed in millimeters per tick, where one tick corresponds to one of the four
encoder quadrature signals (A+ / A- / B+ / B-).

Encoders are normally specified in pulses per revolution, where each pulse is made up of the
four quadrature signals (A+ / A- / B+ / B-). Because Gocator reads each of the four quadrature
signals, you should choose an encoder accordingly, given the resolution required for your
application.

To configure encoder resolution:

1. Go to the Manage page and click on the Motion and Alignment category.

2. In the Encoder section, enter a value in the Resolution field.

Encoder Value and Frequency

The encoder value and frequency are used to confirm the encoder is correctly wired to the Gocator and
to manually calibrate encoder resolution (that is, by moving the conveyor system a known distance and
making a note of the encoder value at the start and end of movement).

Travel Speed
The Travel Speed setting is used to correctly scale scans in the direction of travel in systems that lack an
encoder but have a conveyor system that is controlled to move at constant speed. Establishing the
correct travel speed is required for correct scaling of the scan in the direction of travel.

Travel speed is expressed in millimeters per second.

To manually configure travel speed:

1. Go to the Manage page and click on the Motion and Alignment category.

2. In the Speed section, enter a value in the Travel Speed field.

Travel speed can also be set automatically by performing an alignment with Type set to Moving (see
Aligning Sensors on page 92).

Jobs
The Jobs category on the Manage page lets you manage the jobs stored on a sensor.

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Element Description

Name field Used to provide a job name when saving files.

Jobs list Displays the jobs that are currently saved in the sensor's flash storage.
Save button Saves current settings to the job using the name in the Name field.

Load button Loads the job that is selected in the job list. Reloading the current job discards any unsaved changes.
Delete button Deletes the job that is selected in the job list.
Set as Default Sets the selected job as the default to be loaded when the sensor starts. When the default job is
button selected, this button is used to clear the default.

Download... Downloads the selected job to the client computer.

button
Upload... button Uploads a job from the client computer.

Jobs can be loaded (currently activated in sensor memory) and set as default independently. For
example, Job1 could be loaded, while Job2 is set as the default. Default jobs load automatically when a
sensor is power cycled or reset.

Unsaved jobs are indicated by "[unsaved]".

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To save a job:
1. Go to the Manage page and click on the Jobs category.

2. Provide a name in the Name field.

To save an existing job under a different name, click on it in the Jobs list and then modify it in the Name
field.

3. Click on the Save button or press Enter.

Saving a job automatically sets it as the default, that is, the job loaded when then sensor is restarted.

To download, load, or delete a job, or to set one as a default, or clear a default:

1. Go to the Manage page and click on the Jobs category.

2. Select a job in the Jobs list.

3. Click on the appropriate button for the operation.

Security
Gocator sensors can be secured with passwords to prevent unauthorized access. Each sensor has two
accounts: Administrator and Technician.

Gocator Account Types

Account Description

Administrator The Administrator account has privileges to use the toolbar (loading and saving jobs, recording and
viewing replay data), to view all pages and edit all settings, and to perform setup procedures such as
sensor alignment.
Technician The Technician account has privileges to use the toolbar (loading and saving jobs, recording and
viewing replay data), to view the Dashboard page, and to start or stop the sensor.

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The Administrator and Technician accounts can be assigned unique passwords. By default, passwords
are blank (empty).

To set or change the password for the Administrator account:

1. Go to the Manage page and click on the Security category.

2. In the Administrator section, enter the Administrator account password and password confirmation.

3. Click Change Password.

The new password will be required the next time that an administrator logs in to the sensor.

To set or change the password for the Technician account:

1. Go to the Manage page and click on the Security category.

2. In the Technician section, enter the Technician account password and password confirmation.

3. Click Change Password.

The new password will be required the next time that a technician logs in to the sensor.

If the administrator or technician password is misplaced, the sensor can be recovered using a special
software tool. See Sensor Recovery Tool on page 395 for more information.

Maintenance
The Maintenance category in the Manage page is used to do the following:

l upgrade the firmware and check for firmware updates;

l back up and restore all saved jobs and recorded data;
l restore the sensor to factory defaults;
l reset the sensor.

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Sensor Backups and Factory Reset
You can create sensor backups, restore from a backup, and restore to factory defaults in the
Maintenance category.

Backup files contain all of the information stored on a sensor, including jobs and alignment.

An Administrator should create a backup file in the unlikely event that a sensor fails and a
replacement sensor is needed. If this happens, the new sensor can be restored with the backup
file.

To create a backup:
1. Go to the Manage page and click on the Maintenance category.

2. Click the Backup... button under Backup and Restore.

3. When you are prompted, save the backup.

Backups are saved as a single archive that contains all of the files from the sensor.

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To restore from a backup:
1. Go to the Manage page and click on the Maintenance category.

2. Click the Restore... button under Backup and Restore.

3. When you are prompted, select a backup file to restore.

The backup file is uploaded and then used to restore the sensor. Any files that were on the sensor
before the restore operation will be lost.

To restore a sensor to its factory default settings:

1. Go to the Manage page and click on Maintenance.

2. Consider making a backup.

Before proceeding, you should perform a backup. Restoring to factory defaults cannot be undone.

3. Click the Factory Restore... button under Factory Restore.

You will be prompted whether you want to proceed.

Firmware Upgrade
LMI recommends routinely updating firmware to ensure that Gocator sensors always have the latest
features and fixes.

In order for the Main and Buddy sensors to work together, they must be use the same firmware
version. This can be achieved by upgrading through the Main sensor or by upgrading each
sensor individually.

To download the latest firmware:

1. Go to the Manage page and click on the Maintenance category.

2. Click the Check Updates... button in the Firmware section.

3. Download the latest firmware.

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 If a new version of the firmware is available, follow the instructions to download it to the client
computer.

If the client computer is not connected to the Internet, firmware can be downloaded and transferred to
the client computer by using another computer to download the firmware from LMI's website:
http://www.lmi3D.com/support/downloads.

To upgrade the firmware:

1. Go to the Manage page and click on the Maintenance category.

2. Click the Upgrade... button in the Firmware section.

3. Provide the location of the firmware file in the File dialog.

4. Wait for the upgrade to complete.

After the firmware upgrade is complete, the sensor will self-reset. If a buddy has been assigned, it will
be upgraded and reset automatically.

Support
The Support category in the Manage page is used to:

l open an HTML version or download a PDF version of the manual;

l download the SDK;
l save a support file;
l get device information.

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Support Files
You can download a support file from a sensor and save it on your computer. You can then use the
support file to create a scenario in the Gocator emulator (for more information on the emulator, see
Gocator Emulator on page 231). LMI's support staff may also request a support file to help in
troubleshooting.

To download a support file:

1. Go to the Manage page and click on the Support category.

2. In Filename, type the name you want to use for the support file.
When you create a scenario from a support file in the emulator, the filename you provide here is displayed
in the emulator's scenario list.
Support files end with the .gs extension, but you do not need to type the extension in Filename.

3. (Optional) In Description, type a description of the support file.

When you create a scenario from a support file in the emulator, the description is displayed below the
emulator's scenario list.

4. Click Download, and then when prompted, click Save.

Manual Access
You can access the Gocator manuals from within the Web interface.

To access the manuals:

1. Go to the Manage page and click on the Support category

2. Next to User Manual, click one of the following:

l Open HTML: Opens the HTML version of the manual in your default browser.

l Download PDF: Downloads the PDF version of the manual to the client computer.

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Software Development Kit
You can download the Gocator SDK from within the Web interface.

To download the SDK:

1. Go to the Manage page and click on the Support category

2. Next to Software Development Kit (SDK), click Download

3. Choose the location for the SDK on the client computer.

For more information on the SDK, see Software Development Kit on page 385.

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Scan Setup and Alignment
The following sections describe the steps to configure Gocator sensors for laser profiling using the Scan
page. Setup and alignment should be performed before adding and configuring measurements or
outputs.

Scan Page Overview

The Scan page lets you configure sensors and perform alignment.

Element Description

1 Scan Mode panel Contains settings for the current scan mode (Video, Profile, or Surface) and other options.
See Scan Modes on the next page.

2 Trigger panel Contains trigger source and trigger-related settings. See Triggers on page 74.

3 Sensor panel Contains settings for an individual sensor, such as active area or exposure. See Sensor on
page 79.

4 Alignment panel Used to perform alignment. See Alignment on page 91.

5 Filters panel Contains settings for post-processing of the profiles. See Filters on page 95.

6 Part Detection Used to set the part detection logic for sorting profiles into discrete objects. See Part
panel Detection on page 101.
7 Surface Generation Contains settings for surface generation. See Surface Generation on page 98.
panel

8 Data Viewer Displays sensor data and adjusts regions of interest. Depending on the current operation
mode, the data viewer can display video images , profile plots, or surface views . See Data
Viewer on page 105.

The following table provides quick references for specific goals that you can achieve from the panels in
the Scan page.

Goal Reference

Select a trigger source that is appropriate for the application. Triggers (page 74)

Ensure that camera exposure is appropriate for laser profiling . Exposure (page 83)

Find the right balance between profile quality, speed, and CPU utilization. Active Area (page 79)
Exposure (page 83)
Job Files (page 244)

Specify mounting orientations for dual-sensor systems. Dual-Sensor System Layout (page
57)

Calibrate the system so that laser profile data can be aligned to a common Aligning Sensors (page 92)
reference and values can be correctly scaled in the axis of motion.

Set up the part detection logic to create discrete objects from surfaces or profiles. Part Detection (page 101)

Specify smoothing, gap-filling, and resampling parameters to remove effects of Filters (page 95)
occlusions.

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Scan Modes
The Gocator web interface supports threescan modes: Video, Profile, and Surface. The scan mode can be
selected in the Scan Mode panel.

Mode and Option Description

Video Outputs video images from the Gocator. This mode is useful for configuring exposure
time and troubleshooting stray light or ambient light problems.
Profile Outputs profiles and performs profile measurements.
Video images are processed internally to produce laser profiles and cross-sectional
measurements.

Surface Outputs 3D point clouds made up of many laser profiles combined together and
performs surface measurements. The sensor uses various methods to generate a
surface (see on page 98). Part detection can be enabled on a surface to identify discrete
parts (see on page 101).

Uniform Spacing When this option is enabled, ranges are resampled to a uniform spacing along the X
axis (see on page 45 for more information). The size of the spacing can be set in the
Spacing tab (see on page 88).
When the option is disabled, the Gocator outputs unprocessed range data. Ranges are
reported in (x,z) coordinate pairs. Post-profiling processing is disabled. Only a subset of
the measurement tools is available.
Disable this option to extract ranges from the Gocator at the highest possible rate.
When the sensor is in Surface mode, this option is not available.

Acquire Intensity When this option is enabled, an intensity value will be produced for each laser profile
point.

Triggers
A trigger is an event that causes a sensor to take a single picture. Triggers are configured in the Trigger
panel on the Scan page.

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When a trigger is processed, the laser is strobed and the camera exposes to produce an image. The
resulting image is processed inside the sensor to yield a profile (range/distance information), which can
then be used for measurement.

The laser and camera inside a sensor can be triggered by one of the following sources:

Trigger Source Description

Time Sensors have an internal clock that can be used to generate fixed-frequency triggers. The
external input can be used to enable or disable the time triggers.

Encoder An encoder can be connected to provide triggers in response to motion. Three encoder triggering
behaviors are supported. These behaviors are set using the Behavior setting.

Track Backward

A scan is triggered when the target object moves forward. If the target object moves backward, it
must move forward by at least the distance that the target travelled backward (this distance
backward is "tracked"), plus one encoder spacing, to trigger the next scan.

Ignore Backward

A scan is triggered only when the target object moves forward. If the target object moves
backward, it must move forward by at least the distance of one encoder spacing to trigger the
next scan.

Bi-directional

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Trigger Source Description

A scan is triggered when the target object moves forward or backward.

When triggers are received at a frequency higher than the maximum frame rate, some triggers
may not be accepted. The Trigger Drops Indicator in the Dashboard can be used to check for
this condition.

The external input can be used to enable or disable the encoder triggers.

See Encoder Input on page 443 for more information on connecting the encoder to Gocator
sensors.

External Input A digital input can provide triggers in response to external events (e.g., photocell).

When triggers are received at a frequency higher than the maximum frame rate, some triggers
may not be accepted. The Trigger Drops Indicator in the Dashboard page can be used to check
for this condition.

See Digital Inputs on page 442 for more information on connecting external input to Gocator
sensors.

Software A network command can be used to send a software trigger. See Protocols on page 311 for more
information.

For examples of typical real-world scenarios, see below. For information on the settings used with each
trigger source, see on the next page

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Trigger Examples
Example: Encoder + Conveyor
Encoder triggering is used to perform profile
measurements at a uniform spacing.
The speed of the conveyor can vary while the
object is being measured; an encoder ensures
that the measurement spacing is consistent,
independent of conveyor speed.

Example: Time + Conveyor

Time triggering can be used instead of encoder
triggering to perform profile measurements at a
fixed frequency.
Measurement spacing will be non-uniform if the
speed of the conveyor varies while the object is
being measured.
It is strongly recommended to use an encoder
with transport-based systems due to the
difficulty in maintaining constant transport
velocity.

Example: External Input + Conveyor

External input triggering can be used to
produce a snapshot for profile measurement.
For example, a photocell can be connected as
an external input to generate a trigger pulse
when a target object has moved into position.
An external input can also be used to gate the
trigger signals when time or encoder triggering
is used. For example, a photocell could generate
a series of trigger pulses as long as there is a
target in position.

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Example: Software Trigger + Robot Arm
Software triggering can be used to produce a
snapshot for profile measurement.
A software trigger can be used in systems that
use external software to control the activities of
system components.

Trigger Settings
The trigger source is selected using the Trigger panel in the Scan page.

After specifying a trigger source, the Trigger panel shows the parameters that can be configured.

Parameter Trigger Source Description

Source All Selects the trigger source (Time, Encoder, External Input, or
Software).
Frame Rate Time Controls the frame rate. Select Max Speed from the drop-
down to lock to the maximum frame rate. Fractional values are
supported. For example, 0.1 can be entered to run at 1 frame
every 10 seconds.

Gate on External Input Time, Encoder External input can be used to enable or disable profiling in a
sensor. When this option is enabled, the sensor will respond to
time or encoder triggers only when the external input is
asserted.
This setting is not displayed when Surface Generation is set

Gocator 2100, 2300 & 2880 Series Gocator Web Interface • Scan Setup and Alignment • 77
Parameter Trigger Source Description

to Fixed Length, Variable Length, or Rotational (see on

page 98).
See See Digital Inputs on page 442 for more information on
connecting external input to Gocator sensors.

Behavior Encoder Specifies how the Gocator sensor is triggered when the target
moves. Can be Track Backward, Ignore Backward, or Bi-
Directional. See Triggers on page 74 for more information on
these behaviors.

Spacing Encoder Specifies the distance between triggers (mm). Internally the
Gocator sensor rounds the spacing to a multiple of the encoder
resolution.

Units External Input, Software Specifies whether the trigger delay, output delay, and output
scheduled command operate in the time or the encoder
domain. The unit is implicitly set to microseconds with Time
trigger source, and millimeters with Encoder trigger source.

Trigger Delay External Input Controls the amount of time or the distance the sensor waits
before producing a frame after the external input is activated.
This is used to compensate for the positional difference
between the source of the external input trigger (e.g.,
photocells) and the sensor.
Trigger delay is only supported in single exposure mode; for
details, see Exposure on page 83.

Depending on the surface generation settings, some trigger options may not be available.

To configure the trigger source:

1. Go to the Scan page.

2. Expand the Trigger panel by clicking on the panel header.

3. Select the trigger source from the drop-down.

4. Configure the settings.

See the trigger parameters above for more information.

5. Save the job in the Toolbar by clicking the Save button .

Sensor
The following sections describe the settings that are configured in the Sensor panel on the Scan page.

Active Area
Active area refers to the region within the sensor's maximum field of view that is used for laser profiling.

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By default, the active area covers the sensor's entire field of view. By reducing the active area, the sensor
can operate at higher speeds.

Active area is specified in sensor coordinates,

rather than in system coordinates. As a result, if
the sensor is already alignment calibrated, press
the Acquire button to display uncalibrated data
before configuring the active area. See Coordinate
Systems on page 44 for more information on
sensor and system coordinates.

To set the active area:

1. Go to the Scan page.

2. Choose Profile or Surface mode in the Scan Mode panel, depending on the type of measurement
whose decision you need to configure.
If one of these modes is not selected, tools will not be available in the Measure panel.

3. Expand the Sensor panel by clicking on the panel header or the button.

4. Click the button corresponding to the sensor you want to configure.

The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system.
Active area is specified separately for each sensor.

5. Click on the Active Area tab.

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6. Click the Select button.

7. Click the Acquire button to see a scan while setting the active area.

8. Set the active area.

Enter the active area values in the edit boxes or adjust the active area graphically in the data viewer.

9. Click the Save button in the Sensor panel.

Click the Cancel button to cancel setting the active area.

10. Save the job in the Toolbar by clicking the Save button .

Laser profiling devices are usually more accurate at the near end of their measurement range.
If your application requires a measurement range that is small compared to the maximum
measurement range of the sensor, mount the sensor so that the active area can be defined at
the near end of the measurement range.

Tracking Window
Gocator 2100 series sensors do not support tracking window.

The Gocator can track a relatively flat object in real-time to achieve very high scan rates. This feature
tracks the object height using a small window that moves dynamically to cover a larger measurement
range. You can balance the gain in speed and the tracking ability by configuring the size of the tracking
area. This feature is typically used in road or web scanning applications where the target is a continuous
flat surface.

A laser line remains tracked as long as the percentage of detected laser points exceeds the user-defined
search threshold. When the sensor loses track of the laser line, the sensor will search for the laser line
using the full active area.

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To enable the tracking window:
1. Go to the Scan page.

2. Choose Profile or Surface mode in the Scan Mode panel.

If one of these modes is not selected, you will not be able to set the tracking window.

3. Expand the Sensor panel by clicking on the panel header.

4. Click on the Active Area tab.

5. Check the Tracking Window box.

The panel below the checkbox expands and shows the settings for the window used to track the object
height.

6. Click the tracking window's Select button.

7. Resize the tracking window shown in the data viewer.

Only the height of the window is required. You can move the position of the tracking window to cover a
live profile to help adjust the window height.

8. Edit the Search Threshold setting.

The search threshold defines the minimum percentage of the points detected across the profile for the
laser to be considered tracked. If tracking is lost, the sensor will search for the laser using the full active
area.

9. Click the Save button in the Sensor panel.

10. Save the job in the Toolbar by clicking the Save button .

The sensor adjusts the position of the tracking window so that the area is centered around the average
height of the entire visible laser profile. You should adjust the lighting and the active area to remove all
background objects, such as the conveyor belt surface, ambient lights, etc.

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Transformations
The transformation settings are used to control how profiles are converted from sensor coordinates to
system coordinates.

Parameter Description

X Offset Specifies the shift along the X axis. With Normal orientation, a positive value shifts the profiles to
the right. With Reverse orientation, a positive value shifts the profiles to the left.
Z Offset Specifies the shift along the Z axis. A positive value shifts the profiles toward the sensor.
Angle Specifies the tilt (rotation in the X-Z plane). A positive value rotates the profile counter-clockwise.

When applying the transformations, Angle is applied before the X and Z offsets.

To configure transformation settings:

1. Go to the Scan page.

2. Choose Profile or Surface mode in the Scan Mode panel, depending on the type of measurement
whose decision you need to configure.
If one of these modes is not selected, tools will not be available in the Measure panel.

3. Expand the Sensor panel by clicking on the panel header.

4. Click the button corresponding to the sensor you want to configure.

The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system.
Transformations can be configured separately for each sensor.

5. Expand the Transformations area by clicking on the expand button .

See the table above for more information.

6. Set the parameter values.

See the table above for more information.

7. Save the job in the Toolbar by clicking the Save button .

8. Check that the transformation settings are applied correctly after profiling is restarted.

Exposure
Exposure determines the duration of camera and laser on-time. Longer exposures can be helpful to
detect laser signals on dark or distant surfaces, but increasing exposure time decreases the maximum
speed. Different target surfaces may require different exposures for optimal results. Gocator sensors
provide three exposure modes for the flexibility needed to scan different types of target surfaces.

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Exposure Mode Description

Single Uses a single exposure for all objects. Used when the surface is uniform and is the same for
all targets.
Dynamic Automatically adjusts the exposure after each frame. Used when the target surface varies
between scans.
Multiple Uses multiple exposures to create a single profile. Used when the target surface has a varying
reflectance within a single profile (e.g., white and black).

Video mode lets you see how the laser line appears on the camera and identify any stray light or
ambient light problems. When exposure is tuned correctly, the laser should be clearly visible along the
entire length of the viewer. If it is too dim, increase the exposure value; if it is too bright decrease
exposure value.

Under-exposure: Over-exposure:
Laser line is not detected. Laser line is too bright.
Increase the exposure value. Decrease the exposure value.

When the Gocator is in Multiple exposure mode, select which exposure to view using the drop-down box
next to "View" in the data viewer. This drop-down is only visible in Video scan mode when the Multiple
option is selected in the Exposure section in the Sensor panel.

Single Exposure
The sensor uses a fixed exposure in every scan. Single exposure is used when the target surface is
uniform and is the same for all parts.

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To enable single exposure:
1. Place a representative target in view of the sensor.
The target surface should be similar to the material that will normally be measured.

2. Go to the Scan page.

3. Expand the Sensor panel by clicking on the panel header.

4. Click the button corresponding to the sensor you want to configure.

The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system.
Exposure can be configured separately for each sensor.

5. Click on the Exposure tab.

6. Select Single from the Exposure Mode drop-down.

7. Edit the Exposure setting.

You can automatically tune the exposure by pressing the Auto Set button, which causes the sensor to
turn on and tune the exposure time.

8. Run the sensor and check that laser profiling is satisfactory.

If laser profiling is not satisfactory, adjust the exposure values manually. Switch to Video mode to use
video to help tune the exposure; see Exposure on page 83 for details.

Dynamic Exposure
The sensor automatically uses past profile information to adjust the exposure to yield the best profile.
This is used when the target surface changes from scan to scan.

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To enable dynamic exposure:
1. Go to the Scan page.

2. Expand the Sensor panel by clicking on the panel header or the button.

3. Click the button corresponding to the sensor you want to configure.

The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system.
Exposure can be configured separately for each sensor.

4. Click on the Exposure tab.

5. Select Dynamic from the Exposure Mode drop-down.

6. Set the minimum and maximum exposure.

The auto-set function can be used to automatically set the exposure. First, place the brightest target in
the field of view and press the Auto Set Min button to set the minimum exposure. Then, place the
darkest target in the field of view and press the Auto Set Max button to set the maximum exposure.

7. Run the sensor and check that laser profiling is satisfactory.

If laser profiling is not satisfactory, adjust the exposure values manually. Switch to Video mode to use
video to help tune the exposure; see Exposure on page 83 for details.

Multiple Exposure
The sensor combines data from multiple exposures to create a single laser profile . Multiple exposures
can be used to increase the ability to detect light and dark materials that are in the field of view
simultaneously.

Up to five exposures can be defined with each set to a different exposure level. For each exposure, the
sensor will perform a complete scan at the current frame rate making the effective frame rate slower.

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For example, if two exposures are selected, then the speed will be half of the single exposure frame rate.
The sensor will perform a complete multi-exposure scan for each external input or encoder trigger.

The resulting profile is a composite created by combing data collected with different exposures. The
sensor will choose profile data that is available from the lowest-numbered exposure step. It is
recommended to use a larger exposure for higher-numbered steps.

To enable multiple exposure:

1. Go to the Scan page.

2. Expand the Sensor panel by clicking on the panel header or the button.

3. Click the button corresponding to the sensor you want to configure.

The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system.
Exposure can be configured separately for each sensor.

4. Click on the Exposure tab.

5. Select Multiple from the Exposure Mode drop-down.

6. Click the button to add an exposure step.

Up to a maximum of five exposure settings can be added.
To remove an exposure, select it in the exposure list and click the button.

7. Set the exposure level for each exposure to make the Gocator's camera less or more sensitive, as
required.
If Acquire Intensity is enabled, select the exposure step that is used to capture the intensity output.

8. If Acquire Intensity is enabled, select the exposure step that is used to capture the intensity output.

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9. Run the sensor and check that laser profiling is satisfactory.
If laser profiling is not satisfactory, adjust the exposure values manually. Switch to Video mode to use
video to help tune the exposure; see Exposure on page 83 for details.

Spacing
The Spacing tab lets you configure settings related to spacing (sub-sampling and spacing interval).

Sub-Sampling
Sub-sampling reduces the number of camera columns or rows that are used for laser profiling, reducing
the resolution. Reducing the resolution increases speed or reduces CPU usage while maintaining the
sensor's field of view. Sub-sampling can be set independently for the X axis and Z axis.

The X sub-sampling setting is used to decrease the profile's X resolution to decrease sensor CPU usage.
The X setting works by reducing the number of image columns used for laser profiling.

The 1/4 sub-sampling setting is not available on Gocator 2100 series sensors.

The Z sub-sampling setting is used to decrease the profile's Z resolution to increase speed. The Z setting
works by reducing the number of image rows used for laser profiling.

Sub-sampling values are expressed as fractions in the Web interface. For example, an X sub-sampling
value of 1/2 indicates that every second camera column will be used for laser profiling.

The CPU Load bar at the top of the interface displays how much the CPU is being used.

Both the X and the Z sub-sampling settings must be decreased to increase speed.

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To configure X or Z sub-sampling:
1. Go to the Scan page.

2. Expand the Sensor panel by clicking on the panel header or the button.

3. Click the button corresponding to the sensor you want to configure.

The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system.
X and Z sub-sampling can be configured separately for each sensor.

4. Click on the Spacing tab.

5. Select an X or Z sub-sampling value.

6. Save the job in the Toolbar by clicking the Save button .

7. Check that laser profiling is satisfactory.

Spacing Interval
Spacing interval is the spacing between data points in resampled data. (In Profile mode, resampled data
is only produced if the Uniform Spacing option in the Scan Mode panel is checked.) A larger interval
creates profiles with lower X resolution, reduces CPU usage, and potentially increases the maximum
frame rate. A larger interval also reduces the data output rate. For more information on resampled data,
see Uniform Spacing (Data Resampling) on page 45.

The Uniform Spacing option must be checked in the Scan Mode panel for the Spacing
Interval option to be displayed.

You can set the spacing interval either to one of three presets or set a custom value.

To configure the spacing interval:

1. Go to the Scan page.

2. Choose Profile or Surface mode in the Scan Mode panel.

If one of these modes is not selected, you will not be able to configure the spacing interval.

3. Expand the Sensor panel by clicking on the panel header or the button.

4. Click the button corresponding to the sensor you want to configure.

The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system.
Spacing is specified separately for each sensor.

5. Click on the Spacing tab.

6. Do one of the following:

l Choose Auto and move the slider to one of the following values:

Speed: Uses the lowest X resolution within the active area as the spacing interval. This setting minimizes
CPU usage and data output rate, but the profile has the lowest X resolution (i.e., least detail).

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 Balanced: Uses the X resolution at the middle of the active area as the spacing interval. This setting
balances CPU load, data output rate, and X resolution.

Resolution: Uses the highest X resolution within the active area as the spacing interval. This setting
maximizes resolution but has higher CPU load and has the highest data output rate (i.e., greatest detail).

l Choose Custom and move the slider to a precise value.

7. Save the job in the Toolbar by clicking the Save button .

Material
Profile data acquisition can be configured to suit different types of target materials. This helps maximize
the number of useful profile points produced. For many targets, changing the setting is not necessary,
but it can make a great difference with others.

Preset material types can be selected in the Materials setting.

When Materials is set to Custom, the following settings can be configured:

Setting Description

Spot Threshold The minimum increase in intensity level between neighbouring pixels for a pixel to be
considered the start of a potential spot.

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Setting Description

This setting is important for filtering false profile spots generated by sunlight reflection.

Spot Width Max The maximum number of pixels a spot is allowed to span.
This setting can be used to filter out data caused by background light if the unwanted
light is wider than the laser and does not merge into the laser itself. A lower Spot
Width Max setting reduces the chance of false detection, but limits the ability to detect
features/surfaces that elongate the spot.

Spot Selection Determines the spot selection method.

Best selects the strongest spot in a given column on the imager.
Top selects the topmost spot or the one farthest to the left on the imager, and Bottom
selects the bottommost spot or the one farthest to the right on the imager. These
options can be useful in applications where there are reflections, flying sparks or
smoke that are always on one side of the laser.
None performs no spot filtering. If multiple spots are detected in an imager column,
they are left as is. This option is only available if Uniform Spacing is disabled in the
Scan Mode panel on the Scan page; for more information on uniform spacing, see
Uniform Spacing (Data Resampling) on page 45.
Analog Analog camera gain can be used when the application is severely exposure limited, yet
dynamic range is not a critical factor.

Digital Digital camera gain can be used when the application is severely exposure limited, yet
dynamic range is not a critical factor.

Sensitivity Controls the exposure that dynamic exposure converges to. The lower the value, the
lower the exposure Gocator will settle on.
The trade-off is between the number of exposure spots and the possibility of over-
exposing.

Threshold The minimum number of spots for dynamic exposure to consider the spot valid. If the
number of spots is below this threshold, the algorithm will walk over the allowed
exposure range slowly to find the correct exposure.

To configure material:
1. Go to the Scan page.

2. Expand the Sensor panel by clicking on the panel header or the button.

3. Click the button corresponding to the sensor you want to configure.

The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system.
Materials can be configured separately for each sensor.

4. Click on the Materials tab.

5. Choose a material in the Materials drop-down or choose Custom to manually configure settings.
See the table above for the customizable settings.

6. Save the job in the Toolbar by clicking the Save button .

7. Check that laser profiling is satisfactory.

After adjusting the setting, confirm that laser profiling is satisfactory.

Gocator 2100, 2300 & 2880 Series Gocator Web Interface • Scan Setup and Alignment • 90
Various settings can affect how the Material settings behave. You can use Video mode to examine how
the settings interact. See Spots and Dropouts on page 108 for more information.

Alignment
Gocator sensors are pre-calibrated and ready to deliver profiles in engineering units (mm) out of the box.
However, alignment procedures are required to compensate for sensor mounting inaccuracies, to align
multiple sensors into a common coordinate system, and to determine the resolution (with encoder) and
speed of the transport system. Alignment is performed using the Alignment panel on the Scan page.

Once alignment has been completed, the derived transformation values will be displayed under
Transformations in the Sensor panel; see Transformations on page 82 for details.

Alignment States
A Gocator can be in one of three alignment states: None, Manual, or Auto.

Alignment State
State Explanation

None Sensor is not aligned. Profiles are reported in default sensor coordinates.
Manual Transformations (see on page 82) or encoder resolution (see on page 77) have been
manually edited.
Auto Sensor is aligned using the alignment procedure (see on the next page).

An indicator on the Alignment panel will display ALIGNED or UNALIGNED, depending on the Gocator's
state.

Alignment Types
Gocator sensors support two types of alignment, which are related to whether the target is stationary or
moving.

Type Description

Stationary Stationary is used when the sensor mounting is constant over time and between
scans, e.g., when the sensor is mounted in a permanent position over a conveyor
belt.

Moving Moving is used when the sensor's position relative to the object scanned is
always changing, e.g., when the sensor is mounted on a robot arm moving to
different scanning locations.

Alignment: With and Without Encoder Calibration

For systems that use an encoder, encoder calibration can be performed while aligning sensors. The table
below summarizes the differences between performing alignment with and without encoder calibration
calibration.

With encoder calibration Without encoder calibration

Target Type Calibration disk or calibration bar Flat surface or calibration bar

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 With encoder calibration Without encoder calibration

Target/Sensor Motion Linear motion Stationary

Calibrates Tilt Yes Yes
Calibrates Z axis Offset Yes Yes
Calibrates X axis Offset Yes Yes (Calibration bar required)
Calibrates Encoder Yes No
Calibrates Travel Speed Yes No

See Coordinate Systems on page 44 for definitions of coordinate axes. See Calibration Targets on page
24 for descriptions of calibration disks and bars.

See Aligning Sensors below for the procedure to perform alignment. After alignment, the coordinate
system for laser profiles will change from sensor coordinates to system coordinates.

Aligning Sensors
Alignment can be used to compensate for mounting inaccuracies by aligning sensor data to a common
reference surface (often a conveyor belt).

To prepare for alignment:

1. Choose an alignment reference in the Manage page if you have not already done so.
See Alignment Reference on page 62 for more information.

2. Go to the Scan page.

3. Choose Profile or Surface mode in the Scan Mode panel, depending on the type of measurement
whose decision you need to configure.
If one of these modes is not selected, tools will not be available in the Measure panel.

4. Expand the Alignment panel by clicking on the panel header or the button.

5. Ensure that all sensors have a clear view of the target surface.
Remove any irregular objects from the sensor's field of view that might interfere with alignment. If
using a bar for a dual-sensor system, ensure that the lasers illuminate a reference hole on the bar.

To perform alignment for stationary targets:

1. In the Alignment panel, select Stationary as the Type.

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2. Clear the previous alignment if present.
Press the Clear Alignment button to remove an existing alignment.s

3. Select an alignment Target.

l Select Flat Surface to use the conveyor surface (or other flat surface) as the alignment reference

l Select Bar to use a custom calibration bar. If using a calibration bar, specify the bar dimensions
and reference hole layout. See Calibration Targets on page 24 for details.

Configure the characteristics of the target.

4. Place the target under the sensor

5. Click the Align button.

The sensors will start, and the alignment process will take place. Alignment is performed
simultaneously for all sensors. If the sensors do not align, check and adjust the exposure settings (page
83).
Alignment uses the exposure defined for single exposure mode, regardless of the
current exposure mode

6. Use Profile mode to inspect alignment results.

Laser profiles from all sensors should now be aligned to the alignment target surface. The base of the
alignment target (or target surface) provides the origin for the system Z axis.

To perform alignment for moving targets:

1. Do one of the following if you have not already done so.
l If the system uses an encoder, configure encoder resolution. See Encoder Resolution on page 62 for
more information.

l If the system does not use an encoder, configure travel speed. See Travel Speed on page 63 for
more information.

2. In the Alignment panel, select Moving as the Type.

3. Clear the previous alignment if present.

Press the Clear Alignment button to remove an existing alignment.

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4. Select an alignment Target.
l Select one of the disk Disk options to use a disk as the alignment reference.

l Select Bar to use a custom calibration bar. If using a calibration bar, specify the bar dimensions
and reference hole layout. See Calibration Targets on page 24 for details.

Configure the characteristics of the target.

5. Place the target under the sensor

6. If the system uses an encoder and you want to calibrate it, check the Encoder Calibration checkbox.

7. Click the Align button.

The sensors will start and then wait for the calibration target to pass through the laser plane.
Alignment is performed simultaneously for all sensors. If the sensors do not align, check and adjust the
exposure settings (page 83).
Alignment uses the exposure defined for single exposure mode, regardless of the
current exposure mode

8. Engage the transport system.

When the calibration target has passed completely through the laser plane, the calibration process will
complete automatically. To properly calibrate the travel speed, the transport system must be running
at the production operating speed before the target passes through the laser plane.

9. Use Profile mode to inspect alignment results.

Laser profiles from all sensors should now be aligned to the alignment target surface. The base of the
alignment target (or target surface) provides the origin for the system Z axis.

When using an alignment bar, there can be at most one hole in each sensor's field of view.

Clearing Alignment
Alignment can be cleared to revert the sensor to sensor coordinates.

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To clear alignment:
1. Go to the Scan page.

2. Choose Profile or Surface mode in the Scan Mode panel, depending on the type of measurement
whose decision you need to configure.
If one of these modes is not selected, tools will not be available in the Measure panel.

3. Expand the Alignment panel by clicking on the panel header or the button.

4. Click the Clear Alignment button.

The alignment will be erased and sensors will revert to using sensor coordinates.

Filters
Filters are used to post-process data along the X or Y axis to remove noise or clean it up before it is
output or is used by measurement tools. The following types of filters are supported:

Filter Description

Gap Filling Fills in missing data caused by occlusions using information from the nearest neighbors.
Gap filling also fills gaps where no data is detected, which can be due to the surface
reflectivity, for example dark or specular surface areas, or to actual gaps in the surface.

Median Substitutes the value of a data point with the median within a specified window around
the data point.

Smoothing Applies moving window averaging to reduce random noise.

Decimation Reduces the number of data points.

Filters are applied in the order displayed in the table above. The filters are configured in the Filters panel
on the Scan page.

Gap Filling
Gap filling works by filling in missing data points using either the lowest values from the nearest
neighbors or linear interpolation between neighboring values (depending on the Z difference between
neighboring values), in a specified window. The sensor can fill gaps along both the X axis and the Y axis. X
gap filling works by filling in the gaps within the same profile. Y gap filling works by filling in gaps in the
direction of travel at each X location.

If both X and Y gap filling are enabled, missing data is filled along the X and Y axes at the same time, using
the available neighboring data.

In Profile mode, Gap Filling is limited to the X axis. (The Y setting is not available.)

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To configure X or Y gap filling:
1. Go to the Scan page.

2. Choose Profile or Surface mode in the Scan Mode panel.

If one of these modes is not selected, you will not be able to configure gap filling.

3. Expand the Filters panel by clicking on the panel header or the button.

4. Click on the Gap Filling tab.

5. Enable the X or Y setting and select the maximum width value.

The value represents the maximum gap width that the Gocator will fill. Gaps wider than the maximum
width will not be filled.

6. Save the job in the Toolbar by clicking the Save button .

7. Check that the laser profiling is satisfactory.

Median
The Median filter substitutes the value of a data point with the median calculated within a specified
window around the data point.

Missing data points will not be filled with the median value calculated from data points in the
neighbourhood.

To configure X or Y median:
1. Go to the Scan page.

2. Choose Profile or Surface mode in the Scan Mode panel.

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 If one of these modes is not selected, you will not be able to configure the median filter.

3. Expand the Filters panel by clicking on the panel header or the button.

4. Click on the Median tab.

5. Enable the X or Y setting and select the maximum width value.

6. Save the job in the Toolbar by clicking the Save button .

7. Check that the laser profiling is satisfactory.

Smoothing
Smoothing works by substituting a data point value with the average value of that data point and its
nearest neighbors within a specified window. Smoothing can be applied along the X axis or the Y axis. X
smoothing works by calculating a moving average across samples within the same profile. Y smoothing
works by calculating a moving average in the direction of travel at each X location.

If both X and Y smoothing are enabled, the data is smoothed along X axis first, then along the Y axis.

Missing data points will not be filled with the mean value calculated from data points in the
neighbourhood.

To configure X or Y smoothing:
1. Go to the Scan page.

2. Choose Profile or Surface mode in the Scan Mode panel.

If one of these modes is not selected, you will not be able to configure smoothing.

3. Expand the Filters panel by clicking on the panel header or the button.

4. Click on the Smoothing tab.

5. Enable the X or Y setting and select the averaging window value.

6. Save the job in the Toolbar by clicking the Save button .

7. Check that the laser profiling is satisfactory.

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Decimation
Decimation reduces the number of data points along the X or Y axis by choosing data points at the end
of a specified window around the data point. For example, by setting X to .2, points will be used every .2
millimeters.

To configure X or Y decimation:
1. Go to the Scan page.

2. Choose Profile or Surface mode in the Scan Mode panel.

If one of these modes is not selected, you will not be able to configure the decimation filter.

3. Expand the Filters panel by clicking on the panel header or the button.

4. Click on the Decimation tab.

5. Enable the X or Y setting and select the decimation window value.

6. Save the job in the Toolbar by clicking the Save button .

7. Check that the laser profiling is satisfactory.

Surface Generation
The sensor can generate a surface by combining a series of profiles gathered along the direction of
travel.

The sensor uses different methods to generate a surface, depending on the needs of the application.
Surface generation is configured in the Surface Generation panel on the Scan page.

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The following types correspond to the Type setting in the panel.

When Type is set to Continuous, part detection is automatically enabled. When Type is set to
anything else, part detection can be enabled and disabled in the Part Detection panel. See Part
Detection on page 101 for descriptions of the settings that control detection logic.

Continuous: The sensor

continuously generates surfaces of
parts that are detected under the
sensor.

Fixed Length: The sensor

generates surfaces of a fixed length
(in mm) using the value in the
Length setting.
For correct length measurement,
you should ensure that motion is
calibrated (that is, encoder
resolution for encoder triggers or
travel speed time triggers).
The Type setting provides two
types of start triggers:
o Sequential: Continuously

generates back-to-back fixed

length surfaces.
o External Input: A pulse on the
digital input triggers the
generation of a single surface of
fixed length.

For more information on

connecting external input to a
Gocator sensor, see on page 442.
You can optionally enable part
detection to process the
profilesurface after it has been
generated, but the generation itself
does not depend on the detection
logic. To do this, check Enabled in
the Part Detection panel.

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Variable Length: The sensor
generates surfaces of variable
length. Profiles collected while the
external digital input is held high are
combined to form a surface. If the
value of the Max Length setting is
reached while external input is still
high, the next surface starts
immediately with the next profile.
For correct length measurement,
you should ensure that motion is
calibrated (i.e., encoder resolution
for encoder triggers or travel speed
for time triggers).
For more information on
connecting external input to a
Gocator sensor, see on page 442.
You can optionally enable part
detection to process the
profilesurface after it has been
generated, but the generation itself
does not depend on the detection
logic. To do this, check Enabled in
the Part Detection panel.

Rotational: The sensor reorders

profiles within a surface to be
aligned with the encoder’s index
pulse. That is, regardless of the
radial position the sensor is started
at, the generated surface always
starts at the position of the index
pulse. If the index pulse is not
detected and the rotation
circumference is met, the surface is
dropped and the Encoder Index
Drop indicator will be incremented.
To scan exactly one
revolution of a
circular target without
knowing the
circumference,
manually set the
encoder resolution

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 (page 62) to 1, the
encoder trigger
spacing (page 74) to
(number of encoder
ticks per revolution) /
(number of desired
profiles per
revolution), and
Encoder Resolution
in the Surface
Generation panel to
the number of
encoder ticks per
revolution.

You can optionally enable part

detection to process the surface
after it has been generated, but the
generation itself does not depend
on the detection logic. To do this,
check Enabled in the Part
Detection panel.

To configure surface generation:

1. Go to the Scan page and choose Surface in the Scan Mode panel.
If this mode is not selected, you will not be able to configure surface generation.

2. Expand the Surface Generation panel by clicking on the panel header or the button.

3. Choose an option from the Type drop-down and any additional settings.
See the types and their settings described above.

Part Detection
In Surface mode, the Gocator sensor can analyze the 3D point cloud created from profiles to identify
discrete objects. Surface measurements can then be performed on each discrete object. Part detection is
configured using the Part Detection panel on the Scan page.

Part detection must be manually enabled when Type is set to Fixed Length, Variable Length, or
Rotational in the Surface Generation panel. When Type is set to Continuous, part detection is
automatically enabled.

Part detection can be performed when Source in the Trigger panel is set to Time or Encoder. To use
the Time trigger source, the travel speed must be calibrated. To use the Encoder trigger source, the
encoder resolution must be calibrated. See Aligning Sensors on page 92 for more information.

Multiple parts can pass through the laser at the same time and will be individually tracked. Parts can be
separated along the laser line (X axis), in the direction of travel (Y axis), or by gated external input.

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The following settings can be tuned to improve the accuracy and reliability of part detection.

Setting Description

Height Threshold Determines the profile height threshold for part detection. The setting for Threshold
Direction determines if parts should be detected above or below the threshold. Above is
typically used to prevent the belt surface from being detected as a part when scanning
objects on a conveyor.
In an Opposite layout, the threshold is applied to the difference between the top and the
bottom profile. A target thinner than the threshold value is ignored, including places
where only one of either top or bottom is detected.
To separate parts by gated external input, set the Height Threshold to the active area Z
offset (i.e., minimum Z position of the current active area), set Source to Time or
Encoder and check the Gate Using External Input checkbox in the Trigger panel
(page 74).

Threshold Direction Determines if parts should be detected above or below the height threshold.

Gap Width Determines the minimum separation between objects on the X axis. If parts are closer

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Setting Description

than the gap interval, they will be merged into a single part.

Gap Length Determines the minimum separation between objects on the Y axis. If parts are closer
than the gap interval, they will be merged into a single part.

Padding Width Determines the amount of extra data on the X axis from the surface surrounding the
detected part that will be included. This is mostly useful when processing part data with
third-party software such as HexSight, Halcon, etc.

Padding Length Determines the amount of extra data on the Y axis from the surface surrounding the
detected part that will be included. This is mostly useful when processing part data with
third-party software such as HexSight, Halcon, etc.

Min Area Determines the minimum area for a detected part. Set this value to a reasonable
minimum in order to filter out small objects or noise.

Max Part Length Determines the maximum length of the part object. When the object exceeds the
maximum length, it is automatically separated into two parts. This is useful to break a
long object into multiple sections and perform measurements on each section.

Frame of Reference Determines the coordinate reference for surface measurements.

Sensor
When Frame of Reference is set to Sensor, the sensor's frame of reference is used.
The way the sensor's frame of reference is defined changes depending on the surface
generation Type setting ( see on page 98 for more information):
l When parts are segmented from a continuous surface (the surface generation Type
setting is set to Continuous), measurement values are relative to a Y origin at the
center of the part (the same as for Part frame of reference; see below).

l When parts are segmented from other types of surfaces (the surface generation Type
setting is set to Fixed Length, Variable Length, or Rotational ), measurement
values are relative to a Y origin at the center of the surface from which the part is
segmented.

The Surface Bounding Box GlobalX and GlobalY measurements (see Bounding Box on
page 178) are exceptions: regardless of the Frame of Reference setting, these
measurements produce the Sensor frame of reference values of the Part frame of
reference origin (which is the bounding box center), except for GlobalY when parts are
segmented from continuous surfaces. In this case the GlobalY value is the Y value relative
to the encoder zero position. These values can be used to locate Part frame of reference
measurements in a world space.

Part
When Frame of Reference is set to Part, all measurements except Bounding Box X and
Y are relative to the center of the bounding box of the part. For Bounding Box X and Y,
the measurement values are always relative to the sensor frame of reference (see
Bounding Box on page 178).
Edge Filtering See Edge Filtering on the next page.

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To set up part detection:
1. Go to the Scan page and choose Surface in the Scan Mode panel.
If this mode is not selected, you will not be able to configure part detection.

2. Expand the Part Detection panel by clicking on the panel header or the button.
3. If necessary, check the Enabled option.
When Surface Generation is set to Continuous, part detection is always enabled.

4. Adjust the settings.

See the part detection parameters above for more information.

Edge Filtering
Part scans sometimes contain noise around the edges of the target. This noise is usually caused by the
sensor’s light being reflected off almost vertical sides, rounded corners, etc. Edge filtering helps reduce
edge noise in order to produce more accurate and repeatable volume and area measurements, as well as
to improve positioning of relative measurement regions. Optionally, the Preserve Interior Feature
setting can be used to limit filtering to the outside edges of the target.

Edge Filtering disabled (scan shows reflection noise)

Edge Filtering enabled (reflection noise eliminated or reduced)

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 Edge Filtering enabled, Preserve Interior Feature enabled

To configure edge filtering:

1. Go to the Scan page and choose Surface in the Scan Mode panel.
If this mode is not selected, you will not be able to configure part detection.

2. Expand the Part Detection panel by clicking on the panel header or the button and enable part
detection if necessary.
Part detection can be enabled and disabled when Type in the Surface Generation panel is set to Fixed
Length, Variable Length, or Rotational. Part detection is automatically enabled when Type is set to
Continuous.

3. Check the Edge Filtering checkbox to enable edge filtering.

4. Configure the Width and Length settings.

The Width and Length settings represent the size of the filter on the X axis and the Y axis, respectively.

5. Set the Preserve Interior Feature setting if necessary.

The Preserve Interior Feature setting limits filtering to the outside edges of the target.

Data Viewer
The data viewer can display video images, , profiles, sections, surfaces, height maps, and intensity
images. It is also used to configure the active area (see on page 79) and measurement tools (see on page
138). The data viewer changes depending on the current operation mode and the panel that has been
selected.

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Data Viewer Controls
The data viewer is controlled by mouse clicks and by the buttons on the display toolbar. The mouse
wheel can also be used for zooming in and out.

Press 'F' when the cursor is in the data viewer to switch to full screen.

Video Mode
In Video mode, the data viewer displays a camera image. In a dual-sensor system, camera images from
the Main or the Buddy sensor can be displayed. In this mode, you can configure the data viewer to
display additional information that can be useful in properly setting up the Gocator for scanning.

Exposure Information
In Video mode, you can display exposure-related information.

Exposures
If you have set Exposure Mode to Multiple, and have set more than one exposure, a drop-down is
displayed at the top of the data viewer. This drop-down lists the available exposures. Choosing an
exposure changes the view of the data viewer to that exposure. For details on setting exposure in the
Exposure tab in the Sensor panel, see on page 83.

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To select the exposure view of the display:
1. Go to the Scan page and choose Video mode in the Scan Mode panel.

2. Select the camera view in the data viewer.

Use the first drop-down list next to View at the top of the data viewer to select Main or Buddy.

3. Select the exposure.

Use the second drop-down list next to View at the top of the data viewer to select the exposure.

Overexposure and Underexposure

You can display a color exposure overlay on the video image to help set the correct exposure.

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The Exposure setting uses the following colors:

n Blue: Indicates background pixels ignored by the sensor.

n Red: Indicates saturated pixels.

Correct tuning of exposure depends on the reflective properties of the target material and on the
requirements of the application. Settings should be carefully evaluated for each application, but often a
good starting point is to set the exposure so that there are 2 to 3 red pixels in the center of the laser line.

To display an overlay:
1. Go to the Scan page and choose Video mode in the Scan Mode panel.

2. Check Exposure at the top of the data viewer.

Spots and Dropouts

Various settings can affect how the Material settings behave. In Video mode, you can examine how the
Material settings are affected. To do this, in Video mode, check the Show Spots option at the top of
the data viewer to overlay a representation of the spots in the data viewer.

In the image below, the white and gray squares represent the laser line as it appears on the camera
sensor. Spots (which represent the center of the laser line on the camera sensor for each column) are
displayed as red "x" symbols.Dropouts (where no spot is detected on the camera sensor in a given
column) are depicted at the upper edge of the data viewer as yellow dots.

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To show data dropouts:
1. Go to the Scan page and choose Video mode in the Scan Mode panel.

2. check the Show Dropouts option at the top of the data viewer.

For more information on the material settings, see Material on page 89.

Profile Mode
When the Gocator is in Profile scan mode, the data viewer displays profile plots.

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In a dual-sensor system, profiles from individual sensors or from a combined view can be displayed.

When in the Scan page, selecting a panel (e.g., Sensor or Alignment panel) automatically sets the
display to the most appropriate display view.

To manually select the display view in the Scan page:

1. Go to the Scan page.

2. Choose Profile mode in the Scan Mode panel.

3. Select the view.

Top: View from a single sensor, from the top sensor in an opposite-layout dual-sensor system, or the
combined view of sensors that have been aligned to use a common coordinate system.
Bottom: View from the bottom sensor in an opposite-layout dual-sensor system.

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 Left: View from the left sensor in a dual-sensor system.
Right: View from the right sensor in a dual-sensor system.
Left & Right: Views from both sensors, displayed at the same time in the data viewer, using the
coordinate systems of each sensor.

In the Measure page, the view of the display is set to the profile source of the selected measurement
tool.

Section Mode
When the Gocator is in Surface scan mode, the data viewer can display sections (profiles extracted from
surfaces).

In a dual-sensor system, profiles from individual sensors or from a combined view can be displayed.

When in the Scan page, selecting a panel (e.g., Sensor or Alignment panel) automatically sets the
display to the most appropriate display view.

To manually select the display view in the Scan page:

1. Go to the Scan page.

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2. Choose Surface mode in the Scan Mode panel.

3. Just above the data viewer, choose Section in the View drop-down.
The view from an individual sensor or the combined view of two sensors can be selected from the drop-
down list at the top of the data viewer.
Top: View from a single sensor, from the top sensor in an opposite-layout dual-sensor system, or the
combined view of sensors that have been aligned to use a common coordinate system.
Bottom: View from the bottom sensor in an opposite-layout dual-sensor system.
Left: View from the left sensor in a dual-sensor system.
Right: View from the right sensor in a dual-sensor system.
Left & Right: Views from both sensors, displayed at the same time in the data viewer, using the
coordinate systems of each sensor.

In the Measure page, the view of the display is set to the profile source of the selected measurement
tool.

Surface Mode
When the Gocator is in Surface scan mode, the data viewer can display height maps and intensity
images. You can select the data to display from the View drop-down.

Clicking on the 3D button displays Surface data in the 3D viewer. The 3D model is overlaid with the
information that corresponds to the selected View option.

View Option Information

Profile Plots the last collected profile. (Only available in 2D view.)

Surface - Heightmap In 2D view, displays the pseudo color height map.

In 3D view, overlays the 2D pseudo color height map on the 3D model.

Surface - Grayscale In 2D view, displays the grayscale height map.

In 3D view, overlays the grayscale height map on the 3D model.

Surface - Uniform Overlays a uniform shaded surface on the 3D model. (Only available in 3D view.)

Surface - Intensity In 2D view, displays the intensity.

In 3D view, overlays the intensity map on the 3D model.
(Acquire Intensity must be checked in the Scan Mode panel.)

Choosing the Profile view option will switch the data viewer out of the 3D viewer and display the profile
plot.

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 2D viewer with height map overlay 2D viewer with grayscale overlay

2D viewer with intensity overlay

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 3D viewer with height map overlay 3D viewer with grayscale overlay

3D viewer with uniform overlay 3D viewer with uniform overlay

Clicking on the 3D button toggles between the 2D and 3D viewer. See Data Viewer Controls on page 106
for explanations on the available controls.

In a dual-sensor system, data from individual sensors or from a combined view can be selected. While in
the Scan page, selecting a panel (e.g., Sensor or Part Detection panel) will automatically set the display
to the most appropriate display type and display view.

To manually select the display type and the display view in the Scan page:
1. Go to the Scan page.

2. Select the View options in the data viewer.

Profile, Heightmap, Grayscale, Uniform, or Intensity can be selected from the left drop-down list.
The view from an individual sensor or the combined view of two sensors can be selected from the right
drop-down list.

Height Map Color Scale

Height maps are displayed in pseudo-color. The height axis (Z) is color-coded. The scaling of the height
map can be adjusted.

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To change the scaling of the height map:
1. Select Heightmap from the drop-down in the data viewer.

2. Click the Scaling button.

l To automatically set the scale, choose Auto in the Range drop-down.

l To automatically set the scale based on a user-selected sub-region of the heightmap, choose Auto
- Region in the Range drop-down and adjust the yellow region box in the data viewer to the desired
location and size.

l To manually set the scale, choose the Manual in the Range drop-down and enter the minimum
and maximum height to which the colors will be mapped.

Region Definition
Regions, such as an active area or a measurement region, can be graphically set up using the data viewer.

When the Scan page is active, the data viewer can be used to graphically configure the active area. The
Active Area setting can also be configured manually by entering values into its fields and is found in the
Sensor panel see on page 79.

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To set up a region of interest:
1. Move the mouse cursor to the rectangle.
The rectangle is automatically displayed when a setup or measurement requires an area to be
specified.

2. Drag the rectangle to move it, and use the handles on the rectangle's border to resize it.

Intensity Output
Gocator sensors can produce intensity images that measure the amount of light reflected by an object.
An 8-bit intensity value is output for each range value along the laser line . Gocator applies the same
coordinate system and resampling logic as the ranges to the intensity values.

Intensity output is enabled by checking the Acquire Intensity checkbox in the Scan Mode panel.

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Models
The following sections describe how to set up part matching using a model, a bounding box, or an ellipse.
It also describes how to configure sections.

Model Page Overview

The Model page lets you set up part matching and sections.

Element Description

1 Part Matching Contains settings for configuring models and for part matching.
panel

2 Sections panel Contains settings for configuring sections, which let you extract profiles from surfaces.

3 Data Viewer Displays sensor data and lets you add and remove model edge points.

Part Matching
You can use Gocator to match parts to a previously saved model (see Using Edge Detection on page 119)
or to the dimensions of a fitted bounding box or ellipse (see Using Bounding Box and Ellipse on page
128), regardless of the orientation of the part you are trying to match. When parts match, Gocator can
rotate scans so that they are all oriented in the same way.

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When the match quality between a model and a part reaches a minimum value (a percentage), or the
bounding box or ellipse that encapsulates the part is between minimum and maximum dimension
values, the part is "accepted" and any measurements that are added in the Measure page will return
valid values, as long as the target is in range, etc. If the part is "rejected," any measurements added in the
Measure page will return an Invalid value. For more information on measurements and decision values,
see on page 138.

Using Edge Detection

When using edge detection for part matching, the Gocator compares a model that you must create from
a previous scan to a "target" (one of the parts you want to match to the model).

In the data viewer, a model is represented as a yellow outline. The target is represented as a blue outline.
If the part match quality above a minimum user-defined level, any measurements configured on the
Measure page are applied.

Model (yellow outline) and target (blue outline).

Part match quality is 87.789%, which is greater
than the minimum set by the user, so the parts match.

When you create a model, the Gocator runs an edge detection algorithm on either the heightmap or
intensity image of a scanned part. The resulting model is made up of the detected edge points. The scan
used to create the model should be of a reference (or "golden") part to which all other parts will be
compared.

After the model has been created, you optionally modify the model by adjusting the sensitivity (how
many edge points are detected), or selectively remove edge points from the model, to improve
matching.

Models are saved as part of a job.

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Once you have finished modifying the model, you can also modify target sensitivity, which controls how
many edge points are detected on the subsequently scanned targets that will be compared to the
model; the same edge detection algorithm used for creating models is used to compare a model to a
part.

Typically, setting up edge detection to perform part matching involves the following steps:

1. Scan a reference part (you can also use replay data that you have previously saved).

2. Create a model based on the scan (using either heightmap or intensity data).

3. Adjust the model (edge detection algorithm sensitivity and selective removal of edge points).

4. Scan another part typical of the parts that would need to match the model.

5. Adjust the target sensitivity.

6. Set match acceptance level.

Part Matching panel showing Target Matching tab

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 Model Editing tab on Part Matching panel

The following settings are used to configure part matching using edge detection.

Setting Description

Match Algorithm Determines which algorithm the sensor will use to attempt a match. Set this to
Edge for edge detection.

Image Type Determines what kind of data the Gocator will use to detect edges and therefore
for part matching. Choose this setting based on the kinds of features that will be
used for part matching:
Heightmap : Surface elevation information of the scanned part will be used to
determine edges. This setting is most commonly used.
Intensity: Intensity data (how light or dark areas of a scanned part are) will be
used to determine edges. Use this setting if the main distinguishing marks are
printed text or patterns on the parts. The Acquire Intensity option must be
checked in the Scan Mode panel on the Scan page for this option to be
available.

Z Angle Corrects the orientation of the model to accurately match typical orientation and
simplify measurements.

Target Sensitivity (Target Controls the threshold at which an edge point is detected on the target's
Matching tab) heightmap or intensity image. (The "target" is any part that is matched to the
model and which will subsequently be measured if the match is accepted.)
Setting Target Sensitivity higher results in more edge points. Setting it lower
results in fewer edge points and results in higher performance. Use this setting to
exclude noise from the detected edges and to make sure distinguishing features
are properly detected.
The level of this setting should generally be similar to the level of Model
Sensitivity.
Model Sensitivity Controls the threshold at which an edge point is detected on the heightmap or
(Model Editing tab) intensity image used to create the model. Setting Model Sensitivity higher
results in more edge points. Setting it lower results in fewer edge points and
results in higher performance. Use this setting to exclude noise from the detected
edges and to make sure distinguishing features are properly detected.
The level of this setting should generally be similar to the level of Target
Sensitivity.
Changing this setting causes the edge detection algorithm to run again at the new

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Setting Description

threshold. If you have edited edge points manually (removing them selectively),
those changes will be lost. See Using Edge Detection on page 119 for more
information.

Edge Points The Edit button lets you selectively remove edge point that are detected by the
(Model Editing tab) edge detection algorithm at the current Model Sensitivity setting. See Using
Edge Detection on page 119 for more information.
Acceptance Criteria Determines the minimum quality level of the match as a percentage value.

Part rejected: Quality result is less than Min

To run part matching, simply make sure that the Enabled option is checked on the Part Matching
panel when the Gocator is running. Any measurements that are added and configured on the Measure
page will be applied to parts if a part match is accepted, regardless of the part's orientation (a
successfully matched part is rotated to match orientation of the model), returning a value and decision
(as long as the part is in range, etc.). If a part match is rejected, measurements will return an Invalid
value.

Creating a Model
Gocator creates a model by running an edge detection algorithm on the heightmap or intensity image of
a scan. The algorithm is run when a model is first created and whenever the Model Sensitivity setting is
changed.

To create a model:
1. Go to the Scan page.
a. In the Scan Mode panel, choose Surface.

You must choose Surface in order to scan a part. Furthermore, the Model page is only displayed in
Surface mode.
b. If you want to use intensity data to create the model, make sure Acquire Intensity is checked.
c. In the Part Detection panel, choose Part for the Frame of Reference.

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 Part matching is only available when Part has been selected.

2. Do one of the following:

l Scan a reference part. See Scan Setup and Alignment on page 72 for more information on setting up and
aligning Gocator. See Running a Standalone Sensor System on page 35 or Running a Dual-Sensor System on
page 36 for more information on running a system to scan a part.

l Locate some previously recorded replay data and load it. See Recording, Playback, and Measurement Sim-
ulation on page 49 and Downloading, Uploading, and Exporting Replay Data on page 52 for more inform-
ation on replay data.

3. Go to the Model page.

a. Make sure the Enabled option is checked in the Part Matching panel.
b. In the Match Algorithm drop-down, choose Edge.

4. Click Stop on the toolbar if the sensor is running.

5. Click Add Current Scan.

After adding the model, the Gocator will show that the match quality is 100%, because it is
in effect comparing the model to the scan that was used to create the model. This value can
be ignored.

6. In the Image Type drop-down, choose Heightmap or Intensity.

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7. If you need to correct the orientation of the model, provide a value in the Z Angle field.
Correcting the Z angle is useful if the orientation of the model is not close to the typical angle of target parts
on the production line.

8. Save the job by clicking the Save button .

Models are saved in job files.
See Creating, Saving and Loading Jobs (Settings) on page 47 for more information on saving jobs.

After you have created a model, you may wish to modify it to remove noise to improve its matching
capabilities. You may also wish to modify a model to exclude certain areas. See Creating a Model on the
previous page for more information.

Model names can be renamed.

To rename a model:
1. In the Models list, double-click on a model name.

2. Type a new name in the model name field.

3. Press Enter or click outside the model name field.

4. Save the job by clicking the Save button .

To delete a model, click the button.

Modifying a Model's Edge Points

Modifying a model's edge points is useful to exclude noise in the detected edge points and to make sure
distinguishing features are properly detected, which can improve matching. You can modify edge points
in two ways.

First, you can control the overall number of edge points that are detected by the edge detection
algorithm by raising and lowering the edge detection threshold (the Model Sensitivity setting).
Modifying Model Sensitivity causes the edge detection algorithm to run again.

Second, you can fine-tune the model's edge points by selectively removing edge points that are detected
by the edge detection algorithm. This could be useful, for example, if an edge on the target parts
frequently presents minor variations such as flashing (excess material caused by leakage during
molding): the edge points that make up the model can be edited to exclude that region. Editing the
model can allow parts to match it more easily.

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 Edge points along top of model not removed.
Part is rejected. (Min set to 85%.)

Edge points along top of model removed.

Part is accepted. (Min set to 85%.)

Removing edge points does not cause the edge detection algorithm to run again.

To change model senstivity:

1. In the Models list, select the model you want to configure by clicking on its selection control.

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2. Click the Model Editing tab.

3. Adjust the Model Sensitivity slider to exclude noise and to properly detect the distinguishing features that
will match parts.

You can also set the sensitivity value manually in the provided text box.

4. Save the job by clicking the Save button .

To manually remove model edge points:

1. In the Models list, select the model you want to configure by clicking on its selection control.

2. In the Model Editing tab, click on the Edit button.

3. On the toolbar above the data viewer, make sure the Select tool is active.

4. Click in the data viewer and hold the mouse button while moving the pointer over the edge points you want
to remove.

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 Points within the circular Select tool are removed from the model. Removed edge points turn red in the data
viewer.

You can zoom in to see individual edge points by using the mouse wheel or by using the Zoom mode ( ).
5. If you have removed too many edge points, use Ctrl + Click in the data viewer to add the edge points back.

6. When you have finished editing the model, click Save in the Model Editing tab.

7. Save the job by clicking the Save button on the toolbar.

Adjusting Target Sensitivity

After you have added a model and optionally adjusted it, you must scan a different part, one that is
typical of parts that must match the model.

Much in the same way that you can adjust a model's sensitivity, you can adjust the target sensitivity, that
is, the threshold at which edge points are detected on the heightmaps or intensity images of parts that
you want to match to the model. Adjusting the target sensitivity is useful to exclude noise, improving
part matching.

To change target senstivity:

1. Click the Target Matching tab.

2. Adjust the Target Sensitivity setting to exclude noise in order to properly detect the distinguishing features
that will allow parts to match.

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 You can also set the sensitivity value manually in the provided text box.

Setting the Match Acceptance Criteria

In order for a part to match a model, the match quality must reach the minimum set in the Min field in
Acceptance Criteria section of the Part Matching panel.

Part accepted: Quality result is greater than Min

Running Part Matching

To run part matching, simply make sure that the Enabled option is checked on the Part Matching
panel when the Gocator is running. Any measurements that are added and configured on the Measure
page will be applied to parts if a part match is accepted, regardless of the part's orientation (a
successfully matched part is rotated to match orientation of the model), returning a value and decision
(as long as the part is in range, etc.). If a part match is rejected, measurements will return an Invalid
value.

Using Bounding Box and Ellipse

When using a bounding box or an ellipse to match parts, the Gocator tests whether a part fits into a
bounding box or ellipse that you define. A match will occur regardless of orientation.

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In the data viewer, a bounding box or ellipse is displayed with a blue outline. If a part fits in the bounding
box or ellipse, any measurements configured on the Measure page are applied.

Blue bounding box around a part.

(Yellow lines show currently selected
dimension in Part Matching panel.)

Typically, setting up a bounding box or an ellipse to perform part matching involves the following steps:

1. Scan a reference part (you can also use replay data that you have previously saved).

2. Set the characteristics of the bounding box (width and length) or ellipse (major and minor axes).

Part Matching panel (Bounding Box match algorithm)

The following settings are used to configure part matching using a bounding box or ellipse.

Setting Description

Match Algorithm Determines which algorithm the sensor will use to attempt a match. Set this to

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Setting Description
Bounding Box or Ellipse.

Z Angle Corrects the orientation of the bounding box or ellipse to accurately match
typical orientation and simplify measurements.
Asymmetry Detection Rotates scans based on the asymmetry of the scanned part.
Gocator calculates the number of points on each side of the part's centroid in the
bounding box or ellipse.
Along Major Axis – The scan is flipped so that the greater number of points is
to the left.
Along Minor Axis – The scan is flipped so that the greater number of points is
on the bottom.
None – The scan is not flipped.
Acceptance Criteria Determines the minimum and maximum acceptable values of the selected
dimension (Width and Length for bounding box, Major and Minor for ellipse) in
Match Result.

Configuring a Bounding Box or an Ellipse

To use a bounding box or an ellipse to match a part, you must set its dimensions, taking into account
expected acceptable variations when compared to a reference (or "golden") part.

To configure a bounding box or ellipse for part matching:

1. Go to the Scan page.
a. In the Scan Mode panel, choose Surface.

You must choose Surface in order to scan a part. Furthermore, the Model page is only displayed in
Surface mode.
Intensity data is not used when part matching using a bounding box or an ellipse, but you can enable the
Acquire Intensity option if you need intensity data for other reasons.
b. In the Part Detection panel, choose Part for the Frame of Reference.

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 Part matching is only available when Part has been selected.

2. Do one of the following:

l Scan a reference part. See Scan Setup and Alignment on page 72 for more information on setting up and
aligning Gocator. See Running a Standalone Sensor System on page 35 or Running a Dual-Sensor System on
page 36 for more information on running a system to scan a part.

l Locate some previously recorded replay data and load it. See Recording, Playback, and Measurement Sim-
ulation on page 49 and Downloading, Uploading, and Exporting Replay Data on page 52 for more inform-
ation on replay data.

3. Go to the Model page.

a. Make sure the Enabled option is checked in the Part Matching panel.
b. In the Match Algorithm drop-down, choose Bounding Box or Ellipse.

4. Set Min and Max of both of the dimensions of the selected match algorithm shape, taking into account
expected acceptable variations.
l If you chose Bounding Box for the match algorithm, select Width and then Length in Match Result, set-
ting the minimum and maximum values acceptable for each dimension.

l If you chose Ellipse for the match algorithm, select Minor and then Major in Match Result, setting the
minimum and maximum values acceptable for each dimension.

5. Save the job by clicking the Save button .

See Creating, Saving and Loading Jobs (Settings) on page 47 for more information on saving jobs.

Running Part Matching

To run part matching, simply make sure that the Enabled option is checked on the Part Matching
panel when the Gocator is running. Any measurements that are added and configured on the Measure
page will be applied to parts if a part match is accepted, regardless of the part's orientation (a
successfully matched part is rotated to match orientation of the bounding box or ellipse), returning a
value and decision (as long as the part is in range, etc.). If a part match is rejected, measurements will
return an Invalid value.

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Using Part Matching to Accept or Reject a Part
Part matching results only determine whether a measurement is applied to a part. Whether the
measurement returns a pass or fail value—its decision—depends on whether the measurement's value
is between the Min and Max values set for the measurement. This decision, in addition to the actual
value, can in turn be used to control a PLC for example. The part matching "decision" itself is not passed
to the Gocator output, but you can simulate this by setting up a measurement that will always pass if it is
applied.

For example, you could set up a Position Z measurement, choosing Max Z as the feature type, and
setting the Min and Max values to the measurement range of the sensor. This way, as long as a part
matches and the target is in range, etc., the measurement will pass. This measurement decision, which is
passed to the Gocator's output, could in turn be used to control a PLC.

Sections
In Surface mode, Gocator can extract a profile from a surface using a line you define on that surface. The
resulting profile is called a “section.” A section can have any orientation on the surface, but its profile is
parallel to the Z axis.

You can use any profile measurement tool on a section, except for the Bridge Value tool. You can
therefore use measurements that are not otherwise possible in Surface mode, for example:

l Gap and flush measurements

l Surface radius measurements (for example, rounded edges or corners)
l Intersections
l Point-to-point dimension measurements between profile features

Gocator supports multiple sections, letting you take multiple measurements on the same object.

On the Output page, in Surface mode, you can output both surface measurements and section-based
profile measurements at the same time. Gocator can also output the surfaces and section profiles
themselves at the same time.

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 Part in data viewer (3D view)

Section defined on top of part (2D view)

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 Circle Radius measurement running on profile extracted
from surface using defined section

You can configure the sampling distance between points along the section. Reducing the sampling
distance reduces the resolution of the profile, but increases the sensor’s performance and results in less
data being sent over the output.

Mininum spacing interval: highest profile resolution,

greater sensor CPU usage and data output

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 Maximum spacing interval: lowest profile resolution,
lower sensor CPU usage and data output

Using a higher spacing interval can produce different measurement results compared to using
a smaller spacing interval. You should therefore compare results before using sections in
production.

The sections you add to a surface are directional, and their start and end points are defined using X and Y
coordinates. The start point always corresponds to the leftmost point on the extracted profile, whereas
the end point always corresponds to the rightmost point on the extracted profile, no matter the
orientation of the section on the surface.

For more information on profile tools, see Profile Measurement on page 149.

Creating a Section
In order to create a section, you should first scan a target in Surface mode to create a surface on which
you can create the section. You can use either live data or recorded data. Although you can create a
section without a surface scan, creating a section on a surface scan lets you position the section properly.

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After creating a section, the following settings are available:

Setting Description

Spacing Interval Determines the space between the points of the extracted profile.
Auto - The highest resolution, calculated using the X and Y resolution of the scan.
Custom - Lets you set the spacing interval by using a slider or setting the value
manually.

Section Lets you manually set the X and Y coordinates of the start and end points of the
section.
Setting the coordinates manually is especially useful if you need to create a section that
is perfectly horizontal or vertical. For example, to create a perfectly horizontal section,
copy the Y value of either the start or end point to the other point's Y field.
You can reverse the start and end points by clicking the button.
To reset the start and end points to their initial values, click the button.

To create a section:
1. On the Scan page, in the Scan Mode panel, click Surface.

2. On the Model page, in the Section panel, click Add.

You may need to click the button to expand the panel.
Gocator creates a section on the surface.

3. Move the section and adjust the start and end points of the section to extract the desired profile.
You can move or adjust the section graphically in the data viewer, or you can manually adjust the X and
Y coordinates of the section.

4. (Optional) Adjust the Spacing Interval.

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After you create a section, Gocator lists the profile measurement tools in the Tools panel on the
Measure page. If you have created more than one section, you must select it in the tool. For more
information on profile measurement tools, see Profile Measurement on page 149.

Gocator also adds a Section option to the View drop-down above the data viewer, which lets you view
an extracted profile.

If parts are not consistently oriented in the same way, you can use part matching to correct their
rotation. Parts will then be consistently oriented, and sections will fall on the same area on each part.
You can also use anchoring to ensure that measurements are consistently placed on a part.

Only one section can be visualized and configured at a time.

Deleting a Section
When you delete a section, Gocator removes any associated measurements. After you remove the last
section, Gocator no longer displays profile measurement tools in the Measure page.

To delete a section:
1. On the Scan page, in the Scan Mode panel, click Surface.

2. On the Model page, in the Section panel, click the button of the section you want to delete.
You may need to click the button to expand the panel.
If you have associated a measurement tool to the section by setting the tool's Stream setting to the section,
Gocator asks if you want to delete all of the associated measurement tools.
Gocator deletes the section on the surface.

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Measurement
The following sections describe the Gocator's tools and measurements.

Measure Page Overview

Measurement tools are added and configured using the Measure page.

The content of the Tools panel in the Measure page depends on the current scan mode. In Profile
mode, the Measure page displays tools for profile measurement.In Surface mode, the Measure page
displays tools for surface measurement. In Video mode, tools are not accessible.

Element Description

1 Tools panel Used to add, manage, and configure tools and measurements (see on the next page)
and to choose anchors (see on page 144).

2 Data Viewer Displays profile or surface data, sets up tools, and displays result calipers related to
the selected measurement.

Parts are displayed using a height map, which is a top-down view of the XY plane,
where color represents height.

See Data Viewer on the next page.

3 Feature Area Configurable region of interest from which feature points are detected. These
feature points are used to calculate the measurements. The number of feature
areas displayed depends on which measurement tool is currently selected.

Data Viewer
Regions, such as active area or measurement regions, can be graphically set up using the data viewer.

When the Measure page is active, the data viewer can be used to graphically configure measurement
regions. Measurement regions can also be configured manually in measurements by entering values into
the provided fields (see on page 141).

For instructions on how to set up measurement regions graphically, see on page 115.

Tools Panel
The Tools panel lets you add, configure, and manage tools. Tools contain related measurements. For
example, the Dimension tool provides Height, Width, and other measurements.

Some settings apply to tools, and therefore to all measurements, whereas some settings apply to specific
measurements. See Profile Measurement on page 149 and Surface Measurement on page 177 for
information on the measurement tools and their settings.

Tool names in the user interface include the scan mode, but not in the manual. So for example,
you will see "Profile Area" or "Surface Bounding Box" in the user interface, but simply "Area" or
"Bounding Box" in the manual.

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Adding and Configuring a Tool
Adding a tool adds all of the tool's measurements to the Tools panel. You can then enable and configure
the measurments selectively.

To add and configure a tool:

1. Go to the Scan page by clicking on the Scan icon.

2. Choose Profile or Surface mode in the Scan Mode panel.

If one of these modes is not selected, tools will not be available in the Measure panel.

3. Go to the Measure page by clicking on the Measure icon.

4. In the Tools panel, select the tool you want to add from the drop-down list of tools.

5. Click on the Add button in the Tools panel.

The tool and its available measurements are added to the tool list. The tool parameters are listed in the
area below the tool list.

6. (Optional) If you are running a dual-sensor system, choose the sensor that will provide data to the
measurement tool in Source.
For more information on sources, see Source below.

7. (Optional) If the measurement is a profile measurement running on a section, and you have created
more than one section, choose the section that will provide data to the measurement in Stream.
For more information on streams, see Streams (Sections) on the next page.

8. Select a measurement at the bottom of the tool panel.

9. Set any tool- or measurement-specific settings.

For tool- and measurement-specific settings, see the topics for the individual profile or surface tools.

10. Set the Min and Max decision values.

For more information on decisions, see Decisions on page 142.

11. (Optional) Set one or more filters.

For more information on filters, see Filters on page 143.

12. (Optional) Set up anchoring.

For more information on anchoring, see Measurement Anchoring on page 144.

If the drop-down list contains only the Distance measurement, the sensor is not equipped with
profile tools. The Distance measurement is provided in all sensors to demonstrate the
measurement capability.

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Source
For dual-sensor systems, you must specify a profile source for measurement tools. The source
determines which sensor provides data for the measurement. The same source is used for all of a tool's
measurements.

Depending on the layout you have selected, the Source drop-down will display one of the following (or a
combination). For more information on layouts, see Dual-Sensor System Layout on page 57.

The Source setting applies to all of a tool's measurements.

Setting Description

Top Refers to the Main sensor in a standalone or dual-sensor system, the Main sensor in
Opposite layout, or the combined data from both Main and Buddy sensors.

Bottom Refers to a Buddy sensor in a dual-sensor system position in Opposite layout.

Top Left Refers to a Main sensor in Wide layout or to a Buddy sensor in Reverse layout in a dual-
sensor system position.

Top Right Refers to a Buddy sensor in Wide layout or to a Main sensor in Reverse layout in a dual-
sensor system position.

To select the source:

1. Go to the Measure page by clicking on the Measure icon.

The scan mode must be set to the type of measurement you need to configure.
Otherwise, the wrong tools, or no tools, will be listed on the Measure page.

2. In the Tools panel, click on a tool in the tool list.

3. Click on the Parameter tab in the tool configuration area.

4. Select the profile source in the Source drop-down list.

Streams (Sections)
If you create more than one section on a surface and then add a profile measurement, you must choose
which section profile that measurement uses using the Stream setting in the measurement.

The Stream setting applies to all of a tool's measurements.

To choose a stream:
1. Go to the Measure page by clicking on the Measure icon.

The scan mode must be set to the type of measurement you need to configure.
Otherwise, the wrong tools, or no tools, will be listed on the Measure page.

2. In the Tools panel, click on a tool in the tool list.

3. In the measurement list, select a measurement.

To select a measurement, it must be enabled. See Enabling and Disabling Measurements on page 146

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 for instructions on how to enable a measurement.

4. Click on the Output tab.

For some measurements, only the Output tab is displayed.

5. Enter values in the Min and Max fields.

Regions
Region parameters are used by many tools to limit the region in which a measurement will occur or to
help in the identification of a feature (see on page 149), a fit line (see on page 151), or left or right side of
the Panel measurements (Gap and Flush; see Panel on page 168).

All tools provide region settings under the Parameters tab.

The Region settings apply to all of a tool's measurements.

See the individual tools for details on using this parameter with each tool.

This parameter is also referred to as a measurement region.

In 2D mode, the tool region defaults to the center of the current data view, not the global field
of view. In 3D mode, the region defaults to the global field of view.

To configure regions:
1. Go to the Measure page by clicking on the Measure icon.

The scan mode must be set to the type of measurement you need to configure.
Otherwise, the wrong tools, or no tools, will be listed on the Measure page.

2. In the Tools panel, click on a tool in the tool list.

3. Expand the region section by clicking on the expand button .

Some region settings are found within other settings in this area.

4. Configure the region using the fields or graphically using the mouse in the data viewer.

Decisions
Results from a measurement can be compared against minimum and maximum thresholds to generate
pass / fail decisions. The decision state is pass if a measurement value is between the minimum and

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maximum threshold. In the data viewer and next to the measurement, these values are displayed in
green. Otherwise, the decision state is fail. In the user interface, these values are displayed in red.

All measurements provide decision settings under the Output tab.

Value (14.786) within decision thresholds (Min: 14, Max: 15). Decision: Pass

Value (1604.250) outside decision thresholds (Min: 1500, Max: 1600). Decision: Fail

Along with measurement values, decisions can be sent to external programs and devices. In particular,
decisions are often used with digital outputs to trigger an external event in response to a measurement.
See Output on page 216 for more information on transmitting values and decisions.

To configure decisions:
1. Go to the Measure page by clicking on the Measure icon.

The scan mode must be set to the type of measurement you need to configure.
Otherwise, the wrong tools, or no tools, will be listed on the Measure page.

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2. In the Tools panel, click on a tool in the tool list.

3. In the measurement list, select a measurement.

To select a measurement, it must be enabled. See Enabling and Disabling Measurements on page 146
for instructions on how to enable a measurement.

4. Click on the Output tab.

For some measurements, only the Output tab is displayed.

5. Enter values in the Min and Max fields.

Filters
Filters can be applied to measurement values before they are output from the Gocator sensors.

All measurements provide filter settings under the Output tab.

Filter Description

Scale and Offset The Scale and Offset settings are applied to the measurement value according to the
following formula:

Scale * Value + Offset

Scale and Offset can be used to transform the output without the need to write a script. For
example, to convert the measurement value from millimeters to thousands of an inch, set
Scale to 39.37. To convert from radius to diameter, set Scale to 2.

Hold Last Valid Holds the last valid value when the measurement is invalid. Measurement is invalid if there
is no valid value.

Smoothing Applies moving window averaging to reduce random noise in a measurement output. The
averaging window is configured in number of frames.

If Hold Last Valid is enabled, smoothing uses the output of the Hold Last Valid filter.

To configure the filters:

1. Go to the Measure page by clicking on the Measure icon.

The scan mode must be set to the type of measurement you need to configure.
Otherwise, the wrong tools, or no tools, will be listed on the Measure page.

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2. In the Tools panel, click on a tool in the tool list.

3. In the measurement list, select a measurement.

To select a measurement, it must be enabled. See Enabling and Disabling Measurements on page 146
for instructions on how to enable a measurement.

4. Click on the Output tab.

For some measurements, only the Output tab is displayed.

5. Expand the Filters panel by clicking on the panel header or the button.

6. Configure the filters.

Refer to the table above for a list of the filters.

Measurement Anchoring
Measurement anchoring is used to track the movement of parts within the field of view of the sensor,
compensating for variations in the height and position of parts. The movement is calculated as an offset
from the position of a measured feature, where the offset is then used to correct the positions of
measurement regions of other measurement tools. This ensures that the regions used to measure
features are correctly positioned for every part.

Anchoring is not required in order to use measurement tools. This is an optional feature that helps make
measurements more robust when the position and the height of the target varies from target to target.

Any X, Y, or Z measurement can be used as an anchor for a tool.

Several anchors can be created to run in parallel. For example, you could anchor some measurements
relative to the left edge of a target at the same time as some other measurements are anchored relative
to the right edge of a target.

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To anchor a profile or surface tool to a measurement:
1. Put a representative target object in the field of view.
The target should be similar to the objects that will be measured later.
In Profile mode
a. Use the Start or Snapshot button to view live profile data to help position the target.

In Surface mode
a. Select a Surface Generation type (see on page 98) and adjust Part Detection settings (see on page
101) if applicable.

b. Start the sensor, scan the target and then stop the sensor.

2. On the Measure page, add a suitable tool to act as an anchor.

A suitable tool is one that returns an X, Y, or Z position as a measurement value.

The scan mode must be set to the type of measurement you need to configure.
Otherwise, the wrong tools, or no tools, will be listed on the Measure page.

3. Adjust the anchor tool's settings and measurement region, and choose a feature type (if applicable).
You can adjust the measurement region graphically in the data viewer or manually by expanding the
Regions area.
The position and size of the anchor tool’s measurement regions define the zone within which
movement will be tracked.
See Feature Points on page 149 for more information on feature types.

4. Add the tool that will be anchored.

Any tool can be anchored.

5. Adjust the tool and measurement settings, as well as the measurement regions.

6. Click on the tool's Anchoring tab.

7. Choose an anchor from the X, Y, or Z drop-down box.

When you choose an anchor, a white “bulls-eye” indicator shows the position of the anchor in the data
viewer.
If the sensor is running, the anchored tool’s measurement regions are shown in white to indicate the
regions are locked to the anchor. The measurement regions of anchored tools cannot be adjusted.
The anchored tool’s measurement regions are now tracked and will move with the target’s position
under the sensor, as long as the anchor measurement produces a valid measurement value. If the
anchor measurement is invalid, for example, if there is no target under the sensor, the anchored tool
will not show the measurement regions at all and an “Invalid-Anchor” message will be displayed in the
tool panel.

To remove an anchor from a tool:

1. Click on the anchored tool's Anchoring tab.
Select Disabled in the X, Y, or Z drop-down.

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Enabling and Disabling Measurements
All of the measurements available in a tool are listed in the measurement list in the Tools panel after a
tool has been added. To configure a measurement, you must enable it.

To enable a measurement:
1. Go to the Scan page by clicking on the Scan icon.

2. Choose Profile or Surface mode in the Scan Mode panel.

If one of these modes is not selected, tools will not be available in the Measure panel.

3. Go to the Measure page by clicking on the Measure icon.

4. In the measurements list, check the box of the measurement you want to enable.
The measurement will be enabled and selected. The Output tab, which contains output settings will be
displayed below the measurements list. For some measurements, a Parameters tab, which contains
measurement-specific parameters, will also be displayed.

To disable a measurement:
1. Go to the Scan page by clicking on the Scan icon.

2. Choose Profile or Surface mode in the Scan Mode panel.

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3. Go to the Measure page by clicking on the Measure icon.

4. In the measurement list, uncheck the box of the measurement you want to disable.
The measurement will be disabled and the Output tab (and the Parameters tab if it was available) will
be hidden.

Editing a Tool or Measurement Name

You can change the names of tools you add in Gocator. You can also change the names of their
measurements. This allows multiple instances of tools and measurements of the same type to be more
easily distinguished in the Gocator web interface. The measurement name is also referenced by the
Script tool.

To change a tool or measurement name:

1. Go to the Scan page by clicking on the Scan icon.

2. Choose Profile or Surface mode in the Scan Mode panel.

If one of these modes is not selected, tools will not be available in the Measure panel.

3. Go to the Measure page by clicking on the Measure icon.

4. Do one of the following:

l Tool: In the tool list, double-click the tool name you want to change

l Measurement: In a tool's measurement list, double-click the measurement name you want to
change.

5. Type a new name.

6. Press the Tab or Enter key, or click outside the field.

The name will be changed.

Changing a Measurement ID
The measurement ID is used to uniquely identify a measurement in the Gocator protocol or in the SDK.
The value must be unique among all measurements.

To edit a measurement ID:

1. Go to the Scan page by clicking on the Scan icon.

2. Choose Profile or Surface mode in the Scan Mode panel.

If one of these modes is not selected, tools will not be available in the Measure panel.

3. Go to the Measure page by clicking on the Measure icon.

4. In the measurement list, select a measurement.

To select a measurement, it must be enabled. See Enabling and Disabling Measurements on page 146
for instructions on how to enable a measurement.

5. Click in the ID field.

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6. Type a new ID number.
The value must be unique among all measurements.

7. Press the Tab or Enter key, or click outside the ID field.

The measurement ID will be changed.

Removing a Tool
Removing a tool removes all of its associated measurements.

To remove a tool:
1. Go to the Scan page by clicking on the Scan icon.

2. Choose Profile or Surface mode in the Scan Mode panel.

If is not selected, tools will not be available in the Measure panel.

3. Go to the Measure page by clicking on the Measure icon.

4. In the tool list, click on the button of the tool you want to delete.
The tool will be removed from the tool list.

Profile Measurement
This section describes the profile measurement tools available in Gocator sensors.

The following tools are available when Uniform Spacing is disabled:

l Bridge Value
l Dimension
l Position
l Script

For more information on the Uniform Spacing setting and resampled data, see Uniform Spacing (Data
Resampling) on page 45.

Profile measurement tools can be used on sections. For more information on sections, see Sections on
page 132.

Feature Points
Most measurement detect and compare feature points or lines found within laser profile data.
Measurement values are compared against minimum and maximum thresholds to yield decisions.

The following types of points can be identified.

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Point Type Examples

Max Z

Finds the point with the maximum Z value in the region of

interest.

Min Z

Finds the point with the minimum Z value in the region of

interest.

Min X

Finds the point with the minimum X value in the region of

interest.

Max X

Finds the point with the maximum X value in the region of

interest.

Average

Determines the average location of points in the region of

interest.

Corner

Finds a dominant corner in the region of interest, where corner

is defined as a change in profile slope.

Top Corner

Finds the top-most corner in the region of interest, where corner

is defined as a change in profile shape.

Bottom Corner

Finds the bottom-most corner in the region of interest, where

corner is defined as a change in profile shape.

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Point Type Examples

Left Corner

Finds the left-most corner in the region of interest, where corner

is defined as a change in profile shape.

Right Corner

Finds the right-most corner in the region of interest, where

corner is defined as a change in profile shape.

Rising Edge

Finds a rising edge in the region of interest.

Falling Edge

Finds a falling edge in the region of interest.

Any Edge

Finds a rising or falling edge in the region of interest.

Median

Determines the median location of points in the region of

interest.

Fit Lines
Some measurements involve estimating lines in order to measure angles or intersection points. A fit line
can be calculated using data from either one or two fit areas.

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A line can be defined using one or two areas. Two areas can be used to bypass discontinuity in a line
segment.

Measurement Tools

Area
The Area tool determines the cross-sectional area within a region. The measurement value can be
compared with minimum and maximum constraints to yield a decision.

See Adding and Configuring a Tool on page 139 for instructions on how to add measurement tools.

Areas are positive in regions where the profile is above the X axis. In contrast, areas are negative in
regions where the profile is below the X axis.

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Measurements
Measurement Illustration

Area

Measures the cross-sectional area within a region that is

above or below a fitted baseline.

Centroid X

Determines the X position of the centroid of the area.

Centroid Z

Determines the Z position of the centroid of the area.

Parameters
Parameter Description

Type Object area type is for convex shapes above the baseline.
Regions below the baseline are ignored.

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Parameter Description

Clearance area type is for concave shapes below the

baseline. Regions above the baseline are ignored.

Baseline Baseline is the fit line that represents the line above which
(Object clearance type) or below which (Clearance area type)
the cross-sectional area is measured.

When this parameter is set to Line, you must define a line

in the Line parameter. See Fit Lines on page 151 for more
information on fit lines.

When this parameter is set to X-Axis, the baseline is set to z

= 0.

Line When Baseline is set to Line, you must set this parameter.
See Fit Lines on page 151 for more information on fit lines.

Decision See Decisions on page 142.

Region See Regions on page 141.

Filters See Filters on page 143.

Bounding Box
The Bounding Box tool provides measurements related to the smallest box that contains the profile (for
example, X position, Z position, width, etc.).

The measurement value can be compared with minimum and maximum constraints to yield a decision.

See Adding and Configuring a Tool on page 139 for instructions on how to add measurement tools.

The bounding box provides the absolute position from which the Position centroids tools are
referenced.

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 Measurement Panel

Measurements
Measurement Illustration

Determines the X position of the center of the bounding

box that contains the profile.

The value returned is relative to the profile.

Determines the Z position of the center of the bounding

box that contains the profile.

The value returned is relative to the profile.

Width

Determines the width of the bounding box that contains

the profile. The width reports the dimension of the box in
the direction of the minor axis.

Height

Determines the height (thickness) of the bounding box that

contains the profile.

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Measurement Illustration

Global X*
Determines the X position of the center of the bounding
box that contains the profile relative to the surface from
which the profile is extracted.

Global Y*
Determines the Y position of the center of the bounding
box that contains the profile relative to the surface from
which the profile is extracted.

Global Angle*
Determines the angle around Z of the section used to create
the profile, relative to the surface from which it is extracted,
where a line parallel to the X axis is 0 degrees.

Angles of sections pointing to the bottom of the data viewer

are positive.

Angles of sections pointing to the top of the data viewer are

negative.

*The Global X, Global Y, and Global Angle measurements are intended to be used with profiles
extracted from a surface using a section.
When used with profiles not generated from a section, the Global X measurement returns the
same value as the X measurement, and the Global Y and Global Angle measurements return
0.000.

Parameters
Parameter Description

Decision See Decisions on page 142.

Region See Regions on page 141.

Output See Filters on page 143.

Bridge Value
The Bridge Value tool lets you calculate the "bridge value" and angle of a scanned surface. A bridge
value is a single, processed range that is basically a filtered average of a laser line profile, representing a
"roughness calculation." A bridge value is typically used to measure road roughness.

The Bridge value tool is only available when Uniform Spacing (in the Scan Mode panel on the
Scan page) is unchecked, as the tool only works with unresampled data. For more information,
see Uniform Spacing (Data Resampling) on page 45.

The Bridge Value tool measurements use a histogram of the ranges that make up the profile, in which
the ranges are ordered from lowest to highest. The Window and Skip parameters together determine
what segment of the heights in the histogram is used to calculate the bridge value. The following
diagram illustrates what points of the histogram would be included for calculating the bridge value
where Window is roughly 50% and Skip is roughly 15% of the histogram.

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Profile point heights in the white area are included in the calculation of the average. Profile point heights
in the grey area are excluded. By adjusting the Window and Skip parameters, you can choose profile
point heights to remove unwanted features. In road roughness applications, you could exclude road
features, such as rocks, cracks, tining valleys, and so on, to get an accurate representation of the tire-to-
road interface. For more information on parameters, see the Parameters table below.

The measurement value can be compared with minimum and maximum constraints to yield a decision.

See Adding and Configuring a Tool on page 139 for instructions on how to add measurement tools.

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 Measurement Panel

Measurements
Measurement Illustration

Bridge Value

Determines the bridge value of the profile.

Angle

Determines the angle of the line fitted to the profile.

When Normalize Tilt is unchecked, the measurement always

returns 0.

Parameters
Parameter Description

Window A percentage of the profile point heights in the histogram,

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Parameter Description

starting from the highest point, to include in the average.

For example, a setting of 50% would include the highest
50% of the heights. The Skip parameter then determines
the actual portion of the profile point heights used to
calculate the average.

The Window setting in effect sets the lower limit of the

portion of profile points in the histogram to be used in the
average.

Skip A percentage of the profile point heights in the histogram,

starting from the highest points, to exclude from the
average.

The percentage represents the portion of the entire profile,

not the portion defined by Window.

The Skip setting basically sets the upper limit of the portion
of profile points in the histogram to be used in the average.

If Skip is greater than Window, an invalid value is returned.

Max Invalid The maximum percentage of invalid points allowed

before an invalid result is returned.
Max Differential The maximum difference between the maximum and
minimum histogram values before an invalid
measurement value is produced.
Normalize Tilt Fits a line to the profile and shears the points in the Z
direction by the angle between the fitted line and the X
axis. The Window and Skip settings are applied to the
histogram of the transformed data.

Useful for surfaces that are tilted.

Decision See Decisions on page 142.

Region See Regions on page 141.

Output See Filters on page 143.

Circle
The Circle tool provides measurements that find the best-fitted circle to the live profile and measure
various characteristics of the circle. The measurement value can be compared with minimum and
maximum constraints to yield a decision.

See Adding and Configuring a Tool on page 139 for instructions on how to add measurement tools.

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Measurements
Measurement Illustration

Radius

Measures the radius of the circle.

Finds the circle center position in the X axis.

Finds the circle center position in the Z axis.

Parameters
Parameter Description

Decision See Decisions on page 142.

Region See Regions on page 141.

Output See Filters on page 143.

Dimension
The Dimension tool provides Width, Height, Distance, Center X, and Center Z measurements.

The Dimension tool can be used whether Uniform Spacing is enabled or not, that is, with either
resampled or unresampled data. For more information on the Uniform Spacing setting and
resampled data, see Uniform Spacing (Data Resampling) on page 45.

See Adding and Configuring a Tool on page 139 for instructions on how to add measurement tools.

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The tool's measurements require two feature points. See Feature Points on page 149 for information on
point types and how to configure them.

Measurements
Measurement Illustration

Width

Determines the difference along the X axis between two

feature points.

The difference can be calculated as an absolute or signed

result. The difference is calculated by:

Width = Feature 2 – Feature 1

X position X position

Height

Determines the difference along the Z axis between two

feature points.

The difference can be expressed as an absolute or signed

result. The difference is calculated by:

Height = Feature 2 – Feature 1

Z position Z position
Distance

Determines the Euclidean distance between two feature

points.

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Measurement Illustration

Center X

Finds the average location of two features and measures

the X axis position of the average location

Center Z

Finds the average location of two features and measures

the Z axis position of the average location.

Parameters
Parameter Description

Absolute Determines if the result will be expressed as an absolute or

(Width and Height measurements only) a signed value.

Decision See Decisions on page 142.

Region See Regions on page 141.

Output See Filters on page 143.

Groove
The Groove tool provides measurements of V-shape, U-shape, or open-shape grooves. The
measurement value can be compared with minimum and maximum constraints to yield a decision.

See Adding and Configuring a Tool on page 139 for instructions on how to add measurement tools.

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The Groove tool uses a complex feature-locating algorithm to find a groove and then return
measurements. See "Groove Algorithm" in the Gocator Measurement Tool Technical Manual for a
detailed explanation of the algorithm. The behavior of the algorithm can be adjusted by changing the
parameters in the measurement panel.

The Groove tool lets you add multiple measurements of the same type to receive measurements and set
decisions for multiple grooves. Multiple measurements are added by using the drop-down above the list
of measurements and clicking on the Add button.

For example, if a target has three grooves, by adding two measurements, choosing Index From The
Left in the Select Type setting of those measurements, and providing values of 0 and 2 in the Index
setting of the measurements, respectively, the Groove tool will return measurements and decisions for
the first and third grooves.

Measurements
Measurement Illustration

Width

Measures the width of a groove.

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Measurement Illustration

Depth

Measures the depth of a groove as the maximum

perpendicular distance from a line connecting the edge
points of the groove.

Measures the X position of the bottom of a groove.

Measures the Z position of the bottom of a groove.

Parameters
Parameter Description

Shape Shape of the groove

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Parameter Description

Location Specifies the location type to return

(Groove X and Groove Bottom - Groove bottom. For a U-shape and open-shape groove, the X position is at the centroid of
Z measurements only) the groove. For a V-shape groove, the X position is at the intersection of lines fitted to the left and
right sides of the groove. See algorithm section below for more details.

Left - Groove's left corner.

Right - Groove's right corner.

Select Type Specifies how a groove is selected when there are multiple grooves within the measurement area.

Maximum Depth - Groove with maximum depth.

Index from The Left - 0-based groove index, counting from left to right

Index from the Right - 0-based groove index, counting from right to left.

Index 0-based groove index.

Minimum Depth Minimum depth for a groove to be considered valid.

Minimum Width Minimum width for a groove to be considered valid. The width is the distance between the groove
corners.

Maximum Width Maximum width of a groove to be considered valid. If set to 0, the maximum is set to the width of
the measurement area.

Decision See Decisions on page 142.

Region The measurement region defines the region in which to search for the groove. For a stable
measurement, the measurement region should be made large enough to cover some laser data on
the left and right sides of the groove. See Regions on page 141.

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Parameter Description

Output See Filters on page 143.

Intersect
The Intersect tool determines intersect points and angles. The measurement value can be compared
with minimum and maximum constraints to yield a decision.

The Intersect tool's measurements require two fit lines, one of which is a reference line set to the X axis (z
= 0), the Z axis (x = 0), or a user-defined line.

See Adding and Configuring a Tool on page 139 for instructions on how to add measurement tools.

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Measurements
Measurement Illustration

Finds the intersection between two fitted lines and

measures the X axis position of the intersection point.

Finds the intersection between two fitted lines and

measures the Z axis position of the intersection point.

Angle

Finds the angle subtended by two fitted lines.

Parameters
Parameter Description

Reference Type Determines the type of the reference line.

X-Axis: The reference line is set to the X axis.

Z-Axis: The reference line is set to the Z axis

Line: The reference line is defined manually using the Ref

Line parameter. One or two regions can be used to define
the line.

Ref Line Used to define the reference line when Line is selected in
the Reference Type parameter.

Line One or two fit areas can be used for each fit line.

See Fit Lines on page 151 for more information.

Angle Range Determines the angle range. The options are:

(Angle measurement only) -90 – 90

0 – 180

Decision See Decisions on page 142.

Region See Regions on page 141.

Output See Filters on page 143.

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Line
The Line tool fits a line to the live profile and measures the deviations from the best-fitted line. The
measurement value can be compared with minimum and maximum constraints to yield a decision.

See Adding and Configuring a Tool on page 139 for instructions on how to add measurement tools.

Measurements
Measurement Illustration

Std Dev

Finds the best-fitted line and measures the standard

deviation of the laser points from the line.

Min Error

Finds the best-fitted line and measures the minimum error

from the line (the maximum distance below the line).

Max Error

Finds the best-fitted line and measures the maximum error

from the line (the maximum distance above the line).

Percentile

Finds the best-fitted line and measures the range (in Z)

that covers a percentage of points around the line.

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Parameters
Parameter Description

Percent The specified percentage of points around the best-fitted

(Percentile measurement only) line.

Decision See Decisions on page 142.

Region See Regions on page 141.

Output See Filters on page 143.

Panel
This section describes the Panel tool's Gap and Flush measurements.

Gap
The Gap measurement provides the distance between the edges of two surfaces. The measurement
value can be compared with minimum and maximum constraints to yield a decision.

See Adding and Configuring a Tool on page 139 for instructions on how to add measurement tools.

The Gap tool uses a complex feature-locating algorithm to find the gap and then return measurements.
The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel.
See "Gap and Flush Algorithm" in the Gocator Measurement Tool Technical Manual for a detailed
explanation of the algorithm and the parameters.

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Measurements
Measurement Illustration

Gap

Measures the distance between two surfaces. The surface

edges can be curved or sharp.

The Data Viewer displays the gap measurement in real time. It also displays the results from the
intermediate steps in the algorihtm.

Flush
The Flush measurement provides the flushness between the edges of two surfaces. The measurement
value can be compared with minimum and maximum constraints to yield a decision.

See Adding and Configuring a Tool on page 139 for instructions on how to add measurement tools.

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The Flush tool uses a complex feature-locating algorithm to find the flushness of the object it is being
used on and then return measurements. The behavior of the algorithm can be adjusted by changing the
parameters in the measurement panel. See "Gap and Flush Algorithm" in the Gocator Measurement Tool
Technical Manual for a detailed explanation of the algorithm.

Measurements
Measurement Illustration

Flush

Measures the flushness between two surfaces. The surface

edges can be curved or sharp.

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The Data Viewer displays the flush measurement in real time. It also displays the results from the
intermediate steps in the algorithm.

Position
The Position tool finds the X or Z axis position of a feature point. The feature type must be specified and
is one of the following: Max Z, Min Z, Max X, Min X, Corner, Average (the mean X and Z of the data
points), Rising Edge, Falling Edge, Any Edge, Top Corner, Bottom Corner, Left Corner, Right Corner, or
Median (median X and Z of the data points). The measurement value can be compared with minimum
and maximum constraints to yield a decision.

The Position tool can be used whether Uniform Spacing is enabled or not, that is, with either
resampled or unresampled data. For more information on the Uniform Spacing setting and
resampled data, see Uniform Spacing (Data Resampling) on page 45.

See Adding and Configuring a Tool on page 139 for instructions on how to add measurement tools.

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Measurements
Measurement Illustration

Finds the position of a feature on the X axis.

Finds the position of a feature on the Z axis.

Parameters
Parameter Description

Feature Type Choose Max Z, Min Z, Max X, Min X, Corner, Average, Rising
Edge, Falling Edge, Any Edge, Top Corner, Bottom Corner,
Left Corner, Right Corner, or Median.

Decision See Decisions on page 142.

Region See Regions on page 141.

Output See Filters on page 143.

Strip
The Strip tool measures the width of a strip. The measurement value can be compared with minimum
and maximum constraints to yield a decision.

See Adding and Configuring a Tool on page 139 for instructions on how to add measurement tools.

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The Strip tool uses a complex feature-locating algorithm to find a strip and then return measurements.
See "Strip Algorithm" in the Gocator Measurement Tool Technical Manual for a detailed explanation of
the algorithm. The behavior of the algorithm can be adjusted by changing the parameters in the
measurement panel.

The Strip tool lets you add multiple measurements of the same type to receive measurements and set
decisions for multiple strips. Multiple measurements are added by using the drop-down above the list of
measurements and clicking on the Add button.

For example, if a target has three strips, by adding two measurements, choosing Index From The Left
in the Select Type setting, and providing values of 1 and 3 in the Index of field of the measurements,
respectively, the Strip tool will return measurements and decisions for the first and third strip.

Measurements
Measurement Illustration

Width

Measures the width of a strip.

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Measurement Illustration

Height

Measures the height of a strip.

Measures the X position of a strip.

Measures the Z position of a strip.

Parameters
Parameter Description

Base Type Affects detection of rising and falling edges.

When Base Type is set to Flat, both strip (raised area) and base support regions are needed.
When set to None, only a point that deviates from a smooth strip support region is needed to
find a rising or falling edge.

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Parameter Description

Location Specifies the strip position from which the measurements are performed.

(Strip Height, Strip X, and Left - Left edge of the strip.

Strip Z measurements only) Right - Right edge of the strip.

Center - Center of the strip.

Left Edge Specifies the features that will be considered as the strip's left and right edges. You can select

Right Edge more than one condition.

Rising - Rising edge detected based on the strip edge parameters.

Falling - Falling edge detected based on the strip edge parameters.

Data end - First valid profile data point in the measurement region.

Void - Gap in the data that is larger than the maximum void threshold. Gaps connected to the
measurement region's boundary are not considered as a void.

See "Strip Start and Terminate Conditions" in the Gocator Measurement Tool Technical Manual for
the definitions of these conditions.

Select Type Specifies how a strip is selected when there are multiple strips within the measurement area.

Best - The widest strip.

Index Left - 0-based strip index, counting from left to right.

Index Right - 0-based strip index, counting from right to left.

Index 0-based strip index.

Min Height Specifies the minimum deviation from the strip base. See "Strip Step Edge Definitions" in the
Gocator Measurement Tool Technical Manual on how this parameter is used for different base
types.

Support Width Specifies the width of the region around the edges from which the data is used to calculate the
step change. See "Strip Step Edge Definitions" in the Gocator Measurement Tool Technical Manual
on how this parameter is used by different base types.

Transition Width Specifies the nominal width needed to make the transition from the base to the strip. See
"Strip Step Edge Definitions" in the Gocator Measurement Tool Technical Manual on how this
parameter is used by different base types.

Max Void Width The maximum width of missing data allowed for the data to be considered as part of a strip
when Void is selected in the Left or Right parameter. This value must be smaller than the edge
Support Width.

When occlusion and exposure causes data drops, users should use the gap filling function to
fill the gaps. See Gap Filling on page 95 for information.

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Parameter Description

Min Width Specifies the minimum width for a strip to be considered valid.

Tilt Enabled Enables/disables tile correction.

Decision See Decisions on page 142.

Region The measurement region defines the region in which to search for the strip. If possible, the
region should be made large enough to cover the base on the left and right sides of the strip.

See Regions on page 141 for more information.

Output See Filters on page 143.

Tilt
The strip may be tilted with respect to the sensor's coordinate X axis. This could be caused by conveyor
vibration. If the Tilt option is enabled, the tool will report the width and height measurements following
the tilt angle of the strip.

Script
A Script measurement can be used to program a custom measurement using a simplified C-based
syntax. A script measurement can produce multiple measurement values and decisions for the output.

The Script tool can be used whether Uniform Spacing is enabled or not, that is, with either
resampled or unresampled data. For more information on the Uniform Spacing setting and
resampled data, see Uniform Spacing (Data Resampling) on page 45.

See Adding and Configuring a Tool on page 139 for instructions on how to add measurement tools.

See Script Measurement on page 211 for more information on scripts.

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See Script Measurement on page 211 for more information on the script syntax.

To create or edit a Script measurement:

1. Add a new Script tool or select an existing Script measurement.

2. Edit the script code.

3. Add script outputs using the Add button.

For each script output that is added, an index will be added to the Output drop-down and a unique ID
will be generated.
To remove a script output, click on the button next to it.

4. Click the Save button to save the script code.

If there is a mistake in the script syntax, the result will be shown as a "Invalid" with a red border in the
data viewer when you run the sensor.
Outputs from multiple measurement tools can be used as inputs to the script. A typical script would
take results from other measurement tools using the value and decision function, and output the result
using the output function. Stamp information, such as time and encoder stamps, are available in the
script, whereas the actual profile data is not. (The script engine is not powerful enough to process the
data itself.) Only one script can be created.

Surface Measurement
Surface measurement involves capturing a sequence of laser profiles, optionally identifying discrete
objects, and measuring properties of the surface or the objects, such as the volume of the object or the
height at a certain position of the object. All volumetric tools have the ability to operate either on the
entire surface or the full object, or within a region of interest at a certain position in relation to the
surface or an object.

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Multiple measurements can be performed on the entire surface or each discrete object, limited only by
the available CPU resources.

The frame of reference for the coordinate system of the detected object can be set to Sensor or Part in
the Part Detection panel (see on page 101). This setting determines what coordinate system the region
of interest for a measurement is positioned in, as well as the coordinate reference used to output
measurement values.

For example, if you need to measure the average height in a certain location relative to the sensor's field
of view regardless of the objects passing under the sensor, the frame of reference should be set to
Sensor. This is typical in applications where a wide web of material is continuously scanned, such as
paper, rubber, fabrics, etc. If on the other hand you need to measure the average height in a certain
location of a scanned object, the frame of reference should be set to Part. This is typical in applications
where discrete objects pass under the sensor and specific locations on the objects need to be inspected.

Measurement Tools

Bounding Box
The Bounding Box tool provides measurements related to the smallest box that contains the part (for
example, X position, Y position, width, length, etc.).

The measurement value can be compared with minimum and maximum constraints to yield a decision.

See Adding and Configuring a Tool on page 139 for instructions on how to add measurement tools.

A bounding box can be vertical or rotated. A vertical bounding box provides the absolute position from
which the Position centroids tools are referenced.

The vertical bounding box X and Y correspond to the part frame of reference origin. For this
reason all X and Y measurements (except Bounding Box Global X and Global Y) are referenced
to this point when Frame of Reference on the Part Detection panel is set to Part. See Part
Detection on page 101 for more information.

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 2D View 3D View

Measurement Panel

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Measurements
Measurement Illustration

Determines the X position of the center of the bounding

box that contains the part.

The value returned is relative to the part.

Determines the Y position of the center of the bounding

box that contains the part.

The value returned is relative to the part.

Determines the Z position of the center of the bounding

box that contains the part.

The value returned is relative to the part.

Width

Determines the width of the bounding box that contains

the part.

When the Rotation setting is disabled, the bounding box is

the smallest rectangle whose sides are parallel to the X and
Y axes. Width is on the X axis.

When Rotation is enabled, the width is the smaller side

dimension.

Length

Determines the length of the bounding box that contains

the part.

When the Rotation setting is disabled, the bounding box is

the smallest rectangle whose sides are parallel to the X and
Y axes. Length is on the Y axis.

When Rotation is enabled, the length is the longer side

dimension.

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Measurement Illustration

Height

Determines the height of the bounding box that contains

the part.

Z Angle
Determines the rotation around the Z axis and the angle of
the longer side of the bounding box relative to the X axis.

If Rotation is not enabled, the measurement returns 90.000

degrees.

Global X*
Determines the X position of the center of the bounding
box that contains the part on the surface from which the part
was extracted.

Global Y*
Determines the Y position of the center of the bounding
box that contains the part on the surface from which the part
was extracted.

If the part is extracted from a continuous surface, the Y

origin of that surface is at the encoder starting position.

Global Z Angle*
Determines the rotation of the longer side of the bounding
box around the Z axis on the surface from which the part was
extracted.

If part matching is enabled, the returned value represents

the rotation of the part before part matching rotates it.

If Rotation is not enabled, the measurement returns 90.000

degrees.

*These measurements are mostly useful with parts extracted from a surface. For more
information on parts, see Part Detection on page 101.

Parameters
Parameter Description

Rotation A bounding box can be vertical or rotated. A vertical

bounding box provides the absolute position from which
the part's Position centroid measurements are referenced.

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Parameter Description

Check the Rotation setting to select rotated bounding box.

Asymmetry Detection Resolves the orientation of an object over 360 degrees. The
possible values are:

0 – None

1 – Along Major Axis

2 – Along Minor Axis

This setting is only visible if Rotation is checked.

Decision See Decisions on page 142.

Region See Regions on page 141.

Output See Filters on page 143.

Countersunk Hole
The Countersunk Hole tool locates a countersunk circular opening within a region of interest on the
surface and provides measurements to evaluate characteristics of countersunk holes, including the
position (X, Y, and Z) of the center of the hole, outside radius of the hole, hole bevel angle, and the depth
of the hole. The countersunk hole can be on a surface at an angle to the sensor.

The Countersunk Hole tool does not search

for or detect a hole. The tool expects that a
hole conforming reasonably well to the
defined parameters is present and that it is
on a sufficiently uniform background.

See Adding and Configuring a Tool on page 139 for instructions on how to add measurement tools.

2D View 3D View

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 Measurement Panel

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Measurements
Measurement Illustration

Determines the X position of the center of the countersunk

hole.

Determines the Y position of the center of the countersunk

hole.

Determines the Z position of the center of the countersunk

hole.

Outer Radius

Determines the outer radius of the countersunk hole.

To convert the radius to a diameter, set

the Scale setting in the Output panel
(displayed after expanding the Filters
section) to 2.

Depth

Determines the depth of the countersunk hole relative to

the surface that the countersunk hole is on.

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Measurement Illustration

Bevel Radius

Determines the radius at a user-defined offset (Offset

setting) relative to the surface that the countersunk hole is
on.

To convert the radius to a diameter, set

the Scale setting in the Output panel
(displayed after expanding the Filters
section) to 2.

Bevel Angle

Determines the angle of the hole's bevel.

Cone

Counterbore

X Angle

Determines the angle the hole relative to the X axis.

The measurement assumes that the hole is perpendicular

to the surface, even though the surface itself is tilted.

Cone

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Measurement Illustration

Y Angle

Determines the angle of the hole relative to the Y axis.

The measurement assumes that the hole is perpendicular

to the surface, even though the surface itself is tilted.

Counterbore

Counterbore Depth
Determines the depth of a counterbore.

Parameters
Parameter Description

Shape The shape of the countersunk hole. (See illustrations above.)

0 – Cone

1 – Counterbore

Nominal Bevel Angle The expected bevel angle of the countersunk hole.
Nominal Outer Radius The expected outer radius of the countersunk hole.
Nominal Inner Radius The expected inner radius of the countersunk hole.
Bevel Radius Offset The offset, relative to the surface that the countersunk hole is
on, at which the bevel radius will be measured.
Curve Surface Whether the surface that the countersunk hole is on is curved.
When enabled, specify the radius of the curvature in the Curve
Orientation setting.

Reference Regions The algorithm uses the Reference Regions option to calculate the Z
position of the hole. It is typically used in cases where the surface
around the hole is not flat.

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Parameter Description

When this option is set to Autoset, the algorithm automatically

determines the reference region. When the option is not set to
Autoset, the user manually specifies the reference region. The location
of the reference region is relative to the detected center of the hole
and positioned on the nominal surface plane.

When the Reference Regions option is disabled, the tool measures the
hole's Z position using all the data in the measurement region, except
for a bounding rectangular region around the hole.

Tilt Correction Tilt of the target with respect to the alignment plane.

When this option is set to Autoset, the tool automatically detects the
tilt. Otherwise, the user must enter the angles manually. Autoset
requires the measurement region to cover more areas on the surface
plane than other planes.

The results from the Plane X and Y tool can be used for angles X and Y
parameters.

Partial Detection Enable if only part of the hole is within the measurement region. If
disabled, the hole must be completely in the region of interest for
results to be valid.

Decision See Decisions on page 142.

Region See Regions on page 141.

Output See Filters on page 143.

Ellipse
The Ellipse tool provides measurements for the major and minor axis lengths of an ellipse fitted to the
part's shape in the XY plane, and also for the ratio of the major and minor axis lengths and for the
orientation angle of the ellipse. The measurement value can be compared with minimum and maximum
constraints to yield a decision.

See Adding and Configuring a Tool on page 139 for instructions on how to add measurement tools.

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 3D View
2D View

Measurement Panel

Measurements
Measurement Illustration

Major

Determines the major axis length of an ellipse fitted to the

part's area in the XY plane.

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Measurement Illustration

Minor

Determines the minor axis length of an ellipse fitted to the

part's area in the XY plane.

Ratio

Determines the minor/major axis ratio of an ellipse fitted to

the part's area in the XY plane.

Z Angle

Determines the orientation angle of an ellipse fitted to the

part's area in the XY plane.

Parameters
Parameter Description

Asymmetry Detection Resolves the orientation of an object over 360 degrees. The
possible values are:

0 – None

1 – Along Major Axis

2 – Along Minor Axis

Decision See Decisions on page 142.

Region See Regions on page 141.

Output See Filters on page 143.

Hole
The Hole tool measures a circular opening within a region
of interest on the surface and returns its position and
radius.
The Hole tool does not search for or detect a
hole. The tool expects that a hole conforming
reasonably well to the defined parameters is
present and that it is on a sufficiently uniform
background.

See Adding and Configuring a Tool on page 139 for

instructions on how to add measurement tools.
The hole can be on a surface at an angle to the sensor.

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The tool uses a complex feature-locating algorithm to find
a hold and then return measurements. See "Hole
Algorithm" in the Gocator Measurement Tool Technical
Manual for a detailed explanation of the algorithm. The
behavior of the algorithm can be adjusted by changing the
parameters in the measurement panel.
The measurement value can be compared with minimum
and maximum constraints to yield a decision.

3D View

2D View

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 Measurement Panel

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Measurements
Measurement Illustration

Determines the X position of the hole center.

Determines the Y position of the hole center.

Determines the Z position of the hole center.

Radius

Determines the radius of the hole.

Parameters
Parameter Description

Nominal Radius Expected radius of the hole.

Radius Tolerance The maximum variation from the nominal radius (+/- from the
nominal radius).

Partial Detection Enable if only part of the hole is within the measurement region. If
disabled, the hole must be completely in the region of interest for
results to be valid.

Depth Limit Data below this limit (relative to the surface) is excluded from the hole
calculations.

Reference Regions The algorithm uses the Reference Regions option to calculate the Z

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Parameter Description

position of the hole. It is typically used in cases where the surface

around the hole is not flat.

When this option is set to Autoset, the algorithm automatically

determines the reference region. When the option is not set to
Autoset, the user manually specifies the reference region. The location
of the reference region is relative to the detected center of the hole
and positioned on the nominal surface plane.

When the Reference Regions option is disabled, the tool measures the
hole's Z position using all the data in the measurement region, except
for a bounding rectangular region around the hole.

Tilt Correction Tilt of the target with respect to the alignment plane.

When this option is set to Autoset, the tool automatically detects the
tilt. Otherwise, the user must enter the angles manually. Autoset
requires the measurement region to cover more areas on the surface
plane than other planes.

The results from the Plane X and Y tool can be used for angles X and Y
parameters.

Decision See Decisions on page 142.

Region See Regions on page 141.

Output See Filters on page 143.

Measurement Region
The center of the hole must be inside the measurement region, even if the Partial Detection option is
enabled.

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Opening
The Opening tool locates rounded, rectangular,
and rounded corner openings. The opening can
be on a surface at an angle to the sensor.
The Opening tool does not search
for or detect an opening. The tool
expects that an opening
conforming reasonably well to the
defined parameters is present
and that it is on a sufficiently
uniform background.

See Adding and Configuring a Tool on page 139

for instructions on how to add measurement
tools.
The tool uses a complex feature-locating
algorithm to find a hold and then return
measurements. See "Opening Algorithm" in the
Gocator Measurement Tool Technical Manual
for a detailed explanation of the algorithm. The
behavior of the algorithm can be adjusted by
changing the parameters in the measurement
panel.
The measurement value can be compared with
minimum and maximum constraints to yield a
decision. You can select the measurement
region in which the opening is expected to
appear.

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The algorithm can separate out background
information that appears inside the opening. It
can also detect a slot that only partially appears
in the data.

The shape of the opening is defined by its type

and its nominal width, length, and radius.
The orientation defines the rotation around
the normal of the alignment plane.

3D View

2D View

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Gocator 2100, 2300 & 2880 Series Gocator Web Interface • Measurement • 195
 Measurement Panel

Measurements
Measurement Illustration

Determines the X position of the opening's center.

Determines the Y position of the opening's center.

Determines the Z position of the opening's center.

Width

Determines the width of the opening.

Length

Determines the length of the opening.

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Measurement Illustration

Angle

Determines the angle (rotation) around the normal of the

alignment plane.

Parameters
Parameter Description

Type Rounded Slot, Rectangle.

Nominal Width Nominal width of the opening.

Nominal length Nominal length of the opening.

Nominal Angle Nominal angle of the opening. The default orientation is the length of the opening along the
X axis.

The diagram above illustrates the case where the surface is not tilted. When the surface is
tilted, the orientation is defined with respect to the normal of the surface, not with respect to
the X-Y plane

Nominal Radius Nominal radius of the opening ends. If the opening type is set to rectangular, the radius
setting is disabled. The opening has an oval shape if the radius is equal to ½ of the width.
The opening is a rounded rectangle when the radius is less than ½ of the width.

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Parameter Description

Width Tolerance The maximum variation from the nominal width (+/- from the nominal value).

Length Tolerance The maximum variation from the nominal length (+/- from the nominal value).

Angle Tolerance The maximum variation from the nominal orientation (+/- from the nominal value).

Partial Detection Enable if only part of the opening is within the measurement region. If disabled, the opening
must be completely in the region of interest for results to be valid.

Depth Limit Data below this limit (relative to the surface) is excluded from the opening calculations.

Reference Regions The algorithm uses reference regions to calculate the Z position of the opening. Reference
regions are relative to the center location of the feature. This option is typically used in cases
where the surface around the opening is not flat.

When the Reference Regions setting is disabled, the tool measures the opening's Z position
using the all data in the measurement region, except for a bounding rectangular region
around the opening.

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Parameter Description

With one or more reference region, the algorithm calculates the Z positions as the average
values of the data within the regions.

When the user places the reference region manually, all of the data is used, whether the
data is inside or outside the opening. The user should place the reference region carefully.

Tilt Correction Tilt of the target with respect to the alignment plane. Set to Auto-Set to have the tool
automatically detect the target's tilt, or enter the angles manually. Auto-Set requires the
measurement region to cover more areas on the surface plane than other planes.

The results from the Plane X and Y tool can be used for angles X and Y parameters.

Decision See Decisions on page 142.

Region See Regions on page 141.

Output See Filters on page 143.

Measurement Region
The center and the two sides and ends of the opening must be within the measurement region, even if
Partial Detection is enabled.

Plane
The Plane tool provides measurements that report angle X, angle Y, and offset Z of the surface with
respect to the alignment target. The measurement value can be compared with minimum and maximum

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constraints to yield a decision.

See Adding and Configuring a Tool on page 139 for instructions on how to add measurement tools.

The Z offset reported is the Z position at zero position on the X axis and the Y axis.

The results of the Plane Angle X and Plane Angle Y measurements can be used to customize the tilt angle
in the Hole, Opening, and Stud tools.

3D View

2D View

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 Measurement Panel

Measurements
Measurement Illustration

Angle X

Determines the X angle of the surface with respect to the

alignment target.

Angle Y

Determines the Y angle of the surface with respect to the

alignment target.

Offset Z

Determines the Z offset of the surface with respect to the

alignment target.

Standard Deviation

Measures the standard deviation of the points of the

surface from the detected plane.

Min Error

Measures the minimum error from the detected plane (the

maximum distance below the plane).

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Measurement Illustration

Max Error

Measures the maximum error from the detected plane (the

maximum distance above the plane).

Parameters
Parameter Description

Decision See Decisions on page 142.

Region See Regions on page 141.

Output See Filters on page 143.

Position
The Position tool reports the X, Y, or Z position of a part. The feature type must be specified and is one
of the following: Average (the mean X, Y, and Z of the data points), Median (median X, Y, and Z of the
data points), Centroid (the centroid of the data considered as a volume with respect to the z = 0 plane),
Min X, Max X, Min Y, Max Y, Min Z, or Max Z.

The measurement value can be compared with minimum and maximum constraints to yield a decision.

See Adding and Configuring a Tool on page 139 for instructions on how to add measurement tools.

2D View 3D View

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 Measurement Panel

Measurements
Measurement Illustration

Determines the X position of the selected feature type.

Determines the Y position of the selected feature type.

Determines the Z position of the selected feature type.

Parameters
Parameter Description

Feature Type One of the following: Average, Centroid, Min X, Max X, Min
Y, Max Y, Min Z, Max Z, Median.

Decision See Decisions on page 142.

Region See Regions on page 141.

Output See Filters on page 143.

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Stud
The Stud tool measures the location and radius of a
stud.
The Stud tool does not search for or
detect a stud. The tool expects that a stud
conforming reasonably well to the defined
parameters is present and that it is on a
sufficiently uniform background.

See Adding and Configuring a Tool on page 139 for

instructions on how to add measurement tools.
The tool uses a complex feature-locating algorithm to
find a hold and then return measurements. See "Stud
Algorithm" in the Gocator Measurement Tool Technical
Manual for a detailed explanation of the algorithm.
The behavior of the algorithm can be adjusted by
changing the parameters in the measurement panel.
The measurement value can be compared with
minimum and maximum constraints to yield a
decision.
The location of the stud is defined at either the stud
tip or the stud base. The tip is the intersection of the
stud axis and the top of the stud; the base is the
intersection of the stud axis and the surrounding
plane.

The stud shape is defined by the tip height and base

height. The base and tip heights specify where the
shaft with the nominal radius begins and ends.

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 3D View

2D View

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 Measurement Panel

Measurements
Measurement Illustration

Tip X

Determines the X position of the stud tip.

Tip Y

Determines the Y position of the stud tip.

Tip Z

Determines the Z position of the stud tip.

Base X

Determines the X position of the stud base.

Base Y

Determines the Y position of the stud base.

Base Z

Determines the Z position of the stud base.

Radius

Determines the radius of the stud.

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Parameters
Parameter Description

Nominal Stud Radius Expected radius of the stud.

Nominal Stud Length Expected length of the stud.

Base Height The height above the base surface that will be ignored when the (truncated) cone is fit to the
stud data.

Tip Height The height from the top of the surface that will be ignored when the (truncated) cone is fit to
the stud data.

Radius Offset The distance from the tip of the stud from which the radius is measured.

(Radius measurement only)

Reference Regions The algorithm uses reference regions to calculate the base plane of the stud. Reference
regions are relative to the base of the stud.

Tilt Correction Tilt of the target with respect to the alignment plane. Set to Auto-Set to have the tool
automatically detect the tilt, or enter the angles manually. Auto-Set requires the
measurement region to cover more areas on the surface plane than other planes.

The results from the Plane X and Y tool can be used for angles X and Y parameters.

Decision See Decisions on page 142.

Region See Regions on page 141.

Output See Filters on page 143.

Measurement Region
The tip and the side of the stud must be within the measurement region.

Volume
The Volume tool determines the volume, area, and thickness of a part. The measurement value can be
compared with minimum and maximum constraints to yield a decision.

See Adding and Configuring a Tool on page 139 for instructions on how to add measurement tools.

2D View 3D View

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 Measurement Panel

Measurements
Measurement Illustration

Volume

Measures volume in XYZ space.

Area
Measures area in the XY plane.

Thickness
Measures thickness (height) of a part.

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Parameters
Parameter Description

Location One of the following: maximum height, minimum

(Thickness measurement only) height, average height, median height, the height at
the 2D centroid in the XY plane, or the height at the 3D
centroid in XYZ space.
Decision See Decisions on page 142.

Region See Regions on page 141.

Output See Filters on page 143.

Script
A Script measurement can be used to program a custom measurement using a simplified C-based
syntax. A script measurement can produce multiple measurement values and decisions for the output.

See Adding and Configuring a Tool on page 139 for instructions on how to add measurement tools.

See Script Measurement on the next page for more information on scripts.

See Script Measurement on the next page for more information on the script syntax.

To create or edit a Script measurement:

1. Add a new Script tool or select an existing Script measurement.

2. Edit the script code.

3. Add script outputs using the Add button.

For each script output that is added, an index will be added to the Output drop-down and a unique ID
will be generated.

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 To remove a script output, click on the button next to it.

4. Click the Save button to save the script code.

If there is a mistake in the script syntax, the result will be shown as a "Invalid" with a red border in the
data viewer when you run the sensor.
Outputs from multiple measurement tools can be used as inputs to the script. A typical script would
take results from other measurement tools using the value and decision function, and output the result
using the output function. Stamp information, such as time and encoder stamps, are available in the
script, whereas the actual 3D point cloud data is not. (The script engine is not powerful enough to
process the data itself.) Only one script can be created.

Script Measurement
A Script measurement can be used to program a custom measurement using a simplified C-based
syntax. Similar to other measurement tools, a script measurement can produce multiple measurement
values and decisions for the output.

Scripts must be less than 27000 characters long.

The following elements of the C language are supported:

Supported Elements
Elements Supported

Control Operators if, while, do, for, switch and return.

Data Types char, int, unsigned int, float, double, long long (64-bit integer).

Arithmetic and Logical Standard C arithmetic operators, except ternary operator (i.e., "condition? trueValue:
Operator falseValue"). Explicit casting (e.g., int a = (int) a_float) is not supported.

Function Declarations Standard C function declarations with argument passed by values. Pointers are not
supported.

Built-in Functions
Measurement Functions
Function Description

int Measurement_Exists(int id) Determines if a measurement exists by ID.

Parameters:
id – Measurement ID
Returns:
0 – measurement does not exist
1 – measurement exists

int Measurement_Valid(int id) Determines if a measurement value is valid by its ID.

Parameters:
id - Measurement ID

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Function Description

Returns
0 - Measurement is invalid
1 - Measurement is valid

double Measurement_Value (int id) Gets the value of a measurement by its ID.
Parameters:
id - Measurement ID
Returns:
Value of the measurement
0 – if measurement does not exist
1 – if measurement exists

int Measurement_Decision (int id) Gets the decision of a measurement by its ID.
Parameters:
ID - Measurement ID
Returns:
Decision of the measurement
0 – if measurement decision is false
1 – If measurement decision is true

int Measurement_NameExists(char* toolName, Determines if a measurement exist by name.

char* measurementName) Parameter:
toolName – Tool name
measurementName – Measurement name
Returns:
0 – measurement does not exist
1 – measurement exists

int Measurement_Id (char* toolName, char* Gets the measurement ID by the measurement name.
measurementName) Parameters:
toolName – Tool name
measurementName – Measurement name
Returns:
-1 – measurement does not exist
Other value – Measurement ID

Output Functions
Function Description

void Output_Set (double value, int Sets the output value and decision on Output index 0. Only the last
decision) output value / decision in a script run is kept and passed to the Gocator
output. To output an invalid value, the constant INVALID_VALUE can be
used (e.g., Output_SetAt(0, INVALID_VALUE, 0))

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Function Description

Parameters:
value - value output by the script
decision - decision value output by the script. Can only be 0 or 1

void Output_SetAt(unsigned int index, Sets the output value and decision at the specified output index. To
double value, int decision) output an invalid value, the constant INVALID_VALUE can be used (e.g.,
Output_SetAt(0, INVALID_VALUE, 0))
Parameters:
index – Script output index
value – value output by the script
decision – decision value output by the script. Can only be 0 or 1

void Output_SetId(int id, double value, int Sets the output value and decision at the specified script output ID. To
decision) output an invalid value, the constant INVALID_VALUE can be used (e.g.,
Output_SetId(0, INVALID_VALUE, 0))
Parameters:
id – Script output ID

Memory Functions
Function Description

void Memory_Set64s (int id, long long Stores a 64-bit signed integer in persistent memory.
value) Parameters:
id - ID of the value
value - Value to store

long long Memory_Get64s (int id) Loads a 64-bit signed integer from persistent memory.
Parameters:
id - ID of the value
Returns:
value - Value stored in persistent memory

void Memory_Set64u (int id, unsigned long Stores a 64-bit unsigned integer in the persistent memory
long value) Parameters:
id - ID of the value
value - Value to store

unsigned long long Memory_Get64u (int id) Loads a 64-bit unsigned integer from persistent memory.
Parameters:
id - ID of the value
Returns:
value - Value stored in persistent memory

void Memory_Set64f (int id, double value) Stores a 64-bit double into persistent memory.
Parameters:

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Function Description

id - ID of the value
value - Value to store

double Memory_Get64f (int id) Loads a 64-bit double from persistent memory. All persistent memory
values are set to 0 when the sensor starts.
Parameters:
id - ID of the value
Returns:
value - Value stored in persistent memory

int Memory_Exists (int id) Tests for the existence of a value by ID.
Parameters:
id – Value ID
Returns:
0 – value does not exist
1 – value exists

void Memory_Clear (int id) Erases a value associated with an ID.

Parameters:
id – Value ID

void Memory_ClearAll() Erases all values from persistent memory

Stamp Functions
Function Description

long long Stamp_Frame() Gets the frame index of the current frame.

long long Stamp_Time() Gets the time stamp of the current frame.

long long Stamp_Encoder() Gets the encoder position of the current frame.

long long Stamp_EncoderZ() Gets the encoder index position of the current frame.

unsigned int Stamp_Inputs() Gets the digital input state of the current frame.

Math Functions
Function Description

float sqrt(float x) Calculates square root of x

float sin(float x) Calculates sin(x) (x in radians)

float cos(float x) Calculates cos(x) (x in radians)

float tan(float x) Calculates tan(x) (x in radians)

float asin(float x) Calculates asin(x) (x in radians)

float acos(float x) Calculates acos(x) (x in radians)

float atan(float x) Calculates atan(x) (x in radians)

float pow (float x, float y) Calculates the exponential value. x is the base, y is the exponent

float fabs(float x) Calculates the absolute value of x

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Example: Accumulated Volume
The following example shows how to create a custom measurement that is based on the values from
other measurements and persistent values. The example calculates the volume of the target using a
series of box area measurement values.

/* Calculate the volume of an object by accumulating the boxArea measurements*/

/* Encoder Resolution is 0.5mm. */
/* BoxArea Measurement ID is set to 1*/

long long encoder_res = 500;

long long Volume = Memory_Get64s(0);

Memory_Set64s(0, Volume);
if (Volume > 1000000)
{
Output_Set(Volume, 1);
}
else
{
Output_Set(Volume, 0);
}

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Output
The following sections describe the Output page.

Output Page Overview

Output configuration tasks are performed using the Output page. Gocator sensors can transmit laser
profiles and measurement results to various external devices using several output interface options.

Up to two outputs can have scheduling enabled with ASCII as the Serial output protocol. When
Selcom is the current Serial output protocol, only one other output can have scheduling
enabled.

Category Description

1 Ethernet Used to select the data sources that will transmit data via Ethernet. See Ethernet
Output on the next page.

2 Digital Output 1 Used to select the data sources that will be combined to produce a digital
output pulse on Output 1. See Digital Output on page 220.

3 Digital Output 2 Used to select the data sources that will be combined to produce a digital
output pulse on Output 2. See Digital Output on page 220.

4 Analog Panel Used to convert a measurement value or decision into an analog output signal.
See Analog Output on page 223.

5 Serial Panel Used to select the measurements that will be transmitted via RS-485 serial
output. See Serial Output on page 225.

Ethernet Output
A sensor uses TCP messages (Gocator protocol) to receive commands from client computers, and to
send video, laser profile, intensity, and measurement results to client computers. The sensor can also
receive commands from and send measurement results to a PLC using ASCII, Modbus TCP, or
EtherNet/IP protocol. See Protocols on page 311 for the specification of these protocols.

The specific protocols used with Ethernet output are selected and configured within the panel.

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To receive commands and send results using Gocator Protocol messages:
1. Go to the Output page.

2. Click on the Ethernet category in the Output panel.

3. Select Gocator as the protocol in the Protocol drop-down.

4. Check the video, profile, intensity, or measurement items to send.

5. (Optional) Uncheck the Auto Disconnect setting.

By default, this setting is checked, and the timeout is set to 10 seconds.

Measurements shown here correspond to measurements that have been added using the
Measure page (see on page 138).

All of the tasks that can be accomplished with the Gocator's web interface (creating jobs, performing
alignment, sending data and health information, and software triggering, etc.) can be accomplished
programmatically by sending Gocator protocol control commands.

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To receive commands and send results using Modbus TCP messages:
1. Go to the Output page.

2. Click on Ethernet in the Output panel.

3. Select Modbus as the protocol in the Protocol drop-down.

Unlike the Gocator Protocol, you do not select which measurement items to output. The Ethernet panel
will list the register addresses that are used for Modbus TCP communication.
The Modbus TCP protocol can be used to operate a sensor. Modbus TCP only supports a subset of the
tasks that can be performed in the web interface. A sensor can only process Modbus TCP commands
when Modbus is selected in the Protocol drop-down.

4. Check the Buffering checkbox, if needed.

Buffering is needed, for example, in Surface mode if multiple objects are detected within a time frame
shorter than the polling rate of the PLC.
If buffering is enabled with the Modbus protocol, the PLC must read the Advance register to advance
the queue before reading the measurement results.

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To receive commands and send results using EtherNet/IP messages:
1. Go to the Output page.

2. Click on Ethernet in the Output panel.

3. Select EtherNet/IP in the Protocol option.

Unlike using the Gocator Protocol, you don't select which measurement items to output. The Ethernet
panel will list the register addresses that are used for EtherNet/IP messages communication.
The EtherNet/IP protocol can be used to operate a sensor. EtherNet/IP only supports a subset of the
tasks that can be accomplished in the web interface. A sensor can only process EtherNet/IP commands
when the EtherNet/IP is selected in the Protocol option.

4. Check the Explicit Message Buffering checkbox, if needed.

Buffering is needed, for example, in Surface mode if multiple objects are detected within a time frame
shorter than the polling rate of the PLC. If buffering is enabled with the EtherNet/IP protocol, the buffer
is automatically advanced when the Sample State Assembly Object (see on page 371) is read.

5. Choose the byte order in the Byte Order dropdown.

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To receive commands and send results using ASCII messages:
1. Go to the Output page.

2. Click on Ethernet in the Output panel.

3. Select ASCII as the protocol in the Protocol drop-down.

4. Set the operation mode in the Operation drop-down.

In asynchronous mode, the data results are transmitted when they are available. In polling mode, users
send commands on the data channel to request the latest result. See Polling Operation Commands
(Ethernet Only) on page 374 for an explanation of the operation modes.

5. Select the data format from the Data Format drop-down.

Select Standard to use the default result format of the ASCII protocol. Select the measurement to send
by placing a check in the corresponding checkbox. See Standard Result Format on page 381 for an
explanation of the standard result mode.
Select Custom to enable the custom format editor, and then use the replacement patterns listed in
Replacement Patterns to create a custom format in the editor.

6. Set the special characters in the Special Characters tab.

Set the command delimiter, delimiter termination, and invalid value characters. Special characters are
used in commands and standard-format data results.

7. Set the TCP ports in the Ports tab.

Select the TCP ports for the control, data, and health channels. If the port numbers of two channels are
the same, the messages for both channels are transmitted on the same port.

Digital Output
Gocator sensors can convert measurement decisions or software commands to digital output pulses,
which can then be used to output to a PLC or to control external devices, such as indicator lights or air

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ejectors.

A digital output can act as a measurement valid signal to allow external devices to synchronize to the
timing at which measurement results are output. In this mode, the sensor outputs a digital pulse when a
measurement result is ready.

A digital output can also act as a strobe signal to allow external devices to synchronize to the timing at
which the sensor exposes. In this mode, the sensor outputs a digital pulse when the sensor exposes.

Each sensor supports two digital output channels. See Gocator Power/LAN Connector on page 439 for
information on wiring digital outputs to external devices.

Trigger conditions and pulse width are then configured within the panel.

To output measurement decisions:

1. Go to the Output page.

2. Click on Digital 1 or Digital 2 in the Output panel.

3. Set Trigger Event to Measurement.

4. In Configuration, set Assert On and select the measurements that should be combined to determine
the output.
If multiple measurement decisions are selected and Assert On is set to Pass, the output is activated
when all selected measurements pass.
If Assert On is set to Fail, the output is activated when any one of the selected measurements fails.

5. Set the Signal option.

The signal type specifies whether the digital output is a continuous signal or a pulsed signal. If Signal is
set to Continuous, the signal state is maintained until the next transition occurs. If Signal is set to is
Pulsed, you must specify the pulse width and how it is scheduled.

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6. Specify a pulse width using the slider.
The pulse width is the duration of the digital output pulse, in microseconds.

7. Specify whether the output is immediate or scheduled.

Check the Scheduled option if the output needs to be scheduled.
A scheduled output becomes active after a specified delay from the start of Gocator exposure. A
scheduled output can be used to track the decisions for multiple objects as these objects travel from
the sensor to the eject gates. The Delay setting specifies the distance from the sensor to the eject
gates.
An immediate output becomes active as soon as measurement results are available. The output
activates after the sensor finishes processing the data. As a result, the time between the start of sensor
exposure and output activates can vary and is dependent on the processing latency. The latency is
reported in the dashboard and in the health messages.

8. Specify a delay.
The delay specifies the time or spatial location between the start of sensor exposure and when the
output becomes active. The delay should be larger than the time needed to process the data inside the
sensor. It should be set to a value that is larger than the processing latency reported in the dashboard
or in the health messages.
The unit of the delay is configured with the Delay Domain setting.

To output a measurement valid signal:

1. Go to the Output page.

2. Click on Digital 1 or Digital 2 in the Output panel.

3. Set Trigger Event to Measurement.

4. In Configuration, set Assert On to Always.

5. Select the measurements.

The output activates when the selected decisions produce results. The output activates only once for
each frame even if multiple decision sources are selected.

6. Specify a pulse width using the slider.

The pulse width determines the duration of the digital output pulse, in microseconds.

To respond to software scheduled commands:

1. Go to the Output page.

2. Click on Digital 1 or Digital 2 in the Output panel.

3. Set Trigger Event to Software.

4. Specify a Signal type.

The signal type specifies whether the digital output is a continuous signal or a pulsed signal. If the
signal is continuous, its state is maintained until the next transition occurs. If the signal is pulsed, user
specifies the pulse width and the delay.

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5. Specify a Pulse Width.
The pulse width determines the duration of the digital output pulse, in microseconds.

6. Specify if the output is Immediate or Scheduled.

A pulsed signal can become active immediately or scheduled. Continuous signal always becomes active
immediately.
Immediate output becomes active as soon as a scheduled digital output (see on page 331) is received.
Scheduled output becomes active at a specific target time or position, given by the Scheduled Digital
Output command. Commands that schedule event in the past will be ignored. An encoder value is in the
future if the value will be reached by moving in the forward direction (the direction that encoder
calibration was performed in).

To output an exposure signal:

1. Go to the Output page.

2. Click on Digital 1 or Digital 2 in the Output panel.

3. Set Trigger Event to Exposure Begin or Exposure End.

4. Set the Pulse Width option.

The pulse width determines the duration of the digital output pulse, in microseconds.

To output an alignment signal:

1. Go to the Output page.

2. Click on Digital 1 or Digital 2 in the Output panel.

3. Set Trigger Event to Alignment.

The digital output state is High if the sensor is aligned, and Low if not aligned. Whether the sensor is
running does not affect the output.

Analog Output
Gocator sensors can convert a measurement result or software request to an analog output. Each
sensor supports one analog output channel.

See Analog Output on page 444 for information on wiring analog output to an external device.

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To output measurement value or decision:
1. Go to the Output page.

2. Click on Analog in the Output panel.

3. Set Trigger Event to Measurement.

4. Select the measurement that should be used for output.

Only one measurement can be used for analog output. Measurements shown here correspond to
measurements that have been programmed using the Measurements page.

5. Specify Data Scale values.

The values specified here determine how measurement values are scaled to the minimum and
maximum current output. The Data Scale values are specified in millimeters for dimensional
measurements such as distance, square millimeters for areas, cubic millimeters for volumes, and
degrees for angle results.

6. Specify Current Range and Invalid current values.

The values specified here determine the minimum and maximum current values in milliamperes. If
Invalid is checked, the current value specified with the slider is used when a measurement value is not
valid. If Invalid is not checked, the output holds the last value when a measurement value is not valid.

7. Specify if the output is immediate or scheduled.

An analog output can become active immediately or scheduled. Check the Scheduled option if the
output needs to be scheduled.
A scheduled output becomes active after a specified delay from the start of Gocator exposure. A
scheduled output can be used to track the decisions for multiple objects as these objects travel from
the sensor to the eject gates. The delay specifies the distance from the sensor to the eject gates.
An Immediate output becomes active as soon as the measurement results are available. The output
activates after the Gocator finishes processing the data. As a result, the time between the start of

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 Gocator exposure and output activates depends on the processing latency. The latency is reported in
the dashboard and in the health messages.

8. Specify a delay.
The delay specifies the time or spatial location between the start of Gocator exposure and the output
becomes active. The delay should be larger than the time needed to process the data inside the
Gocator. It should be set to a value that is larger than the processing latency reported in the dashboard
and in the health messages.
The unit of the delay is configured in the trigger panel. See Triggers on page 74 for details.

The analog output takes about 75 us to reach 90% of the target value for a maximum change,
then another ~40 us to settle completely.

To respond to software scheduled commands:

1. Go to the Output page.

2. Click on Analog in the Output panel.

3. Set Trigger Event to Software.

4. Specify if the output is immediate or scheduled.

An analog output value becomes active immediately or scheduled. Immediate output becomes active
as soon as a Scheduled Analog Output command (see on page 332) is received.
Software scheduled command can schedule an analog value to output at a specified future time or
encoder value, or changes its state immediately. The Delay setting in the panel is ignored. Commands
that schedule event in the past will be ignored. An encoder value is in future if the value will be reached
by moving in the forward direction (the direction that encoder calibration was performed in).

Serial Output
The Gocator's web interface can be used to select measurements to be transmitted via RS-485 serial
output. Each sensor has one serial output channel.

Two protocols are supported: ASCII Protocol and Selcom Serial Protocol.

The ASCII protocol outputs data asynchronously using a single serial port. For information on the ASCII
Protocol parameters and data formats, see ASCII Protocol on page 373.

The Selcom Serial Protocol outputs synchronized serial data using two serial ports. For information on
the Selcom serial protocol and data formats, see Selcom Protocol on page 383.

For information on wiring serial output to an external device, see Serial Output on page 444.

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To configure ASCII output:
1. Go to the Output page.

2. Click on Serial in the Output panel.

3. Select ASCII in the Protocol option.

4. Select the Data Format.

Select Standard to use the default result format of the ASCII protocol. Select value and decision to send
by placing a check in the corresponding check box. See Standard Result Format on page 381 for an
explanation of the standard result mode.
Select Custom to customize the output result. A data format box will appear in which you can type the
format string. See Custom Result Format on page 382 for the supported format string syntax.

5. Select the measurments to send.

Select measurements by placing a check in the corresponding check box.

6. Set the Special Characters.

Select the delimiter, termination and invalid value characters. Special characters are used in
commands and standard-format data results.

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To configure Selcom output:
1. Go to the Output page.

2. Click on Serial in the Output panel.

3. Select Selcom in the Protocol option.

4. Select the measurements to send.

To select an item for transmission, place a check in the corresponding check box. Measurements
shown here correspond to measurements that have been programmed using the Measurements
page.

5. Select the baud rate in Rate.

6. Select the Data Format.

See Selcom Protocol on page 383 for definitions of the formats.

7. Specify Data Scale values.

The Data Scale values are specified in millimeters for dimensional measurements such as distance,
square millimeters for areas, cubic millimeters for volumes, and degrees for angle results.
The results are scaled according to the number of serial bits used to cover the data scale range. For
example, the 12-bit output would break a 200 mm data scale range into 4096 increments (0.0488
mm/bit), and the 14-bit output would break a 200 mm data scale range into 16384 increments (0.0122
mm/bit).

8. Set the output delay in Delay.

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Dashboard
The following sections describe the Dashboard page.

Dashboard Page Overview

The Dashboard page summarizes sensor health information, and measurement statistics.

Element Description

1 System Displays sensor state and health information. See System Panel below.

2 Measurements Displays measurement statistics. See Measurements on the next page.

System Panel
The following state and health information is available in the System panel on the Dashboard page:

Dashboard General System Values

Name Description

Sensor State Current sensor state (Ready or Running).

Application Version Gocator firmware version.

Master Connection Whether Master is connected.

Laser Safety Whether Laser Safety is enabled.

Uptime Length of time since the sensor was power-cycled or reset.

CPU Usage Sensor CPU utilization (%).

Encoder Value Current encoder value (ticks).

Encoder Frequency Current encoder frequency (Hz).

Memory Usage Sensor memory utilization (MB used / MB total available).

Storage Usage Sensor flash storage utilization (MB used / MB total available).

Temperature Sensor internal temperature (C).

Ethernet Link Speed Speed of the Ethernet link (Mbps).

Ethernet Traffic Network output utilization (MB/sec).

Internal Temperature Internal sensor temperature.

Processing Latency Last delay from camera exposure to when results can be scheduled to.

Processing Latency Peak Peak latency delay from camera exposure to when results can be scheduled to Rich
I/O. Reset on start.

Dashboard History Values

Name Description

Scan Count Number of scans performed since sensor state last changed to Running.

Trigger Drop Count of camera frames dropped due to excessive trigger speed.

Analog Output Drop Count of analog output drops because last output has not been completed.

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Name Description

Digital Output Drop Count of digital output drops because last output has not been completed.

Serial Output Drop Count of serial output drops because last output has not been completed.

Processing Drop Count of frame drops due to excessive CPU utilization.

Ethernet Drop Count of frame drops due to slow Ethernet link.

Digital Output High Count Count of high states on digital outputs.

Digital Output Low Count Count of low states on digital outputs.

Range Valid Count Count of valid ranges.

Range Invalid Count Count of invalid ranges.

Anchor Invalid Count Count of invalid anchors.

Valid Spot Count Count of valid spots detected in the last frame.

Max Spot Count Maximum number of spots detected since sensor was started.

Camera Search Count Count of camera frame where laser has lost tracked. Only applicable when tracking
window is enabled.

Measurements
Measurement statistics are displayed for each measurement that has been configured on the Measure
page. Use the Reset button to reset the statistics.

The following information is available for each measurement:

Dashboard Measurement Statistics

Name Description

Measurements The measurement ID and name.

Value The most recent measurement value.

Min/Max The minimum and maximum measurement values that have been observed.

Avg The average of all measurement results collected since the sensor was
started.

Std The standard deviation of all measurement results collected since the sensor
was started.

Pass/Fail The counts of pass or fail decisions that have been generated.

Invalid The count of frames from which no feature points could be extracted.

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Gocator Emulator
The Gocator emulator is a stand-alone application that lets you run a "virtual" sensor. In a virtual sensor,
you can test jobs, evaluate data, and even learn more about new features, rather than take a physical
device off the production line to do this. You can also use a virtual sensor to familiarize yourself with the
overall interface if you are new to Gocator.

The Gocator emulator is only supported on Windows 7, 8, and 10.

Emulator showing a part in recorded data.

A measurement is applied to the recorded data.

Limitations
In most ways, the emulator behaves like a real sensor, especially when visualizing data, setting up models
and part matching, and adding and configuring measurement tools. The following are some of the
limitations of the emulator:

l Changes to job files in the emulator are not persistent (they are lost when you close or restart the
emulator). However, you can keep modified jobs by first saving them and then downloading them
from the Jobs list on the Manage page to a client computer. The job files can then be loaded into the
emulator at a later time or even onto a physical sensor for final testing.

l Performing alignment in the emulator has no effect and will never complete.

l Only one instance can be run at a time.

Gocator 2100, 2300 & 2880 Series 231

For information on saving and loading jobs in the emulator, see Creating, Saving, and Loading Jobs on
page 236 .

For information on uploading and downloading jobs between the emulator and a computer, and
performing other job file management tasks, see Downloading and Uploading Jobs on page 240.

Downloading a Support File

The emulator is provided with several virtual sensors preinstalled.

You can also create virtual sensors yourself by downloading a support file from a physical Gocator and
then adding it to the emulator.

Support files can contain jobs, letting you configure systems and add measurements in an emulated
sensor. Support files can also contain replay data, letting you test measurements and some
configurations on real data. Dual-sensor systems are supported.

To download a support file:

1. Go to the Manage page and click on the Support category.

2. In Filename, type the name you want to use for the support file.
When you create a scenario from a support file in the emulator, the filename you provide here is displayed
in the emulator's scenario list.
Support files end with the .gs extension, but you do not need to type the extension in Filename.

3. (Optional) In Description, type a description of the support file.

When you create a scenario from a support file in the emulator, the description is displayed below the
emulator's scenario list.

4. Click Download, and then when prompted, click Save.

Running the Emulator

The emulator is contained in the Gocator tools package (14405-x.x.x.x_SOFTWARE_GO_Tools.zip). You
can download the package by going to http://lmi3d.com/support/downloads/, selecting a product type,

Gocator 2100, 2300 & 2880 Series Gocator Emulator • Downloading a Support File • 232
and clicking on the Product User Area link.

To run the emulator, unzip the package and double-click on \Emulator\bin\win32\GoEmulator.exe.

Emulator launch screen

You can change the language of the emulator's interface from the launch screen. To change the
language, choose a language option from the top drop-down:

Selecting the emulator interface language

Adding a Scenario to the Emulator

To simulate a physical sensor using a support file downloaded from a sensor, you must add it as a
scenario in the emulator.

You can add support files downloaded from any series of Gocator sensors to the emulator.

To add a scenario:
1. Launch the emulator if it isn't running already.

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2. Click the Add button and choose a previously saved support file (.gs extension) in the Choose File to
Upload dialog.

3. (Optional) In Description, type a description.

You can only add descriptions for user-added scenarios.

Running a Scenario
After you have added a virtual sensor by uploading a support file to the emulator, you can run it from
the Available Scenarios list on the emulator launch screen. You can also run any of the scenarios
included in the installation.

To run a scenario:
1. If you want to filter the scenarios listed in Available Scenarios, do one or both of the following:

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 l Choose a model family in the Model drop-down.

l Choose Standalone or Buddy to limit the scenarios to single-sensor or dual-sensor scenarios, respect-
ively.

2. Select a scenario in the Available Scenarios list and click Start.

Removing a Scenario from the Emulator

You can easily remove a scenario from the emulator.

You can only remove user-added scenarios.

To remove a scenario:

1. If the emulator is running a scenario, click to stop it.

2. In the Available Scenarios list, scroll to the scenario you want to remove.

3. Click the button next to the scenario you want to remove.

The scenario is removed from the emulator.

Using Replay Protection

Because making changes to certain settings on the Scan page causes the emulator to flush replay data,
you can use the Replay Protection option to protect replay data.

When Replay Protection is on, you cannot switch from Replay mode. Settings that do not affect replay
data can be changed.

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Replay Protection is on by default.

Stopping and Restarting the Emulator

To stop the emulator:
l Click Stop Emulation.

Stopping the emulator returns you to the launch screen.

To restart the emulator when it is running:

l Click Restart Emulation.

Restarting the emulator restarts the currently running simulation.

Working with Jobs and Data

The following topics describe how to work with jobs and replay data (data recorded from a physical
sensor) in the emulator.

Creating, Saving, and Loading Jobs

Changes saved to job files in the emulator are not persistent (they are lost when you close or restart the
emulator). To keep jobs permanently, you must first save the job in the emulator and then download the
job file to a client computer. See below for more information on creating, saving, and switching jobs. For
information on downloading and uploading jobs between the emulator and a computer, see
Downloading and Uploading Jobs on page 240.

The job drop-down list in the toolbar shows the jobs available in the emulator. The job that is currently
active is listed at the top. The job name will be marked with "[unsaved]" to indicate any unsaved changes.

To create a job:
1. Choose [New] in the job drop-down list and type a name for the job.

2. Click the Save button or press Enter to save the job.

The job is saved to the emulator using the name you provided.

To save a job:
l Click the Save button .

The job is saved to the emulator.

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To load (switch) jobs:
l Select an existing file name in the job drop-down list.

The job is activated. If there are any unsaved changes in the current job, you will be asked whether you want
to discard those changes.

Playback and Measurement Simulation

The emulator can replay scan data previously recorded by a physical sensor, and also simulate
measurement tools on recorded data. This feature is most often used for troubleshooting and fine-
tuning measurements, but can also be helpful during setup.

Playback is controlled using the toolbar controls.

Recording is not functional in the emulator.

Playback controls when replay is on

To replay data:
1. Toggle Replay mode on by setting the slider to the right in the Toolbar.
The slider's background turns blue.
To change the mode, you must uncheck Replay Protection.

2. Use the Replay slider or the Step Forward, Step Back, or Play buttons to review data.
The Step Forward and Step Back buttons move and the current replay location backward and forward
by a single frame, respectively.
The Play button advances the replay location continuously, animating the playback until the end of the
replay data.
The Stop button (replaces the Play button while playing) can be used to pause the replay at a particular
location.
The Replay slider (or Replay Position box) can be used to go to a specific replay frame.

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To simulate measurements on replay data:
1. Toggle Replay mode on by setting the slider to the right in the Toolbar.
The slider's background turns blue.
To change the mode, Replay Protection must be unchecked.

2. Go to the Measure page.

Modify settings for existing measurements, add new measurement tools, or delete measurement tools
as desired. For information on adding and configuring measurements, see Measurement on page 138.

3. Use the Replay Slider, Step Forward, Step Back, or Play button to simulate measurements.
Step or play through recorded data to execute the measurement tools on the recording.
Individual measurement values can be viewed directly in the data viewer. Statistics on the
measurements that have been simulated can be viewed in the Dashboard page; for more information
on the dashboard, see Dashboard on page 228.

To clear replay data:

l Click the Clear Replay Data button .

Downloading, Uploading, and Exporting Replay Data

Replay data (recorded scan data) can be downloaded from the emulator to a client computer, or
uploaded from a client computer to the emulator.

Data can also be exported from the emulator to a client computer in order to process the data using
third-party tools.

You can only upload replay data to the same sensor model that was used to create the data.

Replay data is not loaded or saved when you load or save jobs.

To download replay data:

l Click the Download button .

To upload replay data:

1. Click the Upload button .
If you have unsaved changes in the current job, the firmware asks whether you want to discard the
changes.

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 Do one of the following:
l Click Discard to discard any unsaved changes.
The Upload menu appears.

l Click Cancel to return to the main window to save your changes.

2. In the Upload menu, choose one of the following:

l Upload: Unloads the current job and creates a new unsaved and untitled job from the content of the
replay data file.

l Upload and merge: Uploads the replay data and merges the data's associated job with the current
job. Specifically, the settings on the Scan page are overwritten, but all other settings of the current
job are preserved, including any measurements or models.

3. Navigate to the replay data to upload from the client computer and click OK.
The replay data is loaded, and a new unsaved and untitled job is created.

Replay data can be exported using the CSV format. If you have enabled Acquire Intensity in the Scan
Mode panel on the Scan page, the exported CSV file includes intensity data.

Surface intensity data cannot be exported to the CSV format. It can only be exported separately
as a bitmap.

To export replay data in the CSV format:

1. Click the Export button and select Export Range Data as CSV.

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 In Profile mode, all data in the record buffer is exported. In Surface mode, only data at the current
replay location is exported.
Use the playback control buttons to move to a different replay location; for information on playback,
see To replay data in Playback and Measurement Simulation on page 237.

2. Optionally, convert exported data to another format using the CSV Converter Tool. For information on
this tool, see CSV Converter Tool on page 412.

The decision values in the exported data depend on the current state of the job, not the state
during recording. For example, if you record data when a measurment returns a pass decision,
change the measurement's settings so that a fail decision is returned, and then export to CSV,
you will see a fail decision in the exported data.

Recorded intensity data can be exported to a bitmap (.BMP format). Acquire Intensity must be
checked in the Scan Mode panel while data was being recorded in order to export intensity data.

To export recorded intensity data to the BMP format:

l Click the Export button and select Intensity data as BMP.

Only the intensity data in the current replay location is exported.

Use the playback control buttons to move to a different replay location; for information on playback,
see To replay data in Playback and Measurement Simulation on page 237.

Downloading and Uploading Jobs

The Jobs category on the Manage page lets you manage the jobs in the emulator.

Gocator 2100, 2300 & 2880 Series Gocator Emulator • Working with Jobs and Data • 240
Element Description

Name field Used to provide a job name when saving files.

Jobs list Displays the jobs that are currently saved in the emulator .
Save button Saves current settings to the job using the name in the Name field. Changes to job files are not
persistent in the emulator. To keep changes, first save changes in the job file, and then download the
job file to a client computer. See the procedures below for instructions.

Load button Loads the job that is selected in the job list. Reloading the current job discards any unsaved changes.
Delete Deletes the job that is selected in the job list.
button
Set as Setting a different job as the default is not persistent in the emulator. The job set as default when the
Default support file (used to create a virtual sensor) was downloaded is used as the default whenever the
button emulator is started.

Download... Downloads the selected job to the client computer.

button
Upload... Uploads a job from the client computer.
button

Unsaved jobs are indicated by "[unsaved]".

Changes to job files in the emulator are not persistent (they are lost when you close or restart
the emulator). However, you can keep modified jobs by first saving them and then downloading
them to a client computer.

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To save a job:
1. Go to the Manage page and click on the Jobs category.

2. Provide a name in the Name field.

To save an existing job under a different name, click on it in the Jobs list and then modify it in the Name
field.

3. Click on the Save button or press Enter.

To download, load, or delete a job, or to set one as a default, or clear a default:

1. Go to the Manage page and click on the Jobs category.

2. Select a job in the Jobs list.

3. Click on the appropriate button for the operation.

Scan, Model, and Measurement Settings

The settings on the Scan page related to actual scanning will clear the buffer of any scan data that is
uploaded from a client computer, or is part of a support file used to create a virtual sensor. If Replay
Protection is checked, the emulator will indicate in the log that the setting can't be changed because the
change would clear the buffer. For more information on Replay Protection, see Using Replay Protection
on page 235.

Other settings on the Scan page related to the post-processing of data can be modified to test their
influence on scan data, without modifying or clearing the data, for example edge filtering (page 104), and
filters on the X axis (page 95). Note that modifying the Y filters causes the buffer to be cleared.

For information on creating models and setting up part matching, see Models on page 117. For
information on adding and configuring measurement tools, see Measurement on page 138.

Calculating Potential Maximum Frame Rate

You can use the emulator to calculate the potential maximum frame rate you can achieve with different
settings.

For example, when you reduce the active area, in the Active Area tab on the Sensor panel, the
maximum frame rate displayed on the Trigger panel is updated to reflect the increased speed that
would be available in a physical Gocator sensor. (See Active Area on page 79 for more information on
active area.)

Similarly, you can adjust exposure on the Exposure tab on the Sensor panel to see how this affects the
maximum frame rate. (See Exposure on page 83 for more information on exposure.)

To adjust active area in the emulator, Replay Protection must be turned off. See Using Replay
Protection on page 235 for more information.

Saving changes to active area causes replay data to be flushed.

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Protocol Output
The emulator simulates output for all of Gocator's Ethernet-based protocols:

l Gocator
l ASCII
l Modbus
l EtherNet/IP

To access the simulated output, connect to localhost (127.0.0.1) and use the protocols as you would
with a physical sensor.

Gocator Device Files

This section describes the user-accessible device files stored on a Gocator.

Live Files
Various "live" files stored on a Gocator sensor represent the sensor's active settings and transformations
(represented together as "job" files), the active replay data (if any), and the sensor log.

By changing the live job file, you can change how the sensor behaves. For example, to make settings and
transformations active, write to or copy to the _live.job file. You can also save active settings or
transformations to a client computer, or to a file on the sensor, by reading from or copying these files,
respectively.

The live files are stored in volatile storage. Only user-created job files are stored in non-volatile
storage.

The following table lists the live files:

Live Files
Name Read/Write Description

_live.job Read/Write The active job. This file contains a Configuration component containing the
current settings. If Alignment Reference in the active job is set to Dynamic, it
also contains a Transform component containing transformations.
For more information on job files (live and user-created), accessing their
components, and their structure, see Job Files on the next page.
_live.cfg Read/Write A standalone representation of the Configuration component contained in _
live.job. Used primarily for backwards compatibility.
_live.tfm Read/Write If Alignment Reference of the active job is set to Dynamic:

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Name Read/Write Description

A copy of the Transform component in _live.job. Used primarily for backwards

compatibility.
If Alignment Reference of the active job is set to Fixed:
The transformations that are used for all jobs whose Alignment Reference
setting is set to Fixed.

_live.log Read A sensor log containing various messages. For more information on the log
file, see Log File below.
_live.rec Read/Write The active replay simulation data.
ExtendedId.xml Read Sensor identification.

Log File
The log file contains log messages generated by the sensor. The root element is Log.

To access the log file, use the Read File command, passing "_live.log" to the command. The log file is read-
only.

Log Child Elements

Element Type Description

List of (Info | Warning | List An ordered list of log entries.

Error)

Log/Info | Log/Warning | Log/Error Elements

Element Type Description

@time 64u Log time, in uptime (µs).

@value String Log content; may contain printf-style format specifiers (e.g. %u).
List of (IntArg | FloatArg | List An ordered list of arguments:
Arg) IntArg – Integer argument
FloatArg – Floating-point argument
Arg – Generic argument

The arguments are all sent as strings and should be applied in order to the format specifiers found in the
content.

Job Files
The following sections describe the structure of job files.

Job files, which are stored in a Gocator's internal storage, control system behavior when a sensor is
running. Job files contain the settings and potentially the transformations and models associated with
the job (if Alignment Reference is set to Dynamic).

There are two kinds of job files:

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l A special job file called "_live.job." This job file contains the active settings and potentially the trans-
formations and models associated with the job. It is stored in volatile storage.
l Other job files that are stored in non-volatile storage.

Job File Components

A job file contains components that can be loaded and saved as independent files. The following table
lists the components of a job file:

Job File Components

Component Path Description

Configuration config.xml The job's configurations. This component is always present.

Transform transform.xml Transformation values. Present only if Alignment Reference is set to

Dynamic.

Part model <name>.mdl One or more part model files. Part models are created using models
and part matching .

Elements in the components contain three types of values: settings, constraints, and properties. Settings
are input values that can be edited. Constraints are read-only limits that define the valid values for
settings. Properties are read-only values that provide supplemental information related to sensor setup.

When a job file is received from a sensor, it will contain settings, constraints, and properties. When a job
file is sent to a sensor, any constraints or properties in the file will be ignored.

Changing the value of a setting can affect multiple constraints and properties. After you upload a job file,
you can download the job file again to access the updated values of the constraints and properties.

All Gocator sensors share a common job file structure.

Accessing Files and Components

Job file components can be accessed individually as XML files using path notation. For example, the
configurations in a user-created job file called productionRun01.job can be read by passing
“productionRun01.job/config.xml” to the Read File command. In the same way, the configurations in the
active job could be read using "_live.job/config.xml".

If Alignment Reference is set to Fixed, the active job file (_live.job) will not contain
transformations. To access transformations in this case, you must access them via _live.tfm.

The following sections correspond to the XML structure used in job file components.

Configuration
The Configuration component of a job file contains settings that control how a Gocator sensor behaves.

You can access the Configuration component of the active job as an XML file, either using path notation,
via "_live.job/_config.xml", or directly via "_live.cfg".

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You can access the Configuration component in user-created job files in non-volatile storage, for
example, "productionRun01.job/config.xml". You can only access configurations in user-created job files
using path notation.

See the following sections for the elements contained in this component.

Configuration Child Elements

Element Type Description

@version 32u Configuration version (101).

@versionMinor 32u Configuration minor version (5).

Setup Section For a description of the Setup elements, see Setup below.
Replay Section Contains settings related to recording filtering (see Replay on page 262).
Streams Section Read-only collection of available data streams (see Streams/Stream
(Read-only) on page 263).
ToolOptions Section List of available tool types and their information. See ToolOptions on
page 264 for details.

Tools Collection Collection of sections. Each section is an instance of a tool and is named
by the type of the tool it describes. For more information, see the
sections for each tool under Tools on page 265.

Tools.options String (CSV) Deprecated. Replaced by ToolOptions.

Output Section For a description of the Output elements, see Output on page 301.

Setup
The Setup element contains settings related to system and sensor setup.

Setup Child Elements

Element Type Description

TemperatureSafetyEnabled Bool Enables laser temperature safety control.

TemperatureSafetyEnabled. Bool Whether or not this property is used.
used
ScanMode 32s The default scan mode.
ScanMode options String (CSV) List of available scan modes.
OcclusionReductionEnabled Bool Enables occlusion reduction.
OcclusionReductionEnabled. Bool Whether or not property is used.
used
OcclusionReductionEnabled. Bool Actual value used if not configurable.
value
UniformSpacingEnabled Bool Enables uniform spacing.
UniformSpacingEnabled.use Bool Whether or not property is used.
d
UniformSpacingEnabled.valu Bool Actual value used if not configurable.
e

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Element Type Description

IntensityEnabled Bool Enables intensity data collection.

IntensityEnabled.used Bool Whether or not property is used.
IntensityEnabled.value Bool Actual value used if not configurable.
ExternalInputZPulseEnabled Bool Enables the External Input based encoder Z Pulse feature.

Filters Section See Filters below.

Trigger Section See Trigger on page 249.

Layout Section See Layout on page 250.

Alignment Section See Alignment on page 251.

Devices Collection A collection of two Device sections (with roles main and buddy). See
Devices / Device on page 252.
SurfaceGeneration Section See SurfaceGeneration on page 256.
SurfaceSections Section See SurfaceSections on page 257.

ProfileGeneration Section See ProfileGeneration on page 258. Used by Gocator 1300 series sensors.

PartDetection Section See PartDetection on page 259.

PartMatching Section See PartMatching on page 260.

Custom Custom Used by specialized sensors.

Filters
The Filters element contains settings related to post-processing profiles before they are output or used
by measurement tools.

XSmoothing

XSmoothing Child Elements

Element Type Description

Enabled Bool Enables filtering.

Window 64f Window size (mm).

Window.min 64f Minimum window size (mm).

Window.max 64f Maximum window size (mm).

YSmoothing

YSmoothing Child Elements

Element Type Description

Enabled Bool Enables filtering.

Window 64f Window size (mm).

Window.min 64f Minimum window size (mm).

Window.max 64f Maximum window size (mm).

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XGapFilling

XGapFilling Child Elements

Element Type Description

Enabled Bool Enables filtering.

Window 64f Window size (mm).

Window.min 64f Minimum window size (mm).

Window.max 64f Maximum window size (mm).

YGapFilling

YGapFilling Child Elements

Element Type Description

Enabled Bool Enables filtering.

Window 64f Window size (mm).

Window.min 64f Minimum window size (mm).

Window.max 64f Maximum window size (mm).

XMedian

XMedian Child Elements

Element Type Description

Enabled Bool Enables filtering.

Window 64f Window size (mm).

Window.min 64f Minimum window size (mm).

Window.max 64f Maximum window size (mm).

YMedian

YMedian Child Elements

Element Type Description

Enabled Bool Enables filtering.

Window 64f Window size (mm).

Window.min 64f Minimum window size (mm).

Window.max 64f Maximum window size (mm).

XDecimation

XDecimation Child Elements

Element Type Description

Enabled Bool Enables filtering.

Window 64f Window size (mm).

Window.min 64f Minimum window size (mm).

Window.max 64f Maximum window size (mm).

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YDecimation

YDecimation Child Elements

Element Type Description

Enabled Bool Enables filtering.

Window 64f Window size (mm).

Window.min 64f Minimum window size (mm).

Window.max 64f Maximum window size (mm).

Trigger
The Trigger element contains settings related to trigger source, speed, and encoder resolution.

Trigger Child Elements

Element Type Description

Source 32s Trigger source:

0 – Time
1 – Encoder
2 – Digital Input
3 – Software

Source.options 32s (CSV) List of available source options.

Units 32s Sensor triggering units when source is not clock or encoder:
0 – Time
1 – Encoder

FrameRate 64f Frame rate for time trigger (Hz).

FrameRate.min 64f Minimum frame rate (Hz).
FrameRate.max 64f Maximum frame rate (Hz).
FrameRate.maxSource 32s Source of maximum frame rate limit:
0 – Imager
1 – Surface generation

MaxFrameRateEnabled Bool Enables maximum frame rate (ignores FrameRate).

EncoderSpacing 64f Encoder spacing for encoder trigger (mm).
EncoderSpacing.min 64f Minimum encoder spacing (mm).
EncoderSpacing.max 64f Maximum encoder spacing (mm).
EncoderSpacing.minSource 32s Source of minimum encoder spacing:
0 – Resolution
1 – Surface generation

EncoderTriggerMode 32s Encoder triggering mode:

0 – Tracking backward
1 – Bidirectional
2 – Ignore backward

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Element Type Description

Delay 64f Trigger delay (µs or mm).

Delay.min 64f Minimum trigger delay (µs or mm).
Delay.max 64f Maximum trigger delay (µs or mm).
GateEnabled Bool Enables digital input gating.
GateEnabled.used Bool True if this parameter can be configured.
GateEnabled.value Bool Actual value if the parameter cannot be configured.

Layout

Layout Child Elements

Element Type Description

DataSource 32s Data source of the layout output (read-only):

0 – Top
1 – Bottom
2 – Top left
3 – Top right
4 – Top Bottom
5 – Left Right

XSpacingCount 32u Number of points along X when data is resampled.

YSpacingCount 32u Number of points along Y when data is resampled.
TransformedDataRegion Region3D Transformed data region of the layout output.

Orientation 32s Sensor orientation:

0 – Wide
1 – Opposite
2 – Reverse

Orientation.options 32s (CSV) List of available orientation options.

Orientation.value 32s Actual value used if not configurable.
MultiplexBuddyEnabled Bool Enables multiplexing for buddies.
MultiplexSingleEnabled Bool Enables multiplexing for a single sensor configuration.
MultiplexSingleExposureDur 64f Exposure duration in µs (currently rounded to integer when read by the
ation sensor)
MultiplexSingleDelay 64f Delay in µs. (Currently gets rounded up when read by the sensor.)
MultiplexSinglePeriod 64f Period in µs. (Currently gets rounded up when read by the sensor.)
MultiplexSinglePeriod.min 64f Minimum period in µs.

Region3D Child Elements

Element Type Description

X 64f X start (mm).

Y 64f Y start (mm).

Z 64f Z start (mm).

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Element Type Description

Width 64f X extent (mm).

Length 64f Y extent (mm).

Height 64f Z extent (mm).

Alignment
The Alignment element contains settings related to alignment and encoder calibration.

Alignment Child Elements

Element Type Description

InputTriggerEnabled Bool Enables digital input-triggered alignment operation.

InputTriggerEnabled.used Bool Whether or not this feature can be enabled. This feature is available only
on some sensor models.
InputTriggerEnabled.value Bool Actual feature status.
Type 32s Type of alignment operation:
0 – Stationary
1 – Moving

Type.options 32s (CSV) List of available alignment types.

StationaryTarget 32s Stationary alignment target:
0 – None
1 – Disk
2 – Bar
3 – Plate

StationaryTarget.options 32s (CSV) List of available stationary alignment targets.

MovingTarget 32s Moving alignment target:
0 – None
1 – Disk
2 – Bar
3 – Plate

MovingTarget.options 32s (CSV) List of available moving alignment targets.

EncoderCalibrateEnabled Bool Enables encoder resolution calibration.

Disk Section See Disk below.

Bar Section See Bar on the next page.

Plate Section See Plate on the next page.

Disk

Disk Child Elements

Element Type Description

Diameter 64f Disk diameter (mm).

Height 64f Disk height (mm).

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Bar

Bar Child Elements

Element Type Description

Width 64f Bar width (mm).

Height 64f Bar height (mm).
HoleCount 32u Number of holes.
HoleDistance 64f Distance between holes (mm).
HoleDiameter 64f Diameter of holes (mm).

Plate

Plate Child Elements

Element Type Description

Height 64f Plate height (mm).

HoleCount 32u Number of holes.
RefHoleDiameter 64f Diameter of reference hole (mm).
SecHoleDiameter 64f Diameter of secondary hole(s) (mm).

Devices / Device

Devices / Device Child Elements

Element Type Description

@role 32s Sensor role:

0 – Main
1 – Buddy

DataSource 32s Data source of device output (read-only):

0 – Top
1 – Bottom
2 – Top Left
3 – Top Right

XSpacingCount 32u Number of resampled points along X (read-only).

YSpacingCount 32u Number of resampled points along Y (read-only).
ActiveArea Region3D Active area. (Contains min and max attributes for each element.)

TransformedDataRegion Region3D Active area after transformation (read-only).

FrontCamera Window Front camera window (read-only).

BackCamera Window Back camera window (read-only).

BackCamera.used Bool Whether or not this field is used.

PatternSequenceType 32s The projector pattern sequence to display when a projector equipped
device is running. The following types are possible:
-1 – None

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Element Type Description

0 – Default
100 – Nine Lines

PatternSequenceType.optio 32s List of available pattern sequence types.

ns
PatternSequenceType.used Bool Whether or not this field is used.

PatternSequenceCount 32u Number of frames in the active sequence (read-only).

ExposureMode 32s Exposure mode:
0 – Single exposure
1 – Multiple exposures
2 – Dynamic exposure

ExposureMode.options 32s (CSV) List of available exposure modes.

Exposure 64f Single exposure (µs).
Exposure.min 64f Minimum exposure (µs).
Exposure.max 64f Maximum exposure (µs).
DynamicExposureMin 64f Dynamic exposure range minimum (µs).
DynamicExposureMax 64f Dynamic exposure range maximum (µs).
ExposureSteps 64f (CSV) Mutiple exposure list (µs).
ExposureSteps.countMin 32u Minimum number of exposure steps.
ExposureSteps.countMax 32u Maximum number of exposure steps.
IntensityStepIndex 32u Index of exposure step to use for intensity when using multiple
exposures.
XSubsampling 32u Subsampling factor in X.
XSubsampling.options 32u (CSV) List of available subsampling factors in X.
ZSubsampling 32u Subsampling factor in Z.
ZSubsampling.options 32u (CSV) List of available subsampling factors in Z.
SpacingInterval 64f Uniform spacing interval (mm).
SpacingInterval.min 64f Minimum spacing interval (mm).
SpacingInterval.max 64f Maximum spacing interval (mm).
SpacingInterval.used Bool Whether or not field is used.
SpacingInterval value 64f Actual value used.
SpacingIntervalType 32s Spacing interval type:
0 – Maximum resolution
1 – Balanced
2 – Maximum speed
3 – Custom

SpacingIntervalType.used Bool Whether or not field is used.

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Element Type Description

Tracking Section See Tracking below.

Material Section See Material below.

Custom Custom Used by specialized sensors.

Region3D Child Elements

Element Type Description

X 64f X start (mm).

Y 64f Y start (mm).

Z 64f Z start (mm).

Width 64f X extent (mm).

Length 64f Y extent (mm).

Height 64f Z extent (mm).

Window Child Elements

Element Type Description

X 32u X start (pixels).

Y 32u Y start (pixels).
Width 32u X extent (pixels).
Height 32u Y extent (pixels).

Tracking
Tracking is not available on Gocator 1300, 2100, and 3100 series sensors.

Tracking Child Elements

Element Type Description

Enabled Bool Enables tracking.

Enabled.used Bool Whether or not this field is used.
SearchThreshold 64f Percentage of spots that must be found to remain in track.
Height 64f Tracking window height (mm).
Height.min 64f Minimum tracking window height (mm).
Height.max 64f Maximum tracking window height (mm).

Material

Material Child Elements

Element Type Description

Type 32s Type of Material settings to use.

0 – Custom
1 – Diffuse

Type.used Bool Determines if the setting’s value is currently used.

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Element Type Description

Type.value 32s Value in use by the sensor, useful for determining value when
used is false.
SpotThreshold 32s Spot detection threshold.
SpotThreshold.used Bool Determines if the setting’s value is currently used.
SpotThreshold.value 32s Value in use by the sensor, useful for determining value when
used is false.
SpotWidthMax 32s Spot detection maximum width.
SpotWidthMax.used Bool Determines if the setting’s value is currently used.
SpotWidthMax.value 32s Value in use by the sensor, useful for determining value when
used is false.
SpotWidthMax.min 32s Minimum allowed spot detection maximum value.
SpotWidthMax.max 32s Maximum allowed spot detection maximum value.
SpotSelectionType 32s Spot selection type
0 – Best. Picks the strongest spot in a given column.
1 – Top. Picks the spot which is most Top/Left on the imager
2 – Bottom. Picks the spot which is most Bottom/Right on the
imager
3 – None. All spots are available. This option may not be available
in some configurations.

SpotSelectionType.used Bool Determines if the setting’s value is currently used.

SpotSelectionType.value 32s Value in use by the sensor, useful for determining value when
used is false.

SpotSelectionType.options 32s List of available spot selection types.

(CSV)

CameraGainAnalog 64f Analog camera gain factor.

CameraGainAnalog.used Bool Determines if the setting’s value is currently used.
CameraGainAnalog.value 64f Value in use by the sensor, useful for determining value when
used is false.
CameraGainAnalog.min 64f Minimum value.
CameraGainAnalog.max 64f Maximum value.
CameraGainDigital 64f Digital camera gain factor.
CameraGainDigital.used Bool Determines if the setting’s value is currently used.
CameraGainDigital.value 64f Value in use by the sensor, useful for determining value when
used is false.
CameraGainDigital.min 64f Minimum value.
CameraGainDigital.max 64f Maximum value.
DynamicSensitivity 64f Dynamic exposure control sensitivity factor. This can be used to
scale the control setpoint.

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Element Type Description

DynamicSensitivity.used Bool Determines if the setting’s value is currently used.

DynamicSensitivity.value 64f Value in use by the sensor, useful for determining value when
used is false.
DynamicSensitivity.min 64f Minimum value.
DynamicSensitivity.max 64f Maximum value.
DynamicThreshold 32s Dynamic exposure control threshold. If the detected number of
spots is fewer than this number, the exposure will be increased.
DynamicThreshold.used Bool Determines if the setting’s value is currently used.
DynamicThreshold.value 32s Value in use by the sensor, useful for determining value when
used is false.
DynamicThreshold.min 32s Minimum value.
DynamicThreshold.max 32s Maximum value.
SensitivityCompensationEnabled Bool Sensitivity compensation toggle. Used in determining analog and
digital gain, along with exposure scale.
SensitivityCompensationEnabled.used Bool Determines if the setting’s value is currently used.
SensitivityCompensationEnabled.value Bool Value in use by the sensor, useful for determining value when
used is false.
GammaType 32s Gamma type.
GammaType used Bool Value in use by the sensor, useful for determining value when
used is false.
GammaType value 32s Determines if the setting’s value is currently used.

SurfaceGeneration
The SurfaceGeneration element contains settings related to surface generation.

SurfaceGeneration Child Elements

Element Type Description

Type 32s Surface generation type:

0 – Continuous
1 – Fixed length
2 – Variable length
3 – Rotational

FixedLength Section See FixedLength below.

VariableLength Section See VariableLength on the next page.
Rotational Section See Rotational on the next page.

FixedLength

FixedLength Child Elements

Element Type Description

StartTrigger 32s Start trigger condition:

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Element Type Description

0 – Sequential
1 – Digital input

Length 64f Surface length (mm).

Length.min 64f Minimum surface length (mm).

Length.max 64f Maximum surface length (mm).

VariableLength

VariableLength Child Elements

Element Type Description

MaxLength 64f Maximum surface length (mm).

MaxLength.min 64f Minimum value for maximum surface length (mm).

MaxLength.max 64f Maximum value for maximum surface length (mm).

Rotational

Rotational Child Elements

Element Type Description

Circumference 64f Circumference (mm).

Circumference.min 64f Minimum circumference (mm).
Circumference.max 64f Maximum circumference (mm).

SurfaceSections

SurfaceSections Child Elements

Element Type Description

@xMin 64f The minimum valid X value to be used for section definition.
@xMax 64f The maximum valid X value to be used for section definition.
@yMin 64f The minimum valid Y value to be used for section definition.
@yMax 64f The maximum valid Y value to be used for section definition.
Section Collection A series of Section elements.

Section Child Elements

Element Type Description

@id 32s The ID assigned to the surface section.

@name String The name associated with the surface section.
StartPoint Point64f The beginning point of the surface section.
EndPoint Point64f The end point of the surface section.
CustomSpacingIntervalEnabl Bool Indicates whether a user specified custom spacing interval is to be used
ed for the resulting section.
SpacingInterval 64f The user specified spacing interval.

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Element Type Description

SpacingInterval.min 64f The spacing interval limit minimum.

SpacingInterval.max 64f The spacing interval limit maximum.
SpacingInterval.value 64f The current spacing interval used by the system.

ProfileGeneration
The ProfileGeneration element contains settings related to profile generation.

This element is used by Gocator 1300 series sensors.

ProfileGeneration Child Elements

Element Type Description

Type 32s Profile generation type:

0 – Continuous
1 – Fixed length
2 – Variable length
3 – Rotational

FixedLength Section See FixedLength below.

VariableLength Section See VariableLength below.
Rotational Section See Rotational on the next page.

FixedLength

FixedLength Child Elements

Element Type Description

StartTrigger 32s Start trigger condition:

0 – Sequential
1 – Digital input

Length 64f Profile length (mm).

Length.min 64f Minimum profile length (mm).

Length.max 64f Maximum profile length (mm).

VariableLength

VariableLength Child Elements

Element Type Description

MaxLength 64f Maximum surface length (mm).

MaxLength.min 64f Minimum value for maximum profile length (mm).

MaxLength.max 64f Maximum value for maximum profile length (mm).

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Rotational

Rotational Child Elements

Element Type Description

Circumference 64f Circumference (mm).

Circumference.min 64f Minimum circumference (mm).
Circumference.max 64f Maximum circumference (mm).

PartDetection

PartDetection Child Elements

Element Type Description

Enabled Bool Enables part detection.

Enabled.used Bool Whether or not this field is used.
Enabled value Bool Actual value used if not configurable.
Threshold 64f Height threshold (mm).
Threshold.min 64f Minimum height threshold (mm).
Threshold.max 64f Maximum height threshold (mm).
ThresholdDirection 32u Threshold direction:
0 – Above
1 – Below
2
MinArea 64f Minimum area (mm ).
MinArea.min 64f Minimum value of minimum area.
MinArea.max 64f Maximum value of minimum area.
MinArea.used Bool Whether or not this field is used.
GapWidth 64f Gap width (mm).
GapWidth.min 64f Minimum gap width (mm).
GapWidth.max 64f Maximum gap width (mm).
GapWidth.used Bool Whether or not this field is used.
GapLength 64f Gap length (mm).
GapLength.min 64f Minimum gap length (mm).
GapLength.max 64f Maximum gap length (mm).
GapLength.used Bool Whether or not this field is used.
PaddingWidth 64f Padding width (mm).
PaddingWidth.min 64f Minimum padding width (mm).
PaddingWidth.max 64f Maximum padding width (mm).
PaddingWidth.used Bool Whether or not this field is used.
PaddingLength 64f Padding length (mm).
PaddingLength.min 64f Minimum padding length (mm).
PaddingLength.max 64f Maximum padding length (mm).

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Element Type Description

PaddingLength.used Bool Whether or not this field is used.

MinLength 64f Minimum length (mm).
MinLength.min 64f Minimum value of minimum length (mm).
MinLength.max 64f Maximum value of minimum length (mm).
MinLength.used Bool Whether or not this field is used.
MaxLength 64f Maximum length (mm).
MaxLength.min 64f Minimum value of maximum length (mm).
MaxLength.max 64f Maximum value of maximum length (mm).
MaxLength.used Bool Whether or not this field is used.
FrameOfReference 32s Part frame of reference:
0 – Sensor
1 – Scan
2 – Part

FrameOfReference.used Bool Whether or not this field is used.

FrameOfReference.value 32s Actual value.

EdgeFiltering Section See EdgeFiltering below.

EdgeFiltering

EdgeFiltering Child Elements

Element Type Description

@used Bool Whether or not this section is used.

Enabled Bool Enables edge filtering.
PreserveInteriorEnabled Bool Enables preservation of interior.
ElementWidth 64f Element width (mm).
ElementWidth.min 64f Minimum element width (mm).
ElementWidth.max 64f Maximum element width (mm).
ElementLength 64f Element length (mm).
ElementLength.min 64f Minimum element length (mm).
ElementLength.max 64f Maximum element length (mm).

PartMatching
The PartMatching element contains settings related to part matching.

PartMatching Child Elements

Element Type Description

Enabled Bool Enables part matching.

Enabled.used Bool Whether or not this field is used.
MatchAlgo 32s Match algorithm.

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Element Type Description

0 – Edge points
1 – Bounding Box
2 – Ellipse

Edge Section See Edge below.

BoundingBox Section See BoundingBox below.

Ellipse Section See Ellipse below.

Edge

Edge Child Elements

Element Type Description

ModelName String Name of the part model to use. Does not include the .mdl extension.
Acceptance/Quality/Min 64f Minimum quality value for a match.

BoundingBox

BoundingBox Child Elements

Element Type Description

ZAngle 64f Z rotation to apply to bounding box (degrees).

AsymmetryDetectionType 32s Determine whether to use asymmetry detection and, if enabled, which
dimension is the basis of detection. The possible values are:
0 – None
1 – Length
2 - Width

Acceptance/Width/Min 64f Minimum width (mm).

Acceptance/Width/Max 64f Maximum width (mm).
Acceptance/Length/Min 64f Minimum length (mm).
Acceptance/Length/Max 64f Maximum length (mm).

Ellipse

Ellipse Child Elements

Element Type Description

ZAngle 64f Z rotation to apply to ellipse (degrees).

AsymmetryDetectionType 32s Determine whether to use asymmetry detection and, if enabled, which
dimension is the basis of detection. The possible values are:
0 – None
1 – Major
2 - Minor

Acceptance/Major/Min 64f Minimum major length (mm).

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Element Type Description

Acceptance/Major/Max 64f Maximum major length (mm).

Acceptance/Minor/Min 64f Minimum minor length (mm).
Acceptance/Minor/Max 64f Maximum minor length (mm).

Replay
Contains settings related to recording filtering.

RecordingFiltering

RecordingFiltering Child Elements

Element Type Description

ConditionCombineType 32s 0 – Any: If any enabled condition is satisfied, the current frame is
recorded.
1 – All: All enabled conditions must be satisfied for the current frame to
be recorded.

Conditions Collection A collection of AnyMeasurement, AnyData, or Measurement

conditions.

Conditions/AnyMeasurement

Conditions/AnyMeasurement Elements
Element Type Description

Enabled Bool Indicates whether the condition is enabled.

Result 32s The measurement decision criteria to be included in the filter. Possible
values are:
0 – Pass
1 – Fail
2 – Valid
3 – Invalid

Conditions/AnyData

Conditions/AnyData Elements
Element Type Description

Enabled Bool Indicates whether the condition is enabled.

RangeCountCase 32s The case under which to record data:
0 – Range count at or above threshold of valid data points.
1 – Range count below threshold.

RangeCountThreshold 32u The threshold for the number of range points that are valid.

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Conditions/Measurement

Conditions/Measurement Elements
Element Type Description

Enabled Bool Indicates whether the condition is enabled.

Ids 32s The ID of the measurement to filter.
Result 32s The measurement decision criteria for the selected ID to be included in
the filter. Possible values are:
0 – Pass
1 – Fail
2 – Valid
3 – Invalid

Streams/Stream (Read-only)
Streams/Stream Child Elements
Element Type Description

Step 32s The data step of the stream being described. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section

Id 32u The stream ID.

TempoGroup 32u Represents a stage in the data processing pipeline. The greater the
number, the farther removed from the initial acquisition stage.
Sources Collection A collection of Source elements as described below.

Source Child Elements

Element Type Description

Id 32s The ID of the data source. Possible values are:

0 – Top
1 – Bottom
2 – Top Left
3 – Top Right
4 – Top Bottom
5 – Left Right

Capability 32s The capability of the data stream source. Possible values are:
0 – Full
1 – Diagnostic only
2 - Virtual

Region Region3d The region of the given stream source.

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ToolOptions
The ToolOptions element contains a list of available tool types, their measurements, and settings for
related information.

ToolOptions Child Elements

Element Type Description

<Tool Names> Collection A collection of tool name elements. An element for each
tool type is present.

Tool Name Child Elements

Element Type Description

@displayName String Display name of the tool.

@isCustom Bool Reserved for future use.

MeasurementOptions Collection See MeasurementOptions below

StreamOptions Collection A collection of StreamOption below elements.

MeasurementOptions

MeasurementOptions Child Elements

Element Type Description

<Measurement Names> Collection A collection of measurement name elements. An element

for each measurement is present.

<Measurement Name> Child Elements

Element Type Description

@displayName String Display name of the tool.

@minCount 32u Minimum number of instances in a tool.

@maxCount 32u Maximum number of instances in a tool.

StreamOption

StreamOption Child Elements

Element Type Description

@step 32s The data step of the stream being described. Possible values
are:
1 – Video
2 – Range
3 – Surface
4 – Section

@ids CSV A list representing the available IDs associated with the given
step.

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Tools
The Tools element contains measurement tools. The following sections describe each tool and its
available measurements.

Tools Child Elements

Element Type Description

@options String (CSV) A list of the tools available in the currently selected scan
mode.

<ToolType> Section An element for each added tool.

Profile Types
The following types are used by various measurement tools.

ProfileFeature
An element of type ProfileFeature defines the settings for detecting a feature within an area of interest.

ProfileFeature Child Elements

Element Type Description

Type 32s Determine how the feature is detected within the area:
0 – Max Z
1 – Min Z
2 – Max X
3 – Min X
4 – Corner
5 – Average
6 – Rising Edge
7 – Falling Edge
8 – Any Edge
9 – Top Corner
10 – Bottom Corner
11 – Left Corner
12 – Right Corner
13 – Median

RegionEnabled Bool Indicates whether feature detection applies to the defined

Region or to the entire active area.

Region ProfileRegion2D Element for feature detection area.

ProfileLine
An element of type ProfileLine defines measurement areas used to calculate a line.

ProfileLine Child Elements

Element Type Description

RegionCount 32s Count of the regions.

Regions (Collection) The regions used to calculate a line. Contains one or two Region elements
of type ProfileRegion2D, with RegionEnabled fields for each.

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ProfileRegion2d
An element of type ProfileRegion2d defines a rectangular area of interest.

ProfileRegion2d Child Elements

Element Type Description

X 64f Setting for profile region X position (mm).

Z 64f Setting for profile region Z position (mm).

Width 64f Setting for profile region width (mm).

Height 64f Setting for profile region height (mm).

Surface Types
The following types are used by the various measurement tools.

Region3D
An element of type Region3D defines a rectangular area of interest in 3D.

Region3D Child Elements

Element Type Description

X 64f Volume X position (mm).

Y 64f Volume Y position (mm).

Z 64f Volume Z position (mm).

Width 64f Volume width (mm).

Length 64f Volume length (mm).

Height 64f Volume height (mm).

SurfaceFeature
An element of type SurfaceFeature defines the settings for detecting a feature within an area of interest.

SurfaceFeature Child Elements

Element Type Description

Type 32s Setting to determine how the feature is detected within the area:
0 – Average (formerly Centroid 2d)
1 – Centroid (formerly Centroid 3d)
2 – X Min
3 – X Max
4 – Y Min
5 – Y Max
6 – Z Min
7 – Z Max
8 – Median

RegionEnabled Boolean Setting to enable/disable region:

0 – Disable
1 – Enable

Region Region3D Element for feature detection volume.

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SurfaceRegion2d
An element of type SurfaceRegion2d defines a rectangular area of interest on the X-Y plane.

SurfaceRegion2d Child Elements

Element Type Description

X 64f Setting for surface region X position (mm).

Y 64f Setting for surface region Y position (mm).

Width 64f Setting for region width (mm).

Length 64f Setting for region length (mm).

ProfileArea
A ProfileArea element defines settings for a profile area tool and one or more of its measurements.

ProfileArea Child Elements

Element Type Description

Name String Tool name.

Source 32s Profile source.

Anchor\X String (CSV) The X measurements (IDs) used for anchoring.

Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOption on page 264 elements.
Stream\Step 32s The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section

Stream\Id 32u The stream source ID.

Type Boolean Area to measure:
0 – Object (convex shape above the baseline)
1 – Clearance (concave shape below the baseline)

Type.used Boolean Whether or not field is used.

Baseline Boolean Baseline type:
0 – X-axis
1 – Line

Baseline.used Boolean Whether or not field is used.

RegionEnabled Boolean If enabled, the defined region is used for measurements.
Otherwise, the full active area is used.

Region ProfileRegion2d Measurement region.

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Element Type Description

Line ProfileLine Line definition when Baseline is set to Line.

Measurements\Area Area tool Area measurement.

measurement
Measurements\CentroidX Area tool CentroidX measurement.
measurement
Measurements\CentroidZ Area tool CentroidZ measurement.
measurement

Area Tool Measurement

Element Type Description

@id 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Enabled Boolean Measurement enable state:
0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.
Offset 64f Output offset factor.
DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.

ProfileBoundingBox
A ProfileBoundingBox element defines settings for a profile bounding box tool and one or more of its
measurements.

ProfileBoundingBox Child Elements

Element Type Description

Name String Tool name.

Source 32s Profile source.

Anchor\X String (CSV) The X measurements (IDs) used for anchoring.

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Element Type Description

Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.

Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOption on page 264 elements.
Stream\Step 32s The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section

Stream\Id 32u The stream source ID.

RegionEnabled Bool Whether or not to use the region. If the region is disabled,
all available data is used.

Region ProfileRegion2d Measurement region.

Measurements\X Bounding Box tool X measurement.

measurement
Measurements\Z Bounding Box tool Z measurement.
measurement
Measurements\Width Bounding Box tool Width measurement.
measurement
Measurements\Height Bounding Box tool Height measurement.
measurement
Measurements\GlobalX Bounding Box tool GlobalX measurement
measurement
Measurements\GlobalY Bounding Box tool GlobalY measurement
measurement
Measurements\GlobalAngle Bounding Box tool GlobalAngle measurement
measurement

Bounding Box Tool Measurement

Element Type Description

@id 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Enabled Boolean Measurement enable state:
0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

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Element Type Description

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.
Offset 64f Output offset factor.
DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.

ProfileBridgeValue
A ProfileBridgeValue element defines settings for a profile bridge value tool and one or more of its
measurements.

ProfileBridgeValue Child Elements

Element Type Description

Name String Tool name.

Source 32s Profile source.

Anchor\X String (CSV) The X measurements (IDs) used for anchoring.

Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOption on page 264 elements.
Stream\Step 32s The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section

Stream\Id 32u The stream source ID.

RegionEnabled Boolean Whether or not to use region. If region is disabled, all
available data is used.

Region ProfileRegion2d Measurement region.

WindowSize 64f A percentage of the profile point heights when ordered

from lowest to highest in a histogram, starting from the
highest points, to include in the bridge value calculation.

WindowSkip 64f A percentage of the profile point heights when ordered

from lowest to highest in a histogram, starting from the
highest points, to exclude from the bridge value calculation.
Combines with WindowSize to determine what portion of

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Element Type Description

the profile points are used in the bridge value calculation.

MaxInvalid 64f The maximum percentage of invalid points.

NormalizeEnabled Boolean Whether tilt normalization is enabled.

MaxDifferential 64f Maximum differential between the lowest and highest

profile points (mm).
MaxDifferential.min 64f Maximum differential limit min (mm).
MaxDifferential.max 64f Maximum differential limit max (mm).
Measurements\BridgeValue Bridge Value tool Bridge Value measurement.
measurement
Measurements\Angle Bridge Value tool Angle measurement.
measurement

BridgeValue Tool Measurement

Element Type Description

@id 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Enabled Boolean Measurement enable state:
0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.
Offset 64f Output offset factor.
DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.

ProfileCircle
A ProfileCircle element defines settings for a profile circle tool and one or more of its measurements.

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ProfileCircle Child Elements
Element Type Description

Name String Tool name.

Source 32s Profile source.

Anchor\X String (CSV) The X measurements (IDs) used for anchoring.

Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOption on page 264 elements.
Stream\Step 32s The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section

Stream\Id 32u The stream source ID.

RegionEnabled Bool Whether or not to use the region. If the region is disabled,
all available data is used.

Region ProfileRegion2d Measurement region.

Measurements\X Circle tool X measurement.

measurement
Measurements\Z Circle tool Z measurement.
measurement
Measurements\Radius Circle tool Radius measurement.
measurement

Circle Tool Measurement

Element Type Description

@id 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Enabled Boolean Measurement enable state:
0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

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Element Type Description

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.
Offset 64f Output offset factor.
DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.

ProfileDimension
A ProfileDimension element defines settings for a profile dimension tool and one or more of its
measurements.

ProfileDimension Child Elements

Element Type Description

Name String Tool name.

Source 32s Profile source.

Anchor\X String (CSV) The X measurements (IDs) used for anchoring.

Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOption on page 264 elements.
Stream\Step 32s The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section

Stream\Id 32u The stream source ID.

RefFeature ProfileFeature Reference measurement region.

Feature ProfileFeature Measurement region.

Measurements\Width Dimension tool Width measurement.

measurement
Measurements\Height Dimension tool Height measurement.
measurement
Measurements\Distance Dimension tool Distance measurement.
measurement
Measurements\CenterX Dimension tool CenterX measurement.
measurement
Measurements\CenterZ Dimension tool CenterZ measurement.
measurement

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Dimension Tool Measurement
Element Type Description

@id 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Enabled Boolean Measurement enable state:
0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.
Offset 64f Output offset factor.
DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.

Absolute Boolean Setting for selecting absolute or signed result:

(Width and Height 0 – Signed
measurements only) 1 – Absolute

ProfileGroove
A ProfileGroove element defines settings for a profile groove tool and one or more of its measurements.

The profile groove tool is dynamic, meaning that it can contain multiple measurements of the same type
in the Measurements element.

ProfileGroove Child Elements

Element Type Description

Name String Tool name.

Source 32s Profile source.

Anchor\X String (CSV) The X measurements (IDs) used for anchoring.

Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOption on page 264 elements.
Stream\Step 32s The stream source step. Possible values are:
1 – Video

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Element Type Description

2 – Range
3 – Surface
4 – Section

Stream\Id 32u The stream source ID.

Shape 32s Shape:
0 – U-shape
1 – V-shape
2 – Open

MinDepth 64f Minimum depth.

MinWidth 64f Minimum width.
MaxWidth 64f Maximum width.
RegionEnabled Bool Whether or not to use the region. If the region is disabled,
all available data is used.

Region ProfileRegion2d Measurement region.

Measurements\X Groove tool X measurement.

measurement
Measurements\Z Groove tool Z measurement.
measurement
Measurements\Width Groove tool Width measurement.
measurement
Measurements\Depth Groove tool Depth measurement.
measurement

Groove Tool Measurement

Element Type Description

@id 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Enabled Boolean Measurement enable state:
0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

SmoothingWindow 32u Smoothing window.

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Element Type Description

Scale 64f Output scaling factor.

Offset 64f Output offset factor.
DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.
SelectType 32s Method of selecting a groove when multiple grooves are
found:
0 – Max depth
1 – Ordinal, from left
2 – Ordinal, from right

SelectIndex 32s Index when SelectType is set to 1 or 2.

Location 32s Setting for groove location to return from:

(X and Z measurements only) 0 – Bottom
1 – Left corner
2 – Right corner

ProfileIntersect
A ProfileIntersect element defines settings for a profile intersect tool and one or more of its
measurements.

ProfileIntersect Child Elements

Element Type Description

Name String Tool name.

Source 32s Profile source.

Anchor\X String (CSV) The X measurements (IDs) used for anchoring.

Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
RefType 32s Reference line type:
0 – Fit
1 – X Axis

StreamOptions Collection A collection of StreamOption on page 264 elements.

Stream\Step 32s The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section

Stream\Id 32u The stream source ID.

RefLine ProfileLine Definition of reference line. Ignored if RefType is not 0.

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Element Type Description

Line ProfileLine Definition of line.

Measurements\X Intersect tool X measurement.

measurement
Measurements\Z Intersect tool Z measurement.
measurement
Measurements\Angle Intersect tool Angle measurement.
measurement

Intersect Tool Measurement

Element Type Description

@id 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Enabled Boolean Measurement enable state:
0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.
Offset 64f Output offset factor.
DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.

Absolute Boolean Setting for selecting the angle range:

(Angle measurement only) 0 – A range of -90 to 90 degrees is used.
1 – A range of 0 to 180 degrees is used.

ProfileLine
A ProfileLine element defines settings for a profile line tool and one or more of its measurements.

ProfileLine Child Elements

Element Type Description

Name String Tool name.

Source 32s Profile source.

Anchor\X String (CSV) The X measurements (IDs) used for anchoring.

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Element Type Description

Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.

Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOption on page 264 elements.
Stream\Step 32s The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section

Stream\Id 32u The stream source ID.

RegionEnabled Bool Whether or not to use the region. If the region is disabled,
all available data is used.

Region ProfileRegion2d Measurement region.

Measurements\StdDev Line tool StdDev measurement.

measurement
Measurements\MaxError Line tool MaxError measurement.
measurement
Measurements\MinError Line tool MinError measurement.
measurement
Measurements\Percentile Line tool Percentile measurement.
measurement

Line Tool Measurement

Element Type Description

@id 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Enabled Boolean Measurement enable state:
0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.

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Element Type Description

Offset 64f Output offset factor.

DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.

Percent 64f Error percentile.

(Percentile measurement only)

ProfilePanel
A ProfilePanel element defines settings for a profile panel tool and one or more of its measurements.

ProfilePanel Child Elements

Element Type Description

Name String Tool name.

Source 32s Profile source.

Anchor\X String (CSV) The X measurements (IDs) used for anchoring.

Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOption on page 264 elements.
Stream\Step 32s The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section

Stream\Id 32u The stream source ID.

RefSide 32s Setting for reference side to use.
MaxGapWidth 64f Setting for maximum gap width (mm).

LeftEdge ProfilePanelEdge Element for left ede configuration.

RightEdge ProfilePanelEdge Element for right edge configuration.

Measurements\Gap Gap measurement Gap measurement.

Measurements\Flush Flush measurement Flush measurement.

ProfilePanelEdge
Element Type Description

EdgeType 32s Edge type:

0 – Tangent
1 – Corner

MinDepth 64f Minimum depth.

MaxVoidWidth 64f Maximum void width.

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Element Type Description

SurfaceWidth 64f Surface width.

SurfaceOffset 64f Surface offset.
NominalRadius 64f Nominal radius.
EdgeAngle 64f Edge angle.
RegionEnabled Bool Whether or not to use the region. If the region is disabled,
all available data is used.

Region ProfileRegion2d Edge region.

Gap Measurement
Element Type Description

@id 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Enabled Boolean Measurement enable state:
0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.
Offset 64f Output offset factor.
DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.

Axis 32s Measurement axis:

0 – Edge
1 – Surface
2 – Distance

Flush Measurement
Element Type Description

@id 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Enabled Boolean Measurement enable state:
0 – Disable

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Element Type Description

1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.
Offset 64f Output offset factor.
DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.

Absolute Boolean Setting for selecting absolute or signed result:

0 – Signed
1 – Absolute

ProfilePosition
A ProfilePosition element defines settings for a profile position tool and one or more of its
measurements.

ProfilePosition Child Elements

Element Type Description

Name String Tool name.

Source 32s Profile source.

Anchor\X String (CSV) The X measurements (IDs) used for anchoring.

Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOption on page 264 elements.
Stream\Step 32s The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section

Stream\Id 32u The stream source ID.

Feature ProfileFeature Element for feature detection.

Measurements\X Position tool X measurement.

measurement
Measurements\Z Position tool Z measurement.
measurement

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Position Tool Measurement
Element Type Description

id (attribute) 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Enabled Boolean Measurement enable state:
0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.
Offset 64f Output offset factor.
DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.

ProfileStrip
A ProfileStrip element defines settings for a profile strip tool and one or more of its measurements.

The profile strip tool is dynamic, meaning that it can contain multiple measurements of the same type in
the Measurements element.

ProfileStrip Child Elements

Element Type Description

Name String Tool name.

Source 32s Profile source.

Anchor\X String (CSV) The X measurements (IDs) used for anchoring.

Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOption on page 264 elements.
Stream\Step 32s The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section

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Element Type Description

Stream\Id 32u The stream source ID.

BaseType 32s Setting for the strip type:
0 – None
1 – Flat

LeftEdge Bitmask Setting for the left edge conditions:

1 – Raising
2 – Falling
4 – Data End
8 – Void

RightEdge Bitmask Setting for the right edge conditions:

1 – Raising
2 – Falling
4 – Data End
8 – Void

TiltEnabled Boolean Setting for tilt compensation:

0 – Disabled
1 – Enabled

SupportWidth 64f Support width of edge (mm).

TransitionWidth 64f Transition width of edge (mm).
MinWidth 64f Minimum strip width (mm).
MinHeight 64f Minimum strip height (mm).
MaxVoidWidth 64f Void max (mm).

Region ProfileRegion2d Region containing the strip.

Measurements\X Strip tool X measurement.

measurement
Measurements\Z Strip tool Z measurement.
measurement
Measurements\Width Strip tool Width measurement.
measurement
Measurements\Height Strip tool Width measurement.
measurement

Strip Tool Measurement

Element Type Description

@id 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Enabled Boolean Measurement enable state:

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Element Type Description

0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.
Offset 64f Output offset factor.
DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.
SelectType 32s Method of selecting a groove when multiple grooves are
found:
0 – Best
1 – Ordinal, from left
2 – Ordinal, from right

SelectIndex 32s Index when SelectType is set to 1 or 2.

Location 32s Setting for groove location to return from:

(X, Z, and Height measurements 0 – Left
only) 1 – Right
2 – Center

Script
A Script element defines settings for a script measurement.

Script Child Elements

Element Type Description

Name String Tool name.

Code String Script code.

Measurements\Output (Collection) Dynamic list of Output elements.

Output
Element Type Description

@id 32s Measurement ID. Optional (measurement disabled if not

set).

Name String Measurement name.

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SurfaceBoundingBox
A SurfaceBoundingBox element defines settings for a surface bounding box tool and one or more of its
measurements.

SurfaceBoundingBox Child Elements

Element Type Description

Name String Tool name.

Source 32s Surface source.

Anchor\X String (CSV) The X measurements (IDs) used for anchoring.

Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Anchor\Y String (CSV) The Y measurements (IDs) used for anchoring.
Anchor\Y.options String (CSV) The Y measurements (IDs) available for anchoring.
Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOption on page 264 elements.
Stream\Step 32s The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section

Stream\Id 32u The stream source ID.

ZRotationEnabled Boolean Setting to enable/disable rotation of bounding box
AsymmetryDetectionType 32s Determine whether to use asymmetry detection and if
enabled, which dimension would be the basis of detection.
The possible values are:
0 – None
1 – Length
2 – Width

RegionEnabled Boolean Setting to enable/disable region.

Region Region3D Measurement region.

Measurements\X Bounding Box tool X measurement.

measurement
Measurements\Y Bounding Box tool Y measurement.
measurement
Measurements\Z Bounding Box tool Z measurement.
measurement
Measurements\Width Bounding Box tool Width measurement.
measurement
Measurements\Length BoundingBoxMeasure Length measurement
ment

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Element Type Description

Measurements\Height Bounding Box tool Height measurement.

measurement
Measurements\ZAngle Bounding Box tool ZAngle measurement.
measurement
Measurements\GlobalX Bounding Box tool Global X measurement.
measurement
Measurements\GlobalY Bounding Box tool Global Y measurement.
measurement
Measurements\GlobalZAngle Bounding Box tool Global Z Angle measurement.
measurement

Bounding Box Tool Measurement

Element Type Description

id (attribute) 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Enabled Boolean Measurement enable state:
0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.
Offset 64f Output offset factor.
DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.

SurfaceCsHole
A SurfaceCsHole element defines settings for a surface countersunk hole tool and one or more of its
measurements.

SurfaceCsHole Child Elements

Element Type Description

Name String Tool name.

Source 32s Surface source.

Anchor\X String (CSV) The X measurements (IDs) used for anchoring.

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Element Type Description

Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.

Anchor\Y String (CSV) The Y measurements (IDs) used for anchoring.
Anchor\Y.options String (CSV) The Y measurements (IDs) available for anchoring.
Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOption on page 264 elements.
Stream\Step 32s The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section

Stream\Id 32u The stream source ID.

NominalBevelAngle 64f Nominal bevel angle (mm).
NominalOuterRadius 64f Nominal outer radius (mm).
NominalInnerRadius 64f Nominal inner radius (mm).
BevelRadiusOffset 64f Bevel radus offset (mm).

Shape 32s The shape of the countersunk hole:

0 – Cone
1 – Counterbore

PartialDetectionEnabled Boolean Setting to enable/disable partial detection:

0 – Disable
1 – Enable

RegionEnabled Boolean Setting to enable/disable region:

0 – Disable
1 – Enable

Region Region3D Measurement region.

RefRegionsEnabled Boolean Setting to enable/disable reference regions:

0 – Disable
1 – Enable

RefRegionCount 32s Count of the reference regions which are to be used

RefRegions (Collection) Reference regions. Contains 2 SurfaceRegion2D elements.

AutoTiltEnabled Boolean Setting to enable/disable tilt correction:
0 – Disable
1 – Enable

TiltXAngle 64f Setting for manual tilt correction angle X.

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Element Type Description

TiltYAngle 64f Setting for manual tilt correction angle Y.

CurveFitEnabled Boolean Setting to enable/disable curve fitting:
0 – Disable
1 – Enable

CurveOrientation 64f Setting for curve orientation angle.

Measurements\X Countersunk Hole tool X measurement.
measurement
Measurements\Y Countersunk Hole tool Y measurement.
measurement
Measurements\Z Countersunk Hole tool Z measurement.
measurement
Measurements\OuterRadius Countersunk Hole tool Outer Radius measurement.
measurement
Measurements\Depth Countersunk Hole tool Depth measurement.
measurement
Measurements\BevelRadius Countersunk Hole tool Bevel Radius measurement.
measurement
Measurements\BevelAngle Countersunk Hole tool Bevel Angle measurement.
measurement
Measurements\XAngle Countersunk Hole tool X Angle measurement.
measurement
Measurements\YAngle Countersunk Hole tool Y Angle measurement.
measurement
Measurements\CounterboreDe Countersunk Hole tool CounterboreDepth measurement.
pth measurement

Countersunk Hole Tool Measurement

Element Type Description

id (attribute) 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Enabled Boolean Measurement enable state:
0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

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Element Type Description

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.
Offset 64f Output offset factor.
DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.

SurfaceEllipse
A SurfaceEllipse element defines settings for a surface ellipse tool and one or more of its measurements.

SurfaceEllipse Child Elements

Element Type Description

Name String Tool name.

Source 32s Surface source.

Anchor\X String (CSV) The X measurements (IDs) used for anchoring.

Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Anchor\Y String (CSV) The Y measurements (IDs) used for anchoring.
Anchor\Y.options String (CSV) The Y measurements (IDs) available for anchoring.
Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOption on page 264 elements.
Stream\Step 32s The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section

Stream\Id 32u The stream source ID.

RegionEnabled Boolean Setting to enable/disable region.

Region Region3D Measurement region.

AsymmetryDetectionType 32s Determine whether to use asymmetry detection and if

enabled, which dimension would be the basis of detection.
The possible values are:
0 – None
1 – Major
2 – Minor

Measurements\Major Ellipse tool Major measurement.

measurement
Measurements\Minor Ellipse tool Minor measurement.
measurement
Measurements\Ratio Ellipse tool Ratio measurement.

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Element Type Description

measurement
Measurements\ZAngle Ellipse tool ZAngle measurement.
measurement

Ellipse Tool Measurement

Element Type Description

@id 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Enabled Boolean Measurement enable state:
0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.
Offset 64f Output offset factor.
DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.

SurfaceHole
A SurfaceHole element defines settings for a surface hole tool and one or more of its measurements.

SurfaceHole Child Elements

Element Type Description

Name String Tool name.

Source 32s Surface source.

Anchor\X String (CSV) The X measurements (IDs) used for anchoring.

Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Anchor\Y String (CSV) The Y measurements (IDs) used for anchoring.
Anchor\Y.options String (CSV) The Y measurements (IDs) available for anchoring.
Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.

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Element Type Description

Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.

StreamOptions Collection A collection of StreamOption on page 264 elements.
Stream\Step 32s The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section

Stream\Id 32u The stream source ID.

NominalRadius 64f Nominal radius (mm).
RadiusTolerance 64f Radius tolerance (mm).
PartialDetectionEnabled Boolean Setting to enable/disable partial detection:
0 – Disable
1 – Enable

DepthLimitEnabled Boolean Setting to enable/disable depth limit:

0 – Disable
1 – Enable

DepthLimit 64f The depth limit relative to the surface. Data below this limit
is ignored.

RegionEnabled Boolean Setting to enable/disable region:

0 – Disable
1 – Enable

Region Region3D Measurement region.

RefRegionsEnabled Boolean Setting to enable/disable reference regions:

0 – Disable
1 – Enable

RefRegionCount 32s Count of the reference regions that are to be used.

RefRegions (Collection) Reference regions. Contains two RefRegion elements of type

SurfaceRegion2D.
AutoTiltEnabled Boolean Setting to enable/disable tilt correction:
0 – Disable
1 – Enable

TiltXAngle 64f Setting for manual tilt correction angle X.

TiltYAngle 64f Setting for manual tilt correction angle Y.
Measurements\X Hole tool X measurement
measurement
Measurements\Y Hole tool Y measurement
measurement

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Element Type Description

Measurements\Z Hole tool Z measurement

measurement
Measurements\Radius Hole tool Radius measurement
measurement

Hole Tool Measurement

Element Type Description

@id 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Enabled Boolean Measurement enable state:
0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.
Offset 64f Output offset factor.
DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.

SurfaceOpening
A SurfaceOpening element defines settings for a surface opening tool and one or more of its
measurements.

SurfaceOpening Child Elements

Element Type Description

Name String Tool name.

Source 32s Surface source.

Anchor\X String (CSV) The X measurements (IDs) used for anchoring.

Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Anchor\Y String (CSV) The Y measurements (IDs) used for anchoring.
Anchor\Y.options String (CSV) The Y measurements (IDs) available for anchoring.
Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.

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Element Type Description

StreamOptions Collection A collection of StreamOption on page 264 elements.

Stream\Step 32s The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section

Stream\Id 32u The stream source ID.

Type 32s Type of the opening:
0 – Rounded
1 – Slot

NominalWidth 64f Nominal width (mm).

NominalLength 64f Nominal length (mm).
NominalAngle 64f Nominal angle (degrees).
NominalRadius 64f Nominal radius (mm).
WidthTolerance 64f Radius tolerance (mm).
LengthTolerance 64f Length tolerance (mm).
AngleTolerance 64f Angle tolerance (degrees).
PartialDetectionEnabled Boolean Setting to enable/disable partial detection:
0 – Disable
1 – Enable

DepthLimitEnabled Boolean Setting to enable/disable depth limit:

0 – Disable
1 – Enable

DepthLimit 64f The depth limit relative to the surface. Data below this limit
is ignored.

RegionEnabled Boolean Setting to enable/disable region:

0 – Disable
1 – Enable

Region Region3D Measurement region.

RefRegionsEnabled Boolean Setting to enable/disable reference regions:

0 – Disable
1 – Enable

RefRegionCount 32s Count of the reference regions that are to be used.

RefRegions (Collection) Reference regions. Contains two RefRegion elements of type
SurfaceRegion2D.
AutoTiltEnabled Boolean Setting to enable/disable tilt correction:

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Element Type Description

0 – Disable
1 – Enable

TiltXAngle 64f Setting for manual tilt correction angle X.

TiltYAngle 64f Setting for manual tilt correction angle Y.
Measurements\X Opening tool X measurement.
measurement
Measurements\Y Opening tool Y measurement.
measurement
Measurements\Z Opening tool Z measurement.
measurement
Measurements\Width Opening tool Width measurement.
measurement
Measurements\Length Opening tool Length measurement.
measurement
Measurements\Angle Opening tool Angle measurement.
measurement

Opening Tool Measurement

Element Type Description

id (attribute) 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Enabled Boolean Measurement enable state:
0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.
Offset 64f Output offset factor.
DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.

SurfacePlane
A SurfacePlane element defines settings for a surface plane tool and one or more of its measurements.

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SurfacePlane Child Elements
Element Type Description

Name String Tool name.

Source 32s Surface source.

Anchor\X String (CSV) The X measurements (IDs) used for anchoring.

Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Anchor\Y String (CSV) The Y measurements (IDs) used for anchoring.
Anchor\Y.options String (CSV) The Y measurements (IDs) available for anchoring.
Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOption on page 264 elements.
Stream\Step 32s The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section

Stream\Id 32u The stream source ID.

RegionsEnabled Boolean Setting to enable/disable regions:
0 – Disable
1 – Enable

RegionCount 32s Count of the regions.

Regions (Collection) Measurement regions. Contains one or two Region

elements of type Region3D.
Measurements\XAngle Plane tool XAngle measurement.
measurement
Measurements\YAngle Plane tool YAngle measurement.
measurement
Measurements\ZOffset Plane tool ZOffset measurement.
measurement
Measurements\StdDev Plane tool Standard deviation measurement
measurement
Measurements\MinError Plane tool Minimum error measurement
measurement
Measurements\MaxError Plane tool Maximum error measurement
measurement

Plane Tool Measurement

Element Type Description

id (attribute) 32s Measurement ID. Optional (measurement disabled if not

set).

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Element Type Description

Name String Measurement name.

Enabled Boolean Measurement enable state:
0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.
Offset 64f Output offset factor.
DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.

SurfacePosition
A SurfacePosition element defines settings for a surface position tool and one or more of its
measurements.

SurfacePosition Child Elements

Element Type Description

Name String Tool name.

Source 32s Surface source.

Anchor\X String (CSV) The X measurements (IDs) used for anchoring.

Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Anchor\Y String (CSV) The Y measurements (IDs) used for anchoring.
Anchor\Y.options String (CSV) The Y measurements (IDs) available for anchoring.
Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOption on page 264 elements.
Stream\Step 32s The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section

Stream\Id 32u The stream source ID.

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Element Type Description

Feature SurfaceFeature Measurement feature.

Measurements\X Position tool X measurement.

measurement
Measurements\Y Position tool Y measurement.
measurement
Measurements\Z Position tool Z measurement.
measurement

Position Tool Measurement

Element Type Description

id (attribute) 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Enabled Boolean Measurement enable state:
0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.
Offset 64f Output offset factor.
DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.

SurfaceStud
A SurfaceStud element defines settings for a surface stud tool and one or more of its measurements.

SurfaceStud Child Elements

Element Type Description

Name String Tool name.

Source 32s Surface source.

Anchor\X String (CSV) The X measurements (IDs) used for anchoring.

Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Anchor\Y String (CSV) The Y measurements (IDs) used for anchoring.
Anchor\Y.options String (CSV) The Y measurements (IDs) available for anchoring.

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Element Type Description

Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.

Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOption on page 264 elements.
Stream\Step 32s The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section

Stream\Id 32u The stream source ID.

StudRadius 64f Radius of stud (mm).
StudHeight 64f Height of stud (mm).
BaseHeight 64f Height of stud’s base.
TipHeight 64f Height of stud’s tip.
RegionEnabled Boolean Setting to enable/disable region.

Region Region3D Measurement region.

RefRegionsEnabled Boolean Setting to enable/disable reference regions:

0 – Disable
1 – Enable

RefRegionCount 32s Count of the reference regions that are to be used.

RefRegions (Collection) Reference regions. Contains two RefRegion elements of type

SurfaceRegion2D.
AutoTiltEnabled Boolean Setting to enable/disable tilt correction:
0 – Disable
1 – Enable

TiltXAngle 64f Setting for manual tilt correction angle X.

TiltYAngle 64f Setting for manual tilt correction angle Y.
Measurements\BaseX Stud tool BaseX measurement.
measurement
Measurements\BaseY Stud tool BaseY measurement.
measurement
Measurements\BaseZ Stud tool BaseZ measurement.
measurement
Measurements\TipX Stud tool TipX measurement.
measurement
Measurements\TipY Stud tool TipY measurement.
measurement
Measurements\TipZ Stud tool TipZ measurement.
measurement

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Element Type Description

Measurements\Radius Stud tool Radius measurement.

measurement

Stud Tool Measurement

Element Type Description

id (attribute) 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Enabled Boolean Measurement enable state:
0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.
Offset 64f Output offset factor.
DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.

RadiusOffset 64f Radius offset of the stud.

(Radius measurement only)

SurfaceVolume
A SurfaceVolume element defines settings for a surface volume tool and one or more of its
measurements.

SurfaceVolume Child Elements

Element Type Description

Name String Tool name.

Source 32s Surface source.

Anchor\X String (CSV) The X measurements (IDs) used for anchoring.

Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Anchor\Y String (CSV) The Y measurements (IDs) used for anchoring.
Anchor\Y.options String (CSV) The Y measurements (IDs) available for anchoring.
Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.

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Element Type Description

StreamOptions Collection A collection of StreamOption on page 264 elements.

Stream\Step 32s The stream source step. Possible values are:
1 – Video
2 – Range
3 – Surface
4 – Section

Stream\Id 32u The stream source ID.

RegionEnabled Boolean Setting to enable/disable region.

Region Region3D Measurement region.

Measurements\Volume Volume tool Volume measurement.

measurement
Measurements\Area Volume tool Area measurement.
measurement
Measurements\Thickness Volume tool Thickness measurement.
measurement

Volume Tool Measurement

Element Type Description

id (attribute) 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Enabled Boolean Measurement enable state:
0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.
Offset 64f Output offset factor.
DecisionMin 64f Minimum decision threshold.
DecisionMax 64f Maximum decision threshold.

Location 32s Measurement type:

(Thickness measurement only) 0 – Maximum
1 – Minimum

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Element Type Description

2 – 2D Centroid
3 – 3D Centroid
4 – Average
5 – Median

Output
The Output element contains the following sub-elements: Ethernet, Serial, Analog, Digital0, and Digital1.
Each of these sub-elements defines the output settings for a different type of Gocator output.

For all sub-elements, the source identifiers used for measurement outputs correspond to the
measurement identifiers defined in each tool's Measurements element. For example, in the following
XML, in the options attribute of the Measurements element, 2 and 3 are the identifiers of measurements
that are enabled and available for output. The value of the Measurements element (that is, 2) means
that only the measurement with id 2 (Profile Dimension Width) will be sent to output.

<ProfileDimension> ...
<Measurements>
<Width id="2"> ...
<Height id="3"> ...

<Output>
<Ethernet> ...
<Measurements options="2,3">2</Measurements>

Ethernet
The Ethernet element defines settings for Ethernet output.

In the Ethernet element, the source identifiers used for video, range, profile, and surface output, as well
as range, profile, and surface intensity outputs, correspond to the sensor that provides the data. For
example, in the XML below, the options attribute of the Profiles element shows that only two sources are
available (see the table below for the meanings of these values). The value in this element—0—indicates
that only data from that source will be sent to output.

<Output>
<Ethernet>
...
<Ranges options=""/>
<Profiles options="0,1">0</Profiles>
<Surfaces options=""/>
...

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Ethernet Child Elements
Element Type Description

Protocol 32s Ethernet protocol:

0 – Gocator
1 – Modbus
2 – EtherNet/IP
3 – ASCII

TimeoutEnabled Boolean Enable or disable auto-disconnection timeout. Applies only to the

Gocator protocol.
Timeout 64f Disconnection timeout (seconds). Used when TimeoutEnabled is true and
the Gocator protocol is selected.

Ascii Section See Ascii on the next page.

EIP Section See EIP on page 304.

Modbus Section See Modbus on page 304.

Videos 32s (CSV) Selected video sources:
0 – Top
1 – Bottom
2 – Top left
3 – Top right

Videos.options 32s (CSV) List of available video sources (see above).

Ranges 32s (CSV) Selected range sources:
0 – Top
1 – Bottom
2 – Top left
3 – Top right

Ranges.options 32s (CSV) List of available range sources (see above).

Profiles 32s (CSV) Selected profile sources:
0 – Top
1 – Bottom
2 – Top left
3 – Top right

Profiles.options 32s (CSV) List of available profile sources (see above).

Surfaces 32s (CSV) Selected surface sources:
0 – Top
1 – Bottom
2 – Top left
3 – Top right

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Element Type Description

Surfaces.options 32s (CSV) List of available surface sources (see above).

RangeIntensities 32s (CSV) Selected range intensity sources.
0 – Top
1 – Bottom
2 – Top left
3 – Top right

RangeIntensities.options 32s (CSV) List of available range intensity sources (see above).
ProfileIntensities 32s (CSV) Selected profile intensity sources.
0 – Top
1 – Bottom
2 – Top left
3 – Top right

ProfileIntensities.options 32s (CSV) List of available profile intensity sources (see above).
SurfaceIntensities 32s (CSV) Selected surface intensity sources:
0 – Top
1 – Bottom
2 – Top left
3 – Top right

SurfaceIntensities.options 32s (CSV) List of available surface intensity sources (see above).
Measurements 32u (CSV) Selected measurement sources.
Measurements.options 32u (CSV) List of available measurement sources.

Ascii

Ascii Child Elements

Element Type Description

Operation 32s Operation mode:

0 – Asynchronous
1 – Polled

ControlPort 32u Control service port number.

HealthPort 32u Health service port number.
DataPort 32u Data service port number.
Delimiter String Field delimiter.
Terminator String Line terminator.
InvalidValue String String for invalid output.
CustomDataFormat String Custom data format.
CustomFormatEnabled Bool Enables custom data format.

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EIP

EIP Child Elements

Element Type Description

BufferEnabled Bool Enables EtherNet/IP output buffering.

EndianOutputType 32s Endian output type:

0 – Big endian
1 – Little endian

ImplicitOutputEnabled Bool Enables Implict (I/O) Messaging.

ImplicitTriggerOverride 32s Override requested trigger type by client:

0 – No override
1 – Cyclic
2 – Change of State

Modbus

Modbus Child Elements

Element Type Description

BufferEnabled Bool Enables Modbus output buffering.

Digital0 and Digital1

The Digital0 and Digital1 elements define settings for the Gocator's two digital outputs.

Digital0 and Digital1 Child Elements

Element Type Description

Event 32s Triggering event:

0 – None (disabled)
1 – Measurements
2 – Software
3 – Alignment state
4 – Acquisition start
5 – Acquisition end

SignalType 32s Signal type:

0 – Pulse
1 – Continuous

ScheduleEnabled Bool Enables scheduling.

PulseWidth 64f Pulse width (µs).
PulseWidth.min 64f Minimum pulse width (µs).
PulseWidth.max 64f Maximum pulse width (µs).
PassMode 32s Measurement pass condition:
0 – AND of measurements is true

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Element Type Description

1 – AND of measurements is false

2 – Always assert

Delay 64f Output delay (µs or mm, depending on delay domain defined below).
DelayDomain 32s Output delay domain:
0 – Time (µs)
1 – Encoder (mm)

Measurements 32u (CSV) Selected measurement sources.

Measurements.options 32u (CSV) List of available measurement sources.

Analog
The Analog element defines settings for analog output.

The range of valid measurement values [DataScaleMin, DataScaleMax] is scaled linearly to the specified
current range [CurrentMin, CurrentMax].

Only one Value or Decision source can be selected at a time.

Analog Child Elements

Element Type Description

Event 32s Triggering event:

0 – None (disabled)
1 – Measurements
2 – Software

ScheduleEnabled Bool Enables scheduling.

CurrentMin 64f Minimum current (mA).
CurrentMin.min 64f Minimum value of minimum current (mA).
CurrentMin.max 64f Maximum value of minimum current (mA).
CurrentMax 64f Maximum current (mA).
CurrentMax.min 64f Minimum value of maximum current (mA).
CurrentMax.max 64f Maximum value of maximum current (mA).
CurrentInvalidEnabled Bool Enables special current value for invalid measurement value.
CurrentInvalid 64f Current value for invalid measurement value (mA).
CurrentInvalid.min 64f Minimum value for invalid current (mA).
CurrentInvalid.max 64f Maximum value for invalid current (mA).
DataScaleMin 64f Measurement value corresponding to minimum current.
DataScaleMax 64f Measurement value corresponding to maximum current.
Delay 64f Output delay (µs or mm, depending on delay domain defined below).
DelayDomain 32s Output delay domain:

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Element Type Description

0 – Time (µs)
1 – Encoder (mm)

Measurement 32u Selected measurement source.

Measurement.options 32u (CSV) List of available measurement sources.

The delay specifies the time or position at which the analog output activates. Upon activation,
there is an additional delay before the analog output settles at the correct value.

Serial
The Serial element defines settings for Serial output.

Serial Child Elements

Element Type Description

Protocol 32s Serial protocol:

0 – ASCII
1 – Selcom

Protocol.options 32s (CSV) List of available protocols.

Selcom Section See Selcom below.

Ascii Section See Ascii on the next page.

Measurements 32u (CSV) Selected measurement sources.
Measurements.options 32u (CSV) List of available measurement sources.

Selcom

Selcom Child Elements

Element Type Description

Rate 32u Output bit rate.

Rate.options 32u (CSV) List of available rates.
Format 32s Output format:
0 – 12-bit
1 – 12-bit with search
2 – 14-bit
3 – 14-bit with search

Format.options 32s (CSV) List of available formats.

DataScaleMin 64f Measurement value corresponding to minimum word value.
DataScaleMax 64f Measurement value corresponding to maximum word value.
Delay 64u Output delay in µs.

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Ascii

Ascii Child Elements

Element Type Description

Delimiter String Field delimiter.

Terminator String Line terminator.
InvalidValue String String for invalid output.
CustomDataFormat String Custom data format.
CustomFormatEnabled Bool Enables custom data format.

Transform
The transformation component contains information about the physical system setup that is used to:

l Transform data from sensor coordinate system to another coordinate system (e.g., world)

l Define encoder resolution for encoder-based triggering

l Define the travel offset (Y offset) between sensors for staggered operation

You can access the Transform component of the active job as an XML file, either using path notation, via
"_live.job/transform.xml", or directly via "_live.tfm".

You can access the Transform component in user-created job files in non-volatile storage, for example,
"productionRun01.job/transform.xml". You can only access transformations in user-created job files
using path notation.

See the following sections for the elements contained in this component.

Transformation Example:

<?xml version="1.0" encoding="UTF-8"?>

<Transform version="100">
<EncoderResolution>1</EncoderResolution>
<Speed>100</Speed>
<Devices>
<Device role="0">
<X>-2.3650924829</X>
<Y>0.0</Y>
<Z>123.4966803469</Z>
<XAngle>5.7478302588</XAngle>
<YAngle>3.7078302555</XAngle>
<ZAngle>2.7078302556</XAngle>
</Device>
<Device id="1">
<X>0</X>
<Y>0.0</Y>
<Z>123.4966803469</Z>

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 <XAngle>5.7478302588</XAngle>
<YAngle>3.7078302555</XAngle>
<ZAngle>2.7078302556</XAngle>
</Device>
</Devices>
</Transform>

The Transform element contains the alignment record for both the Main and the Buddy sensor.

Transform Child Elements

Element Type Description

@version 32u Major transform version (100).

@versionMinor 32u Minor transform version (0).

EncoderResolution 64f Encoder Resolution (mm/tick).

Speed 64f Travel Speed (mm/s).

Devices (Collection) Contains two Device elements.

Device
A Device element defines the transformation for a sensor. There is one entry element per sensor,
identified by a unique role attribute (0 for main and 1 for buddy):

Device Child Elements

Element Type Description

@role 32s Role of device described by this section:

0 – Main
1 – Buddy

X 64f Translation on the X axis (mm).

Y 64f Translation on the Y axis (mm).

Z 64f Translation on the Z axis (mm).

XAngle 64f Rotation around the X axis (degrees).

YAngle 64f Rotation around the Y axis (degrees).

ZAngle 64f Rotation around the Z axis (degrees).

The rotation (counter-clockwise in the X-Z plane) is performed before the translation.

Part Models
Part models represent models created using the part matching feature.

You can access a model in the active job using path notation. For example, to access a model called
scan.mdl, use "_live.job/scan.mdl".

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You can access part models in user-created job files in non-volatile storage, for example,
"productionRun01.job/model1.mdl". You can only access part models in user-created job files using path
notation.

See the following sections for the elements contained in a model.

Part models contain the following subcomponents. You can access the subcomponents using path
notation, for example, "productionRun01.job/myModel.mdl/config.xml".

Part Model Child Elements

Element Type Description

Configuration config.xml Model configuration XML. It is always present. (See Configuration on the
next page.)

Edge Points edge-height- Edge points for the top heightmap. (See Edge Points below.)
top
Edge Points edge-height- Edge points for the bottom heightmap.
bottom
Edge Points edge- Edge points for the top intensity map.
intensity-top
Edge Points edge- Edge points for the bottom intensity map.
intensity-
bottom

The edge points file exists only when the model contains the source data for the edge points.

Edge Points
Edge Points Data
Field Type Offset Description

id 16s 0 Sender ID
-1 – Part matching

source 8s 2 Source
0 – Model
1 – Target

imageType 8s 3 Image type

0 – Height map
1 – Intensity map

imageSource 8s 4 Image source

0 – Top
1 – Bottom

width 32u 5 Width of model space, in units of xScale

length 32u 9 Length of model space, un units of yScale
xScale 32u 13 X scale (nm)

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Field Type Offset Description

yScale 32u 17 Y scale (nm)

xOffset 32s 21 X offset (µm)
yOffset 32s 25 Y offset µm
zAngle 32s 29 Z rotation (microdegrees)
pointCount 32u 33 Number of edge points
points[pointCount] (32u, 32u) 37 Edge points collection. Each point is a tuple of x and y values, in
units of xScale and yScale, respectively.

Configuration
Delete this text and replace it with your own content.

Configuration Child Elements

Element Type Description

@version 32u Major version (1).

@versionMinor 32u Minor version (0).
Edges Collection Collection of Edge items (described below).
EdgeSensitivity 64f Sensitivity recorded during model edges generation (read-only).
TransformedDataRegion Region3d Data region of the model.
ZAngle 64f Additional rotation applied to the model (degrees).
TargetEdgeSensitivity 64f Sensitivity used to generate target edges.
ImageType 32s Selects type of image used to generate edges:
0 – Height map
1 – Intensity map

ImageType.options 32s (CSV) List of available image types.

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 Protocols

Gocator supports protocols for communicating with sensors over Ethernet (TCP/IP) and serial output.
For a protocol to output data, it must be enabled and configured in the active job.

Protocols Available over Ethernet

l Gocator

l Modbus
l EtherNet/IP
l ASCII

Protocols Available over Serial

l ASCII

Gocator Protocol
This section describes the TCP and UDP commands and data formats used by a client computer to
communicate with Gocator sensors using the Gocator protocol. It also describes the connection types
(Discovery, Control, Upgrade, Data, and Health), and data types. The protocol enables the client to:

l Discover Main and Buddy sensors on an IP network and re-configure their network addresses.

l Configure Main and Buddy sensors.

l Send commands to run sensors, provide software triggers, read/write files, etc.

l Receive data, health, and diagnostic messages.

l Upgrade firmware.

The Gocator 4.x firmware uses mm, mm2, mm3, and degrees as standard units. In all protocols,
values are scaled by 1000, as values in the protocols are represented as integers. This results in
effective units of mm/1000, mm2/1000, mm3/1000, and deg/1000 in the protocols.

To use the Gocator protocol, it must be enabled and configured in the active job.

Gocator sensors send UDP broadcasts over the network over the Internal Discovery channel
(port 2016) at regular intervals during operation to perform peer discovery.

The Gocator SDK provides open source C language libraries that implement the network
commands and data formats defined in this section. For more information, see Software
Development Kit on page 385.

Gocator 2100, 2300 & 2880 Series 311

For information on configuring the protocol using the Web interface, see Ethernet Output on page 217.

For information on job file structures (for example, if you wish to create job files programmatically), see
Job Files on page 244.

Data Types
The table below defines the data types and associated type identifiers used in this section.

All values except for IP addresses are transmitted in little endian format (least significant byte first)
unless stated otherwise. The bytes in an IP address "a.b.c.d" will always be transmitted in the order a, b,
c, d (big endian).

Data Types
Type Description Null Value

char Character (8-bit, ASCII encoding) -

byte Byte. -
8s 8-bit signed integer. -128
8u 8-bit unsigned integer. 255U
16s 16-bit signed integer. -32768 (0x8000)
16u 16-bit unsigned integer. 65535 (0xFFFF)
32s 32-bit signed integer. -2147483648 (0x80000000)
32u 32-bit unsigned integer. 4294967295 (0xFFFFFFFF)
64s 64-bit signed integer. -9223372036854775808 (0x8000000000000000)
64u 64-bit unsigned integer. 18446744073709551615 (0xFFFFFFFFFFFFFFFF)
64f 64-bit floating point -1.7976931348623157e+308
Point16s Two 16-bit signed integers -
Point64f Two 64-bit floating point values -
Point3d64f Three 64-bit floating point values -
Rect64f Four 64-bit floating point values -
Rect3d64f Eight 64-bit floating point values -

Commands
The following sections describe the commands available on the Discovery (page 313), Control (page
316), and Upgrade (page 344) channels.

When a client sends a command over the Control or Upgrade channel, the sensor sends a reply whose
identifier is the same as the command's identifier. The identifiers are listed in the tables of each of the
commands.

Status Codes
Each reply on the Discovery, Control, and Upgrade channels contains a status field containing a status
code indicating the result of the command. The following status codes are defined:

Gocator 2100, 2300 & 2880 Series Protocols • Gocator Protocol • 312
Status Codes
Label Value Description

OK 1 Command succeeded.

Failed 0 Command failed.

Invalid State -1000 Command is not valid in the current state.

Item Not Found -999 A required item (e.g., file) was not found.

Invalid Command -998 Command is not recognized.

Invalid Parameter -997 One or more command parameters are incorrect.

Not Supported -996 The operation is not supported.

Simulation Buffer Empty -992 The simulation buffer is empty.

Discovery Commands
Sensors ship with the following default network configuration:

Setting Default

DHCP 0 (disabled)

IP Address 192.168.1.10

Subnet Mask 255.255.255.0

Gateway 0.0.0.0 (disabled)

Use the Get Address and Set Address commands to modify a sensor's network configuration. These
commands are UDP broadcast messages:

Destination Address Destination Port

255.255.255.255 3220

When a sensor accepts a discovery command, it will send a UDP broadcast response:

Destination Address Destination Port

255.255.255.255 Port of command sender.

The use of UDP broadcasts for discovery enables a client computer to locate a sensor when the senor
and client are configured for different subnets. All you need to know is the serial number of the sensor in
order to locate it on an IP network.

Get Address
The Get Address command is used to discover Gocator sensors across subnets.

Command
Field Type Offset Description

length 64s 0 Command length.

type 64s 8 Command type (0x1).

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Field Type Offset Description

signature 64s 16 Message signature (0x0000504455494D4C)

deviceId 64s 24 Serial number of the device whose address information is
queried. 0 selects all devices.

Reply
Field Type Offset Description

length 64s 0 Reply length.

type 64s 8 Reply type (0x1001).
status 64s 16 Operation status.
signature 64s 24 Message signature (0x0000504455494D4C)
deviceId 64s 32 Serial number.
dhcpEnabled 64s 40 0 – Disabled 1 – Enabled
reserved[4] byte 48 Reserved.
address[4] byte 52 The IP address in left to right order.
reserved[4] byte 56 Reserved.
subnetMask[4] byte 60 The subnet mask in left to right order.
reserved[4] byte 64 Reserved.
gateway[4] byte 68 The gateway address in left to right order.
reserved[4] byte 72 Reserved.
reserved[4] byte 76 Reserved.

Set Address
The Set Address command modifies the network configuration of a Gocator sensor. On receiving the
command, the Gocator will perform a reset. You should wait 30 seconds before re-connecting to the
Gocator.

Command
Field Type Offset Description

length 64s 0 Command length.

type 64s 8 Command type (0x2).
signature 64s 16 Message signature (0x0000504455494D4C)
deviceId 64s 24 Serial number of the device whose address information is
queried. 0 selects all devices.
dhcpEnabled 64s 32 0 – Disabled 1 – Enabled
reserved[4] byte 40 Reserved.
address[4] byte 44 The IP address in left to right order.
reserved[4] byte 48 Reserved.
subnetMask[4] byte 52 The subnet mask in left to right order.
reserved[4] byte 56 Reserved.

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Field Type Offset Description

gateway[4] byte 60 The gateway address in left to right order.

reserved[4] byte 64 Reserved.
reserved[4] byte 68 Reserved.

Reply
Field Type Offset Description

length 64s 0 Reply length.

type 64s 8 Reply type (0x1002).

status 64s 16 Operation status. For a list of status codes, see Commands on
page 312.

signature 64s 24 Message signature (0x0000504455494D4C).

deviceId 64s 32 Serial number.

Get Info
The Get Info command is used to retrieve sensor information.

Command
Field Type Offset Description

length 64s 0 Command length.

type 64s 8 Command type (0x5).

signature 64s 16 Message signature (0x0000504455494D4C).

deviceId 64s 24 Serial number of the device whose address information is

queried. 0 selects all devices.

Reply
Field Type Offset Description

length 64s 0 Reply length.

type 64s 8 Reply type (0x1005).

status 64s 16 Operation status. For a list of status codes, see Commands on
page 312.

signature 64s 24 Message signature (0x0000504455494D4C).

attrCount 16u 32 Byte count of the attributes (begins after this field and ends
before propertyCount).
id 32u 34 Serial number.
version 32u 38 Version as a 4-byte integer (encoded in little-endian).
uptime 64u 42 Sensor uptime (microseconds).
ipNegotiation byte 50 IP negotiation type:
0 – Static
1 – DHCP

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Field Type Offset Description

addressVersion byte 51 IP address version (always 4).

address[4] byte 52 IP address.
reserved[12] byte 56 Reserved.
prefixLength 32u 68 Subnet prefix length (in number of bits).
gatewayVersion byte 72 Gateway address version (always 4).
gatewayAddress[4] byte 73 Gateway address.
reserved[12] byte 77 Reserved.
controlPort 16u 89 Control channel port.
upgradePort 16u 91 Upgrade channel port.
healthPort 16u 93 Health channel port.
dataPort 16u 95 Data channel port.
webPort 16u 97 Web server port.
propertyCount 8u 99 Number of sensor ID properties.
properties Property 100 List of sensor ID properties.
[propertyCount]

Property
Field Type Description

nameLength 8u Length of the name.

name[nameLength] char Name string.
valueLength 8u Length of the value.
value[valueLength] char Value string.

Control Commands
A client sends control commands for most operations over the Control TCP channel (port 3190).

The Control channel and the Upgrade channel (port 3192) can be connected simultaneously. For more
information on Upgrade commands, see Upgrade Commands on page 344.

States
A Gocator system can be in one of three states: Conflict, Ready, or Running. The client sends the Start
and Stop control commands to change the system's current state to Running and Ready, respectively.
The sensor can also be configured to boot in either the Ready or Running state, by enabling or disabling
autostart, respectively, using the Set Auto Start Enabled command.

In the Ready state, a sensor can be configured. In the Running state, a sensor responds to input signals,
performs measurements, drives its outputs, and sends data messages to the client.

The state of the sensor can be retrieved using the Get States or Get System Info command.

The Conflict state indicates that a sensor has been configured with a Buddy sensor but the Buddy sensor
is not present on the network. The sensor will not accept some commands until the Set Buddy
command is used to remove the configured Buddy.

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Progressive Reply
Some commands send replies progressively, as multiple messages. This allows the sensor to stream data
without buffering it first, and allows the client to obtain progress information on the stream.

A progressive reply begins with an initial, standard reply message. If the status field of the reply indicates
success, the reply is followed by a series of “continue” reply messages.

A continue reply message contains a block of data of variable size, as well as status and progress
information. The series of continue messages is ended by either an error, or a continue message
containing 0 bytes of data.

Protocol Version
The Protocol Version command returns the protocol version of the connected sensor.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4511)

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4511).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

majorVersion 8u 10 Major version.

minorVersion 8u 11 Minor version.

Get Address
The Get Address command is used to get a sensor address.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x3012)

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x3012).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

dhcpEnabled byte 10 0 – DHCP not used

1 – DHCP used

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Field Type Offset Description

address[4] byte 11 IP address (most significant byte first).

subnetMask[4] byte 15 Subnet mask.

gateway[4] byte 19 Gateway address.

Set Address
The Set Address command modifies the network configuration of a Gocator sensor. On receiving the
command, the Gocator will perform a reset. You should wait 30 seconds before re-connecting to the
Gocator.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x3013)

dhcpEnabled byte 6 0 – DHCP not used

1 – DHCP used

address[4] byte 7 IP address (most significant byte first).

subnetMask[4] byte 11 Subnet mask.

gateway[4] byte 15 Gateway address.

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x3013).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Get System Info

The Get System Info command reports information for sensors that are visible in the system.

Firmware version refers to the version of the Gocator's firmware installed on each individual sensor. The
client can upgrade the Gocator's firmware by sending the Start Upgrade command (see on page 345).
Firmware upgrade files are available from the downloads section under the support tab on the LMI web
site. For more information on getting the latest firmware, see Firmware Upgrade on page 68.

Every Gocator sensor contains factory backup firmware. If a firmware upgrade command fails (e.g.,
power is interrupted), the factory backup firmware will be loaded when the sensor is reset or power
cycled. In this case, the sensors will fall back to the factory default IP address. To avoid IP address
conflicts in a multi-sensor system, connect to one sensor at a time and re-attempt the firmware upgrade.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4002)

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Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4002).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

localInfo Sensor 10 Info for this device.

Info
remoteCount 32u 66 Number of discovered sensors.

remoteInfo Sensor 70 List of info for discovered sensors.

[remoteCount] Info

Sensor Info
Field Type Offset Description

deviceId 32u 0 Serial number of the device.

address[4] byte 4 IP address (most significant byte first).
modelName[32] char 8 Model name.
firmwareVersion[4] byte 40 Firmware version (most significant byte first).
state 32s 44 Sensor state
-1 – Conflict
0 – Ready
1 – Running
For more information on states, see Control Commands on page
316.

role 32s 48 Sensor role

0 – Main
1 – Buddy

buddyId 32s 52 Serial number of paired device (main or buddy). 0 if unpaired.

Get States
The Get States command returns various system states.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4525)

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

Gocator 2100, 2300 & 2880 Series Protocols • Gocator Protocol • 319
Field Type Offset Description

id 16u 4 Reply identifier (0x4525).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

count 32u 10 Number of state variables.

sensorState 32s 14 Sensor state

-1 – Conflict
0 – Ready
1 – Running
For more information on states, see Control Commands on page
316.

loginState 32s 18 Device login state

0 – No user
1 – Administrator
2 – Technician

alignmentReference 32s 22 Alignment reference

0 – Fixed
1 – Dynamic

alignmentState 32s 26 Alignment state

0 – Unaligned
1 – Aligned

recordingEnabled 32s 30 Whether or not recording is enabled

0 – Disabled
1 – Enabled

playbackSource 32s 34 Playback source

0 – Live data
1 – Recorded data

uptimeSec 32s 38 Uptime (whole seconds component)

uptimeMicrosec 32s 42 Uptime (remaining microseconds component)

playbackPos 32s 46 Playback position

playbackCount 32s 50 Playback frame count

autoStartEnabled 32s 54 Auto-start enable (boolean)

Log In/Out
The Log In/Out command is used to log in or out of a sensor.

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Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4003).

userType 32s 6 Defines the user type

0 – None (log out)
1 – Administrator
2 – Technician

password[64] char 10 Password (required for log-in only).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4003).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Change Password
The Change Password command is used to change log-in credentials for a user.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4004).

user type 32s 6 Defines the user type

0 – None (log out)
1 – Administrator
2 – Technician

password[64] char 10 New password.

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4004).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Passwords can only be changed if a user is logged in as an administrator.

Set Buddy
The Set Buddy command is used to assign or unassign a Buddy sensor.

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Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4005).

buddyId 32u 6 Id of the sensor to acquire as buddy. Set to 0 to remove buddy.

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4005).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

List Files
The List Files command returns a list of the files in the sensor's file system.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x101A).

extension[64] char 6 Specifies the extension used to filter the list of files (does not
include the "."). If an empty string is used, then no filtering is
performed.

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x101A).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

count 32u 10 Number of file names.

fileNames[count][64] char 14 File names.

Copy File
The Copy File command copies a file from a source to a destination within the connected sensor (a .job
file, a component of a job file, or another type of file; for more information, see Job Files on page 244).

To make a job active (to load it), copy a saved job to "_live.job".

To "save" the active job, copy from "_live.job" to another file.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

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Field Type Offset Description

id 16u 4 Command identifier (0x101B).

source[64] char 6 Source file name.

destination[64] char 70 Destination file name.

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x101B).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Read File
Downloads a file from the connected sensor (a .job file, a component of a job file, or another type of file;
for more information, see Job Files on page 244).

To download the live configuration, pass "_live.job" in the name field.

To read the configuration of the live configuration only, pass "_live.job/config.xml" in the name field.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x1007).

name[64] char 6 Source file name.

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x1007).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

length 32u 10 File length.

data[length] byte 14 File contents.

Write File
The Write File command uploads a file to the connected sensor (a .job file, a component of a job file, or
another type of file; for more information, see Job Files on page 244).

To make a job file live, write to "_live.job". Except for writing to the live file, the file is permanently stored
on the sensor.

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Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x1006).

name[64] char 6 Source file name.

length 32u 70 File length.

data[length] byte 74 File contents.

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x1006).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Delete File
The Delete File command removes a file from the connected sensor (a .job file, a component of a job file,
or another type of file; for more information, see Job Files on page 244).

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x1008).

name[64] char 6 Source file name.

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x1008).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Get Default Job

The Get Default Job command gets the name of the job the sensor loads when it powers up.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4100).

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Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4100).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

name[64] char 10 The file name (null-terminated) of the job the sensor loads when
it powers up.

Set Default Job

The Set Default Job command sets the job the sensor loads when it powers up.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4101).

fileName[64] char 6 File name (null-terminated) of the job the sensor loads when it
powers up.

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4101).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Get Loaded Job

The Get Loaded Job command returns the name and modified status of the currently loaded file.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4512).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4512).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

fileName[64] char 10 Name of the currently loaded job.

changed 8u 74 Whether or not the currently loaded job has been changed (1: yes;
0: no).

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Get Alignment Reference
The Get Alignment Reference command is used to get the sensor's alignment reference.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4104).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4104).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

reference 32s 10 Alignment reference

0 – Fixed
1 – Dynamic

Set Alignment Reference

The Set Alignment Reference command is used to set the sensor's alignment reference.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4103).

reference 32s 6 Alignment reference

0 – Fixed
1 – Dynamic

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4103).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Clear Alignment
The Clear Alignment command clears sensor alignment.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4102).

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Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4102).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Get Timestamp
The Get Timestamp command retrieves the sensor's timestamp, in clock ticks. All devices in a system are
synchronized with the system clock; this value can be used for diagnostic purposes, or used to
synchronize the start time of the system.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x100A).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x100A).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

timestamp 64u 10 Timestamp, in clock ticks.

Get Encoder
This command retrieves the current system encoder value.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x101C).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x101C).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

encoder 64s 10 Current encoder position, in ticks.

Reset Encoder
The Reset Encoder command is used to reset the current encoder value.

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 The encoder value can be reset only when the encoder is connected directly to a sensor. When
the encoder is connected to the master, the value cannot be reset via this command.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x101E).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x101E).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Start
The Start command starts the sensor system (system enters the Running state). For more information
on states, see Control Commands on page 316.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x100D).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x100D).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Scheduled Start
The scheduled start command starts the sensor system (system enters the Running state) at target time
or encoder value (depending on the trigger mode). For more information on states, see Control
Commands on page 316.

Command
Field Type Offset Description

length 32u 0 Command size – in bytes.

id 16u 4 Command identifier (0x100F).

target 64s 6 Target scheduled start value (in ticks or µs, depending on the
trigger type).

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Reply
Field Type Offset Description

length 32u 0 Reply size – in bytes.

id 16u 4 Reply identifier (0x100F).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Stop
The Stop command stops the sensor system (system enters the Ready state). For more information on
states, see Control Commands on page 316.

Command
Field Type Type Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x1001).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x1001).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Get Auto Start Enabled

The Get Auto Start Enabled command returns whether the system automatically starts after booting.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x452C).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x452C).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

enable 8u 10 0: disabled
1: enabled

Set Auto Start Enabled

The Set Auto Start Enabled command sets whether the system automatically starts after booting (enters
Running state; for more information on states, see Control Commands on page 316).

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Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x452B).

enable 8u 6 0: disabled
1: enabled

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x452B).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Start Alignment
The Start Alignment command is used to start the alignment procedure on a sensor.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4600).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4600).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

opId 32u 10 Operation ID. Use this ID to correlate the command/reply on the
Command channel with the correct Alignment Result message
on the Data channel. A unique ID is returned each time the client
uses this command.

Start Exposure Auto-set

The Start Exposure Auto-set command is used to start the exposure auto-set procedure on a sensor.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4601).

role 32s 6 Role of sensors to auto-set.

0 – Main
1 – Buddy

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Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4601).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

opId 32u 10 Operation ID. Use this ID to correlate the command/reply on the
Command channel with the correct Exposure Calibration Result
message on the Data channel. A unique ID is returned each time
the client uses this command.

Software Trigger
The Software Trigger command causes the sensor to take a snapshot while in software mode and in the
Running state.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4510).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4510).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Schedule Digital Output

The Schedule Digital Output command schedules a digital output event. The digital output must be
configured to accept software-scheduled commands and be in the Running state. For more information
on setting up digital output, see Digital Output on page 220.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4518).

index 16u 6 Index of the output (starts from 0).

target 64s 8 Specifies the time (clock ticks) when or position (µm) at which the
digital output event should happen.
The target value is ignored if ScheduleEnabled is set to false.
(Scheduled is unchecked in Digital in the Output panel.) The
output will be triggered immediately.

value 8u 16 Specifies the target state:

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Field Type Offset Description

0 – Set to low (continuous)

1 – Set to high (continuous)
Ignored if output type is pulsed.

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4518).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Schedule Analog Output

The Schedule Analog Output command schedules an analog output event. The analog output must be
configured to accept software-scheduled commands and be in the Running state. For information on
setting up the analog output, see Analog Output on page 223.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4519).

index 16u 6 Index of the output. Must be 0.

target 64s 8 Specifies the time (clock ticks) or position (encoder ticks) of when
the event should happen.
The target value is ignored if ScheduleEnabled is set to false.
(Scheduled is unchecked in Analog in the Output panel.) The
output will be triggered immediately.

value 32s 16 Output current (micro-amperes).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4519).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

The analog output takes about 75 us to reach 90% of the target value for a maximum change,
then roughly another 40 us to settle completely..

Ping
The Ping command can be used to test the control connection. This command has no effect on sensors.

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Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x100E).

timeout 64u 6 Timeout value (microseconds).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x100E).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

If a non-zero value is specified for timeout, the client must send another ping command before
the timeout elapses; otherwise the server would close the connection. The timer is reset and
updated with every command.

Reset
The Reset command reboots the Main sensor and any Buddy sensors. All sensors will automatically reset
3 seconds after the reply to this command is transmitted.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4300).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4300).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Backup
The Backup command creates a backup of all files stored on the connected sensor and downloads the
backup to the client.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x1013).

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Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x1013).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

length 32u 10 Data length.

data[length] byte 14 Data content.

Restore
The Restore command uploads a backup file to the connected sensor and then restores all sensor files
from the backup.

The sensor must be reset or power-cycled before the restore operation can be completed.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x1014).

length 32u 6 Data length.

data[length] byte 10 Data content.

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x1014).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Restore Factory
The Restore Factory command restores the connected sensor to factory default settings.

The command erases the non-volatile memory of the main device.

This command has no effect on connected Buddy sensors.

Note that the sensor must be reset or power-cycled before the factory restore operation can be
completed.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4301).

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Field Type Offset Description

resetIp 8u 6 Specifies whether IP address should be restored to default:

0 – Do not reset IP
1 – Reset IP

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4301).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Get Recording Enabled

The Get Recording Enabled command retrieves whether recording is enabled.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4517).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4517).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

enable 8u 10 0: disabled; 1: enabled.

Set Recording Enabled

The Set Recording Enabled command enables recording for replay later.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4516).

enable 8u 6 0: disabled; 1: enabled.

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4516).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

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Clear Replay Data
The Clear Replay Data command clears the sensors replay data..

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4513).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4513).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Get Playback Source

The Get Playback Source command gets the data source for data playback.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4524).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4524).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

source 32s 10 Source

0 – Live
1 – Replay buffer

Set Playback Source

The Set Playback Source command sets the data source for data playback.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4523).

source 32s 6 Source

0 – Live
1 – Replay buffer

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Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4523).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Simulate
The Simulate command simulates the last frame if playback source is live, or the current frame if
playback source is the replay buffer.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4522).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4522).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

bufferValid 8u 10 Whether or not the buffer is valid.

A reply status of -996 means that the current configuration (mode, sensor type, etc.) does not
support simulation.
A reply status of -992 means that the simulation buffer is empty. Note that the buffer can be
valid even if the simulation buffer is actually empty due to optimization choices. This scenario
means that the simulation buffer would be valid if data were recorded.

Seek Playback
The Seek Playback command seeks to any position in the current playback dataset. The frame is then
sent.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4503).

frame 32u 6 Frame index.

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

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Field Type Offset Description

id 16u 4 Reply identifier (0x4503).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Step Playback
The Step Playback command advances playback by one frame.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4501).

direction 32s 6 Define step direction

0 – Forward
1 – Reverse

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4501).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

When the system is running in the Replay mode, this command advances replay data (playback)
by one frame. This command returns an error if no live playback data set is loaded. You can
use the Copy File command to load a replay data set to _live.rec.

Playback Position
The Playback Position command retrieves the current playback position.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4502).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4502).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Frame Index 32u 10 Current frame index (starts from 0).

Frame Count 32u 14 Total number of available frames/objects.

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Clear Measurement Stats
The Clear Measurement Stats command clears the sensor's measurement statistics.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4526).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4526).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Clear Log
The Clear Log command clears the sensor's log.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x101D).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x101D).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Simulate Unaligned
The Simulate Unaligned command simulates data before alignment transformation.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x452A).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x452A).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

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Acquire
The Acquire command acquires a new scan.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4528).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4528).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

The command returns after the scan has been captured and transmitted.

Acquire Unaligned
The Acquire Unaligned command acquires a new scan without performing alignment transformation.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4527).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4527).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

The command returns after the scan has been captured and transmitted.

Create Model
The Create Model command creates a new part model from the active simulation scan.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4602).

modelName[64] char 6 Name of the new model (without .mdl extension)

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Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4602).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Detect Edges
The Detect Edges command detects and updates the edge points of a part model.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4604).

modelName[64] char 6 Name of the model (without .mdl extension)

sensitivity 16u 70 Sensitivity (in thousandths).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4604).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Add Tool
The Add Tool command adds a tool to the live job.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4530).

typeName[64] char 6 Type name of the tool (e.g., ProfilePosition)

name[64] char 70 User-specified name for tool instance

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4530).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

Add Measurement
The Add Measurement command adds a measurement to a tool instance.

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Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4531).

toolIndex 32u 6 Index of the tool instance the new measurement is added to.
typeName[64] char 10 Type name of the measurement (for example, X).
name[64] char 74 User-specified name of the measurement instance.

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4531).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

This command can only be used with dynamic tools (tools with a dynamic list of measurements).
The maximum number of instances for a given measurement type can be found in the
ToolOptions node. For dynamic tools, the maximum count is greater than one, while for static
tools it is one.

Read File (Progressive)

The progressive Read File command reads the content of a file as a stream.

This command returns an initial reply, followed by a series of "continue" replies if the initial reply's status
field indicates success. The continue replies contain the actual data, and have 0x5000 as their identifier.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4529).

name[64] char 6 Source file name.

Initial Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4529).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

progressTotal 32u 10 Progress indicating completion (100%).

progress 32u 14 Current progress.

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Continue Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x5000).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

progressTotal 32u 10 Progress indicating completion (100%).

progress 32u 14 Current progress.

size 32u 18 Size of the chunk in byes.

data[size] byte 22 Chunk data.

Export CSV (Progressive)

The progressive Export CSV command exports replay data as a CSV stream.

This command returns an initial reply, followed by a series of "continue" replies if the initial reply's status
field indicates success. The continue replies contain the actual data, and have 0x5000 as their identifier.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4507).

Initial Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4507).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

progressTotal 32u 10 Progress indicating completion (100%).

progress 32u 14 Current progress.

Continue Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x5000).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

progressTotal 32u 10 Progress indicating completion (100%).

progress 32u 14 Current progress.

size 32u 18 Size of the chunk in byes.

data[size] byte 22 Chunk data.

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 All recorded range or profile data is exported to the CSV stream. Only the current surface scan,
as determined by the playback position, is exported to the CSV stream.

Export Bitmap (Progressive)

The progressive Export Bitmap command exports replay data as a bitmap stream.

This command returns an initial reply, followed by a series of "continue" replies if the initial reply's status
field indicates success. The continue replies contain the actual data, and have 0x5000 as their identifier.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4508).

type 32s 6 Data type:

0 – Range or video
1 – Intensity

source 32s 10 Data source to export.

Initial Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4508).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

progressTotal 32u 10 Progress indicating completion (100%).

progress 32u 14 Current progress.

Continue Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x5000).

status 32s 6 Reply status. For a list of status codes, see Commands on page
312.

progressTotal 32u 10 Progress indicating completion (100%).

progress 32u 14 Current progress.

size 32u 18 Size of the chunk in byes.

data[size] byte 22 Chunk data.

Upgrade Commands
A client sends firmware upgrade commands over the Upgrade TCP channel (port 3192).

The Control channel (port 3190) and the Upgrade channel can be connected simultaneously. For more
information on Control commands, see Control Commands on page 316.

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After connecting to a Gocator sensor, you can use the Protocol Version command to retrieve the
protocol version. Protocol version refers to the version of the Gocator Protocol supported by the
connected sensor (the sensor to which a command connection is established), and consists of major and
minor parts. The minor part is updated when backward-compatible additions are made to the Gocator
Protocol. The major part is updated when breaking changes are made to the Gocator Protocol.

Start Upgrade
The Start Upgrade command begins a firmware upgrade for the sensors in a system. All sensors
automatically reset 3 seconds after the upgrade process is complete.

Command
Field Type Offset Description

length 64s 0 Command size including this field, in bytes.

id 64s 8 Command identifier (0x0000).

length 64s 16 Length of the upgrade package (bytes).

data[length] byte 24 Upgrade package data.

Reply
Field Type Offset Description

length 64s 0 Reply size including this field, in bytes.

id 64s 8 Reply identifier (0x0000).

status 64s 16 Reply status. For a list of status codes, see Commands on page
312.

Start Upgrade Extended

The Start Upgrade Extended command begins a firmware upgrade for the sensors in a system. All
sensors automatically reset 3 seconds after the upgrade process is complete.

Command
Field Type Offset Description

length 64s 0 Command size including this field, in bytes.

id 64s 8 Command identifier (0x0003).

skipValidation 64s 16 Whether or not to skip validation (0 – do not skip, 1 – skip).

length 64s 24 Length of the upgrade package (bytes).

data[length] byte 32 Upgrade package data.

Reply
Field Type Offset Description

length 64s 0 Reply size including this field, in bytes.

id 64s 8 Reply identifier (0x0003).

status 64s 16 Reply status. For a list of status codes, see Commands on page
312.

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Get Upgrade Status
The Get Upgrade Status command determines the progress of a firmware upgrade.

Command
Field Type Offset Description

length 64s 0 Command size including this field, in bytes.

id 64s 8 Command identifier (0x1)

Reply
Field Type Offset Description

length 64s 0 Reply size including this field, in bytes.

id 64s 8 Reply identifier (0x1).

status 64s 16 Reply status. For a list of status codes, see Commands on page
312.

state 64s 24 Upgrade state:

-1 – Failed
0 – Completed
1 – Running
2 – Completed, but should run again

progress 64s 32 Upgrade progress (valid when in the Running state)

Get Upgrade Log

The Get Upgrade Log command can retrieve an upgrade log in the event of upgrade problems.

Command
Field Type Offset Description

length 64s 0 Command size including this field, in bytes.

id 64s 8 Command identifier (0x2)

Reply
Field Type Offset Description

length 64s 0 Reply size including this field, in bytes.

id 64s 8 Reply identifier (0x2).

status 64s 16 Reply status. For a list of status codes, see Commands on page
312.

length 64s 24 Length of the log (bytes).

log[length] char 32 Log content.

Results
The following sections describe the results (data and health) that Gocator sends.

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Data Results
A client can receive data messages from a Gocator sensor by connecting to the Data TCP channel (port
3196).

The Data channel and the Health channel (port 3194) can be connected at the same time. The sensor
accepts multiple connections on each port. For more information on the Health channel, see Health
Results on page 356.

Messages that are received on the Data and Health channels use a common structure, called Gocator
Data Protocol (GDP). Each GDP message consists of a 6-byte header, containing size and control fields,
followed by a variable-length, message-specific content section. The structure of the GDP message is
defined below.

Gocator Data Protocol

Field Type Offset Description

size 32u 0 Count of bytes in message (including this field).

control 16u 4 Bit 15: Last Message flag
Bits 0-14: Message type identifier. (See individual data result
sections.)

GDP messages are always sent in groups. The Last Message flag in the control field is used to indicate the
final message in a group. If there is only one message per group, this bit will be set in each message.

Stamp

Field Type Offset Description

size 32u 0 Count of bytes in message (including this field).

control 16u 4 Bit 15: Last message flag.

Bits 0-14: Message type identifier. For this message, set to 1.

count (C) 32u 6 Count of stamps in this message.

size 16u 10 Stamp size, in bytes (min: 56, current: 56).

source 8u 12 Source (0 – Main, 1 – Buddy).

reserved 8u 13 Reserved.
stamps[C] Stamp 14 Array of stamps (see below).

Stamp
Field Type Offset Description

frameIndex 64u 0 Frame index (counts up from zero).

timestamp 64u 8 Timestamp (µs).

encoder 64s 16 Current encoder value (ticks).

encoderAtZ 64s 24 Encoder value latched at z/index mark (ticks).

status 64u 32 Bit field containing various frame information:

Bit 0: sensor digital input state

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Field Type Offset Description

Bit 4: master digital input state

Bit 8-9: inter-frame digital pulse trigger (Master digital input if
master is connected, otherwise sensor digital input. Value is
cleared after each frame and clamped at 3 if more than 3 pulses
are received).

serialNumber 32u 40 Sensor serial number (main if buddied).

reserved[2] 32u 44 Reserved.

Video

Field Type Offset Description

size 32u 0 Count of bytes in message (including this field).

control 16u 4 Bit 15: Last message flag.

Bits 0-14: Message type identifier. For this message, set to 2.

attributesSize 16u 6 Size of attributes, in bytes (min: 20, current: 20).

height (H) 32u 8 Image height, in pixels.

width (W) 32u 12 Image width, in pixels.

pixelSize 8u 16 Pixel size, in bytes.

pixelFormat 8u 17 Pixel format:

1 – 8-bit greyscale
2 – 8-bit color filter
3 – 8-bits-per-channel color (B, G, R, X)

colorFilter 8u 18 Color filter array alignment:

0 – None
1 – Bayer BG/GR
2 – Bayer GB/RG
3 – Bayer RG/GB
4 – Bayer GR/BG

source 8u 19 Source
0 – Top
1 – Bottom
2 – Top Left
3 – Top Right

cameraIndex 8u 20 Camera index.

exposureIndex 8u 21 Exposure index.

exposure 32u 22 Exposure (ns).

flippedX 8u 26 Indicates whether the video data must be flipped horizontally to

match up with profile data.

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Field Type Offset Description

flippedY 8u 27 Indicates whether the video data must be flipped vertically to

match up with profile data.

pixels[H][W] (Variable) 28 Image pixels. (Depends on pixelSize above.)

flippedX 8u 26 Indicates whether the video data must be flipped horizontally to

match up with profile data.
flippedY 8u 27 Indicates whether the video data must be flipped vertically to
match up with profile data.

Profile

Field Type Offset Description

size 32u 0 Count of bytes in message (including this field).

control 16u 4 Bit 15: Last message flag.

Bits 0-14: Message type identifier. For this message, set to 5.

attributeSize 16u 6 Size of attributes, in bytes (min: 32, current: 32).

count (C) 32u 8 Number of profile arrays.

width (W) 32u 12 Number of points per profile array.

xScale 32u 16 X scale (nm).

zScale 32u 20 Z scale (nm).

xOffset 32s 24 X offset (µm).

zOffset 32s 28 Z offset (µm).

source 8u 32 Source
0 – Top
1 – Bottom
2 – Top Left
3 – Top Right

exposure 32u 33 Exposure (ns).

cameraIndex 8u 37 Camera index.

reserved[2] 8u 38 Reserved.

ranges[C][W] Point16s 40 Profile ranges.

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Resampled Profile

Field Type Offset Description

size 32u 0 Count of bytes in message (including this field).

control 16u 4 Bit 15: Last message flag.

Bits 0-14: Message type identifier. For this message, set to 6.

attributeSize 16u 6 Size of attributes, in bytes (min: 32, current: 32).

count (C) 32u 8 Number of profile arrays.

width (W) 32u 12 Number of points per profile array.

xScale 32u 16 X scale (nm).

zScale 32u 20 Z scale (nm).

xOffset 32s 24 X offset (µm).

zOffset 32s 28 Z offset (µm).

source 8u 32 Source
0 – Top
1 – Bottom
2 – Top Left
3 – Top Right

exposure 32u 33 Exposure (ns).

reserved[3] 8u 37 Reserved.

ranges[C][W] 16s 40 Profile ranges.

Profile Intensity

Field Type Offset Description

size 32u 0 Count of bytes in message (including this field).

control 16u 4 Bit 15: Last message flag.

Bits 0-14: Message type identifier. For this message, set to 7.

attributesSize 16u 6 Size of attributes, in bytes (min: 24, current: 24).

count (C) 32u 8 Number of profile intensity arrays.

width (W) 32u 12 Number of points per profile intensity array.

xScale 32u 16 X scale (nm).

xOffset 32s 20 X offset (µm).

source 8u 24 Source
0 – Top
1 – Bottom
2 – Top Left
3 – Top Right

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Field Type Offset Description

exposure 32u 25 Exposure (ns).

reserved[3] 8u 29 Reserved.

points[C][W] 8u 32 Intensity arrays.

Surface

Field Type Offset Description

size 32u 0 Count of bytes in message (including this field).

control 16u 4 Bit 15: Last message flag.

Bits 0-14: Message type identifier. For this message, set to 8.

attributeSize 16u 6 Size of attributes, in bytes (min: 40, current: 40).

length (L) 32u 8 Surface length (rows).

length (W) 32u 12 Surface width (columns).

xScale 32u 16 X scale (nm).

yScale 32u 20 Y scale (nm).

zScale 32u 24 Z scale (nm).

xOffset 32s 28 X offset (µm).

yOffset 32s 32 Y offset (µm).

zOffset 32s 36 Z offset (µm).

source 8u 40 Source
0 – Top
1 – Bottom
2 – Top Left
3 – Top Right

exposure 32u 41 Exposure (ns).

rotation 32s 45 Rotation (microdegrees).

reserved[3] 8u 49 Reserved.

ranges[L][W] 16s 52 Surface ranges.

Surface Intensity

Field Type Offset Description

size 32u 0 Count of bytes in message (including this field).

control 16u 4 Bit 15: Last message flag.

Bits 0-14: Message type identifier. For this message, set to 9.

attributeSize 16u 6 Size of attributes, in bytes (min: 32, current: 32).

length (L) 32u 8 Surface length (rows).

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Field Type Offset Description

width (W) 32u 12 Surface width (columns).

xScale 32u 16 X scale (nm).

yScale 32u 20 Y scale (nm).

xOffset 32s 24 X offset (µm).

yOffset 32s 28 Y offset (µm).

source 8u 32 Source
0 – Top
1 – Bottom
2 – Top Left
3 – Top Right

exposure 32u 33 Exposure (ns).

reserved[3] 8u 37

intensities[H][W] 8u 40 Surface intensities.

Surface Section

Field Type Offset Description

size 32u 0 Count of bytes in message (including this field).

control 16u 4 Bit 15: Last message flag.

Bits 0-14: Message type identifier. For this message, set to 20.

attributeSize 16u 6 Size of attributes, in bytes (min: 45, current: 45).

count (C) 32u 8 Number of profile arrays.
width (W) 32u 12 Number of points per profile array.
xScale 32u 16 X scale (nm).
zScale 32u 20 Z scale (nm).
xOffset 32s 24 X offset (µm).
zOffset 32s 28 Z offset (µm).
source 8u 32 Source
0 – Top
1 – Bottom
2 – Top Left
3 – Top Right

sectionId 32u 33 Section Id

exposure 32u 37 Exposure (ns).
poseAngle 32s 41 Z angle of the pose (microdegrees).
poseX 32s 45 X offset of the pose (µm)
poseY 32s 49 Y offset of the pose (µm)
ranges[C][W] 16s 53 Profile ranges.

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 The pose field can be used to transform the section data into the surface frame of reference,
via a rotation and then a translation.

Surface Section Intensity

Field Type Offset Description

size 32u 0 Count of bytes in message (including this field).

control 16u 4 Bit 15: Last message flag.

Bits 0-14: Message type identifier. For this message, set to 21.

attributesSize 16u 6 Size of attributes, in bytes (min: 37, current: 37).

count (C) 32u 8 Number of profile intensity arrays
width (W) 32u 12 Number of points per profile intensity array
xScale 32u 16 X scale (nm).
xOffset 32s 20 X offset (µm).
source 8u 24 Source
0 – Top
1 – Bottom
2 – Top Left
3 – Top Right

sectionId 32u 25 Section Id.

exposure 32u 29 Exposure (ns).
poseAngle 32s 33 Z angle of the pose (microdegrees).
poseX 32s 37 X offset of the pose (µm).
poseY 32s 41 Y offset of the pose (µm).
points[C][W] 8u 45 Intensity arrays.

Measurement

Field Type Offset Description

size 32u 0 Count of bytes in message (including this field).

control 16u 4 Bit 15: Last message flag.

Bits 0-14: Message type identifier. For this message, set to 10.

count (C) 32u 6 Count of measurements in this message.

reserved[2] 8u 10 Reserved.

id 16u 12 Measurement identifier.

measurements[C] Measurement 14 Array of measurements (see below).

Measurement
Field Type Offset Description

value 32s 0 Measurement value.

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Field Type Offset Description

decision 8u 4 Measurement decision bitmask.

Bit 0:
1 – Pass
0 – Fail
Bits 1-7:
0 – Measurement value OK
1 – Invalid value
2 – Invalid anchor

reserved[3] 8u 5 Reserved.

Operation Result

Field Type Offset Description

size 32u 0 Count of bytes in message (including this field).

control 16u 4 Bit 15: Last message flag.

Bits 0-14: Message type identifier. For this message, set to 11.

attributesSize 16u 6 Size of attributes, in bytes (min: 8, current: 8).

opId 32u 8 Operation ID.

status 32s 12 Operation status.

1 – OK
0 – General failure
-1 – No data in the field of view for stationary alignment
-2 – No profiles with sufficient data for line fitting for travel
alignment
-3 – Invalid target detected. Examples include:
- Calibration disk diameter too small.
- Calibration disk touches both sides of the field of view.
- Too few valid data points after outlier rejection.
-4 – Target detected in an unexpected position.
-5 – No reference hole detected in bar alignment.
-6 – No change in encoder value during travel calibration
-988 – User aborted
-993 – Timed out
-997 – Invalid parameter

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Exposure Calibration Result

Field Type Offset Description

size 32u 0 Count of bytes in message (including this field).

control 16u 4 Bit 15: Last message flag.

Bits 0-14: Message type identifier. For this message, set to 12.

attributesSize 16u 6 Size of attributes, in bytes (min: 12, current: 12).

opId 32u 8 Operation ID.

status 32s 12 Operation status.

exposure 32s 16 Exposure result (ns).

Edge Match Result

Field Type Offset Description

size 32u 0 Count of bytes in message (including this field).

control 16u 4 Bit 15: Last message flag.

Bits 0-14: Message type identifier. For this message, set to 16.

decision byte 6 Overall match decision.

xOffset 32s 7 Target x offset in model space (µm).
yOffset 32s 11 Target y offset in model space (µm).
zAngle 32s 15 Target z rotation in model space (microdegrees).
quality 32s 19 Match quality (thousandth).
qualityDecision byte 23 Quality match decision.
reserved[2] byte 24 Reserved.

Bounding Box Match Result

Field Type Offset Description

size 32u 0 Count of bytes in message (including this field).

control 16u 4 Bit 15: Last message flag.

Bits 0-14: Message type identifier. For this message, set to 17.

decision byte 6 Overall match decision.

xOffset 32s 7 Target x offset in model space (µm).
yOffset 32s 11 Target y offset in model space (µm).
zAngle 32s 15 Target z rotation in model space (microdegrees).
width 32s 19 Width axis length (µm)
widthDecision 8u 23 Width axis decision.
length 32s 24 Length axis length (µm)
lengthDecision 8u 28 Length axis decision.

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Ellipse Match Result

Field Type Offset Description

size 32u 0 Count of bytes in message (including this field).

control 16u 4 Bit 15: Last message flag.

Bits 0-14: Message type identifier. For this message, set to 18.

decision byte 6 Overall match decision.

xOffset 32s 7 Target x offset in model space (µm).
yOffset 32s 11 Target y offset in model space (µm).
zAngle 32s 15 Target z rotation in model space (microdegrees).
minor 32s 19 Minor axis length (µm)
minorDecision 8u 23 Minor axis decision.
major 32s 24 Major axis length (µm)
majorDecision 8u 28 Major axis decision.

Health Results
A client can receive health messages from a Gocator sensor by connecting to the Health TCP channel
(port 3194).

The Data channel (port 3196) and the Health channel can be connected at the same time. The sensor
accepts multiple connections on each port. For more information on the Data channel, see Data Results
on page 347.

Messages that are received on the Data and Health channels use a common structure, called Gocator
Data Protocol (GDP). Each GDP message consists of a 6-byte header, containing size and control fields,
followed by a variable-length, message-specific content section. The structure of the GDP message is
defined below.

Gocator Data Protocol

Field Type Offset Description

size 32u 0 Count of bytes in message (including this field).

control 16u 4 Bit 15: Last Message flag
Bits 0-14: Message type identifier. (See individual data result
sections.)

GDP messages are always sent in groups. The Last Message flag in the control field is used to indicate the
final message in a group. If there is only one message per group, this bit will be set in each message.

A Health Result contains a single data block for health indicators. Each indicator reports the current
status of some aspect of the sensor system, such as CPU usage or network throughput.

Health Result Header

Field Type Offset Description

size 32u 0 Count of bytes in message (including this field).

Gocator 2100, 2300 & 2880 Series Protocols • Gocator Protocol • 356
Field Type Offset Description

control 16u 4 Bit 15: Last message flag.

Bits 0-14: Message type identifier. Always 0.

count (C) 32u 6 Count of indicators in this message.

source 8u 10 Source (0 – Main, 1 – Buddy).
reserved[3] 8u 11 Reserved
indicators[C] Indicator 14 Array of indicators (see format below).

The health indicators block contains a 2 dimensional array of indicator data. Each row in the array has
the following format:

Indicator Format
Field Type Offset Description

id 32u 0 Unique indicator identifier (see below).

instance 32u 4 Indicator instance.

value 64s 8 Value (identifier-specific meaning).

The following health indicators are defined for Gocator sensor systems:

Health Indicators
Indicator Id Instance Value

Encoder Value 1003 - Current system encoder tick.

Encoder Frequency 1005 - Current system encoder frequency (ticks/s).

App Version 2000 - Firmware application version.

Uptime 2017 - Time elapsed since node boot-up or reset

(seconds).

Laser safety status 1010 - 0 if laser is disabled; 1 if enabled.

Internal Temperature 2002 - Internal temperature (centidegrees Celsius).

Projector Temperature 2404 - Projector module temperature (centidegrees

Celsius).
Only available on projector based devices.

Control Temperature 2028 - Control module temperature (centidegrees Celsius).

Available only on 3B-class devices.

Memory Usage 2003 - Amount of memory currently used (bytes).

Memory Capacity 2004 - Total amount of memory available (bytes).

Storage Usage 2005 - Amount of non-volatile storage used (bytes).

Storage Capacity 2006 - Total amount of non-volatile storage available

(bytes).

CPU Usage 2007 - CPU usage (percentage of maximum).

Net Out Capacity 2009 - Total available outbound network throughput

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Indicator Id Instance Value

(bytes/s).

Net Out Link Status 2034 - Current Ethernet link status.

Sync Source 2043 - Gocator synchronization source.

1 - FireSync Master device
2 - Sensor

Digital Inputs 2024 - Current digital input status (one bit per input).
Event Count 2102 - Total number of events triggered.

Camera Search Count 2217 - Number of search states. (Only important when
tracking is enabled.)

Camera Trigger Drops 2201 - Number of dropped triggers.

Analog Output Drops 21014 Output Index Number of dropped outputs.

(previously
2501)

Digital Output Drops 21015 Output Index Number of dropped outputs.

(previously
2601)

Serial Output Drops 21016 Output Index Number of dropped outputs.

(previously
2701)

Sensor State 20000 - Gocator sensor state.

-1 – Conflict
0 – Ready
1 – Running

Current Sensor Speed 20001 - Current sensor speed. (Hz)

Maximum Speed 20002 - The sensor’s maximum speed.

Spot Count 20003 - Number of found spots in the last profile.

Max Spot Count 20004 - Maximum number of spots that can be found.

Scan Count 20005 - Number of surfaces detected from a top device.

Master Status 20006 0 for main Master connection status:

1 for buddy 0 – Not connected
1 – Connected
The indicator with instance = buddy does not exist
if the buddy is not connected.

Cast Start State 20007 The state of the second digital input. (NOTE: Only
available on XLine capable licensed devices)

Laser Overheat 20020 - Indicates whether laser overheat has occurred.

0 – Has not overheated

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Indicator Id Instance Value

1 – Has overheated
Only available on certain 3B laser devices.

Laser Overheat Duration 20021 - The length of time in which the laser overheating
state occurred.
Only available on certain 3B laser devices.

Playback Position 20023 - The current replay playback position.

Playback Count 20024 - The number of frames present in the replay.

FireSync Version 20600 - The FireSync version used by the Gocator build.

Processing Drops 21000 - Number of dropped frames. The sum of various

processing drop related indicators.

Last IO Latency 21001 - Last delay from camera exposure to when rich IO
scheduling occurs. Valid only if rich IO is enabled.

Max IO Latency 21002 - Maximum delay from camera exposure to when

rich IO scheduling occurs. Valid only if rich IO is
enabled. Reset on start.

Ethernet Output 21003 - Number of bytes transmitted.

Ethernet Rate 21004 - The average number of bytes per second being
transmitted.

Ethernet Drops 21005 - Number of dropped Ethernet packets.

Digital Output Pass 21006 Output Index Number of pass digital output pulse.

Digital Output Fail 21007 Output Index Number of fail digital output pulse.

Trigger Drops 21010 Number of dropped triggers. The sum of various

triggering-related drop indicators.

Output Drops 21011 Number of dropped output data. The sum of all
output drops (analog, digital, serial, host server,
and ASCII server).

Host Server Drops 21012 The number of bytes dropped by the host data
server. Not currently emitted.

ASCII Server Drops 21013 The number of bytes dropped by the ASCII
Ethernet data server. Not currently emitted.

Range Valid Count 21100 - Number of valid ranges.

Range Invalid Count 21101 - Number of invalid ranges.

Anchor Invalid Count 21200 - Number of frames with anchoring invalid.

Z-Index Drop Count 22000 - The number of dropped surfaces due to a lack of z-
encoder pulse during rotational part detection.

Value 30000 Measurement ID Measurement Value.

Pass 30001 Measurement ID Number of pass decision.

Gocator 2100, 2300 & 2880 Series Protocols • Gocator Protocol • 359
Indicator Id Instance Value

Fail 30002 Measurement ID Number of fail decision.

Max 30003 Measurement ID Maximum measurement value.

Min 30004 Measurement ID Minimum measurement value.

Average 30005 Measurement ID Average measurement value.

Std. Dev. 30006 Measurement ID Measurement value standard deviation.

Invalid Count 30007 Measurement ID Number of invalid values.

Overflow 30008 Measurement ID Number of times this measurement has overflown

on any output. Multiple simultaneous overflows
result in only a sinlge increment to this counter.
Overflow conditions include:
-Value exceeds bit representation available for
given protocol
-Analog output (mA) falls outside of acceptable
range (0-20 mA)
When a measurement value overflow occurs, the
value is set to the null value appropriate for the
given protocol's measurement value output type.
The Overflow health indicator increments.

Additional undocumented indicator values may be included in addition to the indicators defined above.

Gocator 2100, 2300 & 2880 Series Protocols • Gocator Protocol • 360
Modbus Protocol
Modbus is designed to allow industrial equipment such as Programmable Logic Controllers (PLCs),
sensors, and physical input/output devices to communicate over an Ethernet network.

Modbus embeds a Modbus frame into a TCP frame in a simple manner. This is a connection-oriented
transaction, and every query expects a response.

This section describes the Modbus TCP commands and data formats. Modbus TCP communication lets
the client:

l Switch jobs.

l Align and run sensors.

l Receive measurement results, sensor states, and stamps.

To use the Modbus protocol, it must be enabled and configured in the active job.

The Gocator 4.x firmware uses mm, mm2, mm3, and degrees as standard units. In all protocols,
values are scaled by 1000, as values in the protocols are represented as integers. This results in
effective units of mm/1000, mm2/1000, mm3/1000, and deg/1000 in the protocols.

If buffering is enabled with the Modbus protocol, the PLC must read the Buffer Advance output register
(see on page 364) to advance the queue before reading the measurement results.

For information on configuring the protocol using the Web interface, see Ethernet Output on page 217.

Concepts
A PLC sends a command to start each Gocator. The PLC then periodically queries each Gocator for its
latest measurement results. In Modbus terminology, the PLC is a Modbus Client. Each Gocator is a
Modbus Server which serves the results to the PLC.

The Modbus protocol uses TCP for connection and messaging. The PLC makes a TCP connection to the
Gocator on port 502. Control and data messages are communicated on this TCP connection. Up to eight
clients can be connected to the Gocator simultaneously. A connection closes after 10 minutes of
inactivity.

Messages
All Modbus TCP messages consist of an MBAP header (Modbus Application Protocol), a function code,
and a data payload.

The MBAP header contains the following fields:

Gocator 2100, 2300 & 2880 Series Protocols • Modbus Protocol • 361
Modbus Application Protocol Header
Field Length (Bytes) Description

Transaction ID 2 Used for transaction pairing. The Modbus Client sets the value and
the Server (Gocator) copies the value into its responses.

Protocol ID 1 Always set to 0.

Length 1 Byte count of the rest of the message, including the Unit identifier
and data fields.

Unit ID 1 Used for intra-system routing purpose. The Modbus Client sets the
value and the Server (Gocator) copies the value into its responses.

Modbus Application Protocol Specification describes the standard function codes in detail. Gocator
supports the following function codes:

Modbus Function Code

Function Code Name Data Size (bits) Description

3 Read Holding 16 Read multiple data values from the sensor.

Registers

4 Read Input Registers 16 Read multiple data values from the sensor.

6 Write Single Register 16 Send a command or parameter to the sensor.

16 Write Multiple 16 Send a command and parameters to the sensor.

Registers

The data payload contains the registers that can be accessed by Modbus TCP messages. If a message
accesses registers that are invalid, a reply with an exception is returned. Modbus Application Protocol
Specification defines the exceptions and describes the data payload format for each function code.

The Gocator data includes 16-bit, 32-bit, and 64-bit data. All data are sent in big endian format, with the
32-bit and 64-bit data spread out into two and four consecutive registers.

32-bit Data Format

Register Name Bit Position

0 32-bit Word 1 31 .. 16

1 32-bit Word 0 15 .. 0

64-bit Data Format

Register Name Bit Position

0 64-bit Word 3 63 .. 48

1 64-bit Word 2 47 .. 32

2 64-bit Word 1 31 .. 16

3 64-bit Word 0 15 .. 0

Registers
Modbus registers are 16 bits wide and are either control registers or output registers.

Control registers are used to control the sensor states (e.g., start, stop, or calibrate a sensor).

Gocator 2100, 2300 & 2880 Series Protocols • Modbus Protocol • 362
The output registers report the sensor states, stamps, and measurement values and decisions. You can
read multiple output registers using a single Read Holding Registers or a single Read Input Registers
command. Likewise, you can control the state of the sensor using a single Write Multiple Register
command.

Control registers are write-only, and output registers are read-only.

Register Map Overview

Register Address Name Read/Write Description

0 - 124 Control Registers WO Registers for Modbus commands. See Control

Registers below for detailed descriptions.
300 - 899 Sensor States RO Report sensor states. See State on the next page for
detailed descriptions.

900 - 999 Stamps RO Return stamps associated with each profile or

surface. See State on the next page for detailed
descriptions.

1000 - 1060 Measurements & RO 20 measurement and decision pairs. See

Decisions Measurement Registers on page 365 for detailed
descriptions.

Control Registers
Control registers are used to operate the sensor. Register 0 stores the command to be executed.
Registers 1 to 21 contain parameters for the commands. The Gocator executes a command when the
value in Register 0 is changed. To set the parameters before a command is executed, you should set up
the parameters and the command using a single Multiple Write register command.

Control Register Map

Register
Name Read/Write Description
Address

0 Command Register WO Command register. See the Command Register

Values table below for more information.

1 – 21 Job Filename WO Null-terminated filename.

Each 16-bit register holds a single character.
Only used for Load Job Command.
Specifies the complete filename, including the file
extension ".job".

The values used for the Command Register are described below.

Command Register Values

Value Name Description

0 Stop running Stop the sensor. No effect if sensor is already stopped.

1 Start Running Start the sensor. No effect if sensor is already started.

2 Align (stationary target) Start the alignment process. State register 301 will be set to 1 (busy)

Gocator 2100, 2300 & 2880 Series Protocols • Modbus Protocol • 363
Value Name Description

until the alignment process is complete.

3 Align (moving target) Start alignment process and also calibrate encoder resolution. State
register 301 will be set to 1 (busy) until the motion calibration process is
complete.

4 Clear Alignment Clear the alignment.

5 Load Job Activate a job file. Registers 1 - 21 specify the filename.

Output Registers
Output registers are used to output states, stamps, and measurement results. Each register address
holds a 16-bit data value.

State
State registers report the current sensor state.

State Register Map

Register
Name Type Description
Address

300 Stopped / Running Sensor State:

0 - Stopped
1 - Running

301 Busy Busy State:

0 - Not busy
1 - Busy
Registers 302 to 363 below are only valid when the
Busy State is not Busy

302 Alignment State Current Alignment State:

0 - Not aligned
1- Aligned

303 – 306 Encoder Value 64s Current Encoder value (ticks).

307 – 310 Time 64s Current time (µs).

311 Job File Name Length 16u Number of characters in the current job file name.

312 – 371 Live Job Name Current Job Name.

Name of currently loaded job file. Does not include
the extension. Each 16-bit register contains a single
character.

Stamp
Stamps contain trigger timing information used for synchronizing a PLC's actions. A PLC can also use this
information to match up data from multiple Gocator sensors.

In Profile mode, the stamps are updated after each profile is processed. In Surface mode, the stamps
are updated after each surface has been processed.

Gocator 2100, 2300 & 2880 Series Protocols • Modbus Protocol • 364
Stamp Register Map
Register
Name Type Description
Address

976 Buffer Advance If buffering is enabled this address must be read by

the PLC Modbus client first to advance the buffer.
After the buffer advance read operation, the
Modbus client can read the updated Measurements
& Decisions in addresses 1000-1060.

977 Buffer Counter Number of buffered messages currently in the

queue.

978 Buffer Overflow Buffer Overflow Indicator:

0 - No overflow
1 - Overflow

979 Inputs Digital input state.

980 zPosition High 64s Encoder value when the index is last triggered.

981 zPosition
982 zPosition
983 zPosition Low

984 Exposure High 32u Laser exposure (µs).

985 Exposure Low

986 Temperature High 32u Sensor temperature in degrees Celcius * 100

(centidegrees).

987 Temperature Low

988 Position High 64s Encoder position

989 Position
990 Position
991 Position Low

992 Time Low 64u Timestamp (µs).

993 Time
994 Time
995 Time Low

996 Frame Index High 64u Frame counter. Each new sample is assigned a frame
number.

997 Frame Index

998 Frame Index
999 Fame Index Low

Measurement Registers
Measurement results are reported in pairs of values and decisions. Measurement values are 32 bits wide
and decisions are 8 bits wide.

Gocator 2100, 2300 & 2880 Series Protocols • Modbus Protocol • 365
The measurement ID defines the register address of each pair. The register address of the first word can
be calculated as (1000 + 3 * ID). For example, a measurement with ID set to 4 can be read from registers
1012 (high word) and, 1013 (low word), and the decision at 1015.

In Profile mode, the measurement results are updated after each profile is processed. In Surface mode,
the measurement results are updated after each discrete part has been processed.

Measurement Register Map

Register Address Name Type Description

1000 Measurement 0 High 32s Measurement value in µm (0x80000000

if invalid)

1001 Measurement 0 Low

1002 Decision 0 16u Measurement decision. A bit mask,

where:
Bit 0:
1 - Pass
0 - Fail
Bits 1-7:
0 - Measurement value OK
1 - Invalid value
2 - Invalid anchor

1003 Measurement 1 High

1004 Measurement 1 Low

1005 Decision 1

1006 Measurement 2 High

1007 Measurement 2 Low

1008 Decision 2

... ... ... ...

1057 Measurement 19 High

1058 Measurement 19 Low

1059 Decision 19

Gocator 2100, 2300 & 2880 Series Protocols • Modbus Protocol • 366
EtherNet/IP Protocol
EtherNet/IP is an industrial protocol that allows bidirectional data transfer with PLCs. It encapsulates the
object-oriented Common Industrial Protocol (CIP).

This section describes the EtherNet/IP messages and data formats. EtherNet/IP communication enables
the client to:

l Switch jobs.

l Align and run sensors.

l Receive sensor states, stamps, and measurement results.

To use the EtherNet/IP protocol, it must be enabled and configured in the active job.

The Gocator 4.x firmware uses mm, mm2, mm3, and degrees as standard units. In all protocols,
values are scaled by 1000, as values in the protocols are represented as integers. This results in
effective units of mm/1000, mm2/1000, mm3/1000, and deg/1000 in the protocols.

For information on configuring the protocol using the Web interface, see Ethernet Output on page 217.

Concepts
To EtherNet/IP-enabled devices on the network, the sensor information is seen as a collection of objects,
which have attributes that can be queried.

Gocator supports all required objects, such as the Identity object, TCP/IP object, and Ethernet Link
object. In addition, assembly objects are used for sending sensor and sample data and receiving
commands. There are three assembly objects: the command assembly (32 bytes), the sensor state
assembly (100 bytes), and the sample state assembly object (380 bytes). The data attribute (0x03) of the
assembly objects is a byte array containing information about the sensor. The data attribute can be
accessed with the GetAttribute and SetAttribute commands.

The PLC sends a command to start a Gocator. The PLC then periodically queries the attributes of the
assembly objects for its latest measurement results. In EtherNet/IP terminology, the PLC is a scanner
and the Gocator is an adapter.

The Gocator supports unconnected or connected explicit messaging (with TCP). Implicit I/O messaging is
supported as an advanced setting. For more information, see
http://lmi3d.com/sites/default/files/APPNOTE_Implicit_Messaging_with_Allen-Bradley_PLCs.pdf.

The default EtherNet/IP ports are used. Port 44818 is used for TCP connections and UDP queries (e.g.,
list Identity requests). Port 2222 for UDP I/O Messaging is not supported.

Gocator 2100, 2300 & 2880 Series Protocols • EtherNet/IP Protocol • 367
Basic Object
Identity Object (Class 0x01)

Attribute Name Type Value Description Access

1 Vendor ID UINT 1256 ODVA-provided vendor ID Get

2 Device Type UINT 43 Device type Get

3 Product Code UINT 2000 Product code Get

4 Revision USINT x.x Byte 0 - Major revision Get

USINT Byte 1 - Minor revision

6 Serial number UDINT 32-bit value Sensor serial number Get

7 Product SHORT "Gocator" Gocator product name Get

Name STRING
32

TCP/IP Object (Class 0xF5)

The TCP/IP Object contains read-only network configuration attributes such as IP Address. TCP/IP
configuration via Ethernet/IP is not supported. See Volume 2, Chapter 5-3 of the CIP Specification for a
complete listing of TCP/IP object attributes.

Attribute Name Type Value Description Access

1 Status UDINT 0 TCP interface status Get

2 Configuration UINT 0 Get

Capability

3 Configuration UINT 0 Product code Get

Control

4 Physical Link Structure (See See 5.3.3.2.4 of CIP Specification Volume 2: Get
Object description) Path size (UINT)
Path (Padded EPATH)

5 Interface Structure (See See 5.3.3.2.5 of CIP Specification Volume 2: Get

Configuration description) IP address (UDINT)
Network mask (UDINT)
Gateway address (UDINT)
Name server (UDINT)
Secondary name (UDINT)
Domain name (UDINT)

Ethernet Link Object (Class 0xF6)

The Ethernet Link Object contains read-only attributes such as MAC Address (Attribute 3). See Volume 2,
Chapter 5-4 of the CIP Specification for a complete listing of Ethernet Link object attributes.

Gocator 2100, 2300 & 2880 Series Protocols • EtherNet/IP Protocol • 368
Attribute Name Type Value Description Access

1 Interface UDINT 1000 Ethernet interface data rate (mbps) Get

Speed

2 Interface Flags UDINT See 5.4.3.2.1 of CIP Specification Volume 2: Get

Bit 0: Link Status
0 – Inactive
1 - Active
Bit 1: Duplex
0 – Half Duplex
1 – Full Duplex

3 Physical Array of MAC address (for example: 00 16 20 00 2E 42) Get

Address 6 USINTs

Assembly Object (Class 0x04)

The Gocator Ethernet/IP object model includes the following assembly objects: Command, Sensor State,
and Sample State.

All assembly object instances are static. Data in a data byte array in an assembly object are stored in the
big endian format.

Command Assembly
The command assembly object is used to start, stop, and align the sensor, and also to switch jobs on the
sensor.

Command Assembly
Information Value

Class 0x4

Instance 0x310

Attribute Number 3

Length 32 bytes

Supported Service 0x10 (SetAttributeSingle)

Attributes 1 and 2 are not implemented, as they are not required for the static assembly object.

Attribute 3
Attribute Name Type Value Description Access

3 Command Byte See Below Command parameters Get, Set

Array Byte 0 - Command.
See table below for specification of the values.

Command Definitions
Value Name Description

0 Stop running Stop the sensor. No action if the sensor is already stopped

Gocator 2100, 2300 & 2880 Series Protocols • EtherNet/IP Protocol • 369
Value Name Description

1 Start Running Start the sensor. No action if the sensor is already started.

2 Stationary Alignment Start the stationary alignment process. Byte 1 of the sensor state assembly
will be set to 1 (busy) until the alignment process is complete, then back to
zero.

3 Moving Alignment Start the moving alignment process. Byte 1 of the sensor state assembly
will be set to 1 (busy) until the alignment process is complete, then back to
zero.

4 Clear Alignment Clear the alignment.

5 Load Job Load the job. Set bytes 1-31 to the file name (one character per byte,
including the extension).

Sensor State Assembly

The sensor state assembly object contains the sensor's states, such as the current sensor temperature,
frame count, and encoder values.

Sensor State Assembly

Information Value

Class 0x4

Instance 0x320

Attribute Number 3

Length 100 bytes

Supported Service 0x0E (GetAttributeSingle)

Attributes 1 and 2 are not implemented, as they are not required for the static assembly object.

Attribute 3
Attribute Name Type Value Description Access

3 Command Byte See below Sensor state information. See below for more Get
Array details.

Sensor State Information

Byte Name Type Description

0 Sensor's Sensor state:

state 0 - Ready
1 - Running

1 Command Command busy status:

in progress 0 - Not busy
1 - Busy performing the last command
Bytes 2 to 43 below are only valid when there is no command
in progress.

2 Alignment Alignment status:

state

Gocator 2100, 2300 & 2880 Series Protocols • EtherNet/IP Protocol • 370
Byte Name Type Description

0 - Not aligned
1 - Aligned
The value is only valid when byte1 is set to 0.

3-10 Encoder 64s Current encoder position

11-18 Time 64s Current timestamp

19 Current Job 16u Number of characters in the current job filename. (e.g., 11 for
Filename "current.job"). The length includes the .job extension. Valid
Length when byte 1 = 0.

20-43 Current Job Name of currently loaded job file, including the ".job"
Filename extension. Each byte contains a single character. Valid when
byte 1 = 0.

44 - 99 Reserved Reserved bytes

Sample State Assembly

The sample state object contains measurements and their associated stamp information.

Sample State Assembly

Information Value

Class 0x04

Instance 0x321

Attribute Number 3

Length 380 bytes

Supported Service 0x0E (GetAttributeSingle)

Attribute 3
Attribute Name Type Value Description Access

3 Command Byte Sample state information. See below for more Get
Array details

Sample State Information

Byte Name Type Description

0-1 Inputs Digital input state.

2-9 Z Index Position 64s Encoder position at time of last index pulse.

10-13 Exposure 32u Laser exposure in µs.

14-17 Temperature 32u Sensor temperature in degrees Celsius * 100

(centidegrees).

18-25 Position 64s Encoder position.

26-33 Time 64u Time.

34-41 Frame Counter 64u Frame counter.

Gocator 2100, 2300 & 2880 Series Protocols • EtherNet/IP Protocol • 371
Byte Name Type Description

42 Buffer Counter 8u Number of buffered messages currently in

the queue.

43 Buffer Overflow Buffer Overflow Indicator:

0 - No overflow
1 - Overflow

44 - 79 Reserved Reserved bytes.

80-83 Measurement 0 32s Measurement value in µm (0x80000000 if

invalid).

84 Decision 0 8u Measurement decision. A bit mask, where:

Bit 0:
1 - Pass
0 - Fail
Bits 1-7:
0 - Measurement value OK
1 - Invalid value
2 - Invalid anchor

... ...

375-378 Measurement 59 32s Measurement value in µm (0x80000000 if

invalid).

379 Decision 59 8u Measurement decision. A bit mask, where:

Bit 0:
1 - Pass
0 - Fail
Bits 1-7:
0 - Measurement value OK
1 = Invalid value
2 = Invalid anchor

Measurement results are reported in pairs of values and decisions. Measurement values are 32 bits wide
and decisions are 8 bits wide.

The measurement ID defines the byte position of each pair within the state information. The position of
the first word can be calculated as (80 + 5 * ID). For example, a measurement with ID set to 4 can be
read from byte 100 (high word) to 103 (low word) and the decision at 104.

In Profile mode, the measurement results are updated after each profile is processed. In Surface mode,
the measurement results are updated after each discrete part has been processed. If buffering is
enabled in the Ethernet Output panel, reading the Extended Sample State Assembly Object automatically
advances the buffer. See See Ethernet Output on page 217 for information on the Output panel.

Gocator 2100, 2300 & 2880 Series Protocols • EtherNet/IP Protocol • 372
ASCII Protocol
This section describes the ASCII protocol. The ASCII protocol is available over either serial output or
Ethernet output. Over serial output, communication is asynchronous (measurement results are
automatically sent on the Data channel when the sensor is in the running state and results become
available). Over Ethernet, communication can be asynchronous or use polling. For more information on
polling commands, see

The protocol communicates using ASCII strings. The output result format from the sensor is user-
configurable.

To use the ASCII protocol, it must be enabled and configured in the active job.

The Gocator 4.x firmware uses mm, mm2, mm3, and degrees as standard units. In all protocols,
values are scaled by 1000, as values in the protocols are represented as integers. This results in
effective units of mm/1000, mm2/1000, mm3/1000, and deg/1000 in the protocols.

For information on configuring the protocol with the Web interface (when using the protocol over
Ethernet), see Ethernet Output on page 217.

For information on configuring the protocol with the Web interface (when using the protocol over Serial),
see Serial Output on page 225.

Connection Settings
Ethernet Communication
With Ethernet ASCII output, you can set the connection port numbers of the three channels used for
communication (Control, Data, and Health):

Ethernet Ports for ASCII

Name Description Default Port

Control To send commands to control the 8190

sensor.

Data To retrieve measurement output. 8190

Health To retrieve specific health indicator 8190

values.

Channels can share the same port or operate on individual ports. The following port numbers are
reserved for Gocator internal use: 2016, 2017, 2018, and 2019. Each port can accept multiple
connections, up to a total of 16 connections for all ports.

Serial Communication
Over serial, Gocator ASCII communication uses the following connection settings:

Gocator 2100, 2300 & 2880 Series Protocols • ASCII Protocol • 373
Serial Connection Settings for
ASCII
Parameter Value

Start Bits 1

Stop Bits 1

Parity None

Data Bits 8

Baud Rate (b/s) 115200

Format ASCII

Delimiter CR

Up to 16 users can connect to the sensor for ASCII interfacing at a time. Any additional connections will
remove the oldest connected user.

Polling Operation Commands (Ethernet Only)

On the Ethernet output, the Data channel can operate asynchronously or by polling.

Under asynchronous operation, measurement results are automatically sent on the Data channel when
the sensor is in the running state and results become available. The result is sent on all connected data
channels.

Under polling operation, a client can:

l Switch to a different job.

l Align, run, and trigger sensors.

l Receive sensor states, health indicators, stamps, and measurement results

Gocator sends Control, Data, and Health messages over separate channels. The Control channel is used
for commands such as starting and stopping the sensor, loading jobs, and performing alignment (see
Control Commands on the next page).

The Data channel is used to receive and poll for measurement results. When the sensor receives a Result
command, it will send the latest measurement results on the same data channel that the request is
received on. See Data Commands on page 378 for more information.

The Health channel is used to receive health indicators (see Health Commands on page 381).

Command and Reply Format

Commands are sent from the client to the Gocator. Command strings are not case sensitive. The
command format is:

<COMMAND><DELIMITER><PARAMETER><TERMINATION>

If a command has more than one parameter, each parameter is separated by the delimiter. Similarly, the
reply has the following format:

<STATUS><DELIMITER><OPTIONAL RESULTS><DELIMITER>

Gocator 2100, 2300 & 2880 Series Protocols • ASCII Protocol • 374
The status can either be "OK" or "ERROR". The optional results can be relevant data for the command if
successful, or a text based error message if the operation failed. If there is more than one data item,
each item is separated by the delimiter.

The delimiter and termination characters are configured in the Special Character settings.

Special Characters
The ASCII Protocol has three special characters.

Special Characters
Special Character Explanation

Delimiter Separates input arguments in commands and replies, or data items in results. Default value is
",".

Terminator Terminates both commands and result output. Default value is "%r%n".

Invalid Represents invalid measurement results. Default value is "INVALID"

The values of the special characters are defined in the Special Character settings. In addition to normal
ASCII characters, the special characters can also contain the following format values.

Format values for Special Characters

Format Value Explanation

%t Tab

%n New line

%r Carriage return

%% Percentage (%) symbol

Control Commands
Optional parameters are shown in italic. The placeholder for data is surrounded by brackets (<>). In the
examples, the delimiter is set to ','.

Start
The Start command starts the sensor system (causes it to enter the Running state). This command is
only valid when the system is in the Ready state. If a start target is specified, the sensor starts at the
target time or encoder (depending on the trigger mode).

Formats
Message Format

Command Start,start target

The start target (optional) is the time or encoder position at which the sensor will be
started. The time and encoder target value should be set by adding a delay to the time
or encoder position returned by the Stamp command. The delay should be set such
that it covers the command response time of the Start command.

Reply OK or ERROR, <Error Message>

Examples:

Gocator 2100, 2300 & 2880 Series Protocols • ASCII Protocol • 375
Command: Start
Reply: OK
Command: Start,1000000
Reply: OK
Command: Start
Reply: ERROR, Could not start the sensor

Stop
The stop command stops the sensor system (causes it to enter the Ready state). This command is valid
when the system is in the Ready or Running state.

Formats
Message Format

Command Stop

Reply OK or ERROR, <Error Message>

Examples:

Command: Stop
Reply: OK

Trigger
The Trigger command triggers a single frame capture. This command is only valid if the sensor is
configured in the Software trigger mode and the sensor is in the Running state. If a start target is
specified, the sensor starts at the target time or encoder (depending on the unit setting in the Trigger
panel; see on page 74).

Formats
Message Format

Command Trigger,start target

The start target (optional) is the time or encoder position at which the sensor will be
started. The time and encoder target value should be set by adding a delay to the time
or encoder position returned by the Stamp command. The delay should be set such
that it covers the command response time of the Start command.

Reply OK or ERROR, <Error Message>

Examples:

Command: Trigger
Reply: OK
Command: Trigger,1000000
Reply: OK

LoadJob
The Load Job command switches the active sensor configuration.

Gocator 2100, 2300 & 2880 Series Protocols • ASCII Protocol • 376
Formats
Message Format

Command LoadJob,job file name

If the job file name is not specified, the command returns the current job name. An
error message is generated if no job is loaded. ".job" is appended if the filename does
not have an extension.

Reply OK or ERROR, <Error Message>

Examples:

Command: LoadJob,test.job
Reply: OK,test.job loaded successfully
Command: LoadJob
Reply: OK,test.job
Command: LoadJob,wrongname.job
Reply: ERROR, failed to load wrongname.job

Stamp
The Stamp command retrieves the current time, encoder, and/or the last frame count.

Formats
Message Format

Command Stamp,time,encoder,frame
If no parameters are given, time, encoder, and frame will be returned. There could be
more than one selection.

Reply If no arguments are specified:

OK, time, <time value>, encoder, <encoder position>, frame, <frame count> ERROR,
<Error Message>
If arguments are specified, only the selected stamps will be returned.

Examples:

Command: Stamp
Reply: OK,Time,9226989840,Encoder,0,Frame,6
Command: Stamp,frame
Reply: OK,6

Stationary Alignment
The Stationary Alignment command performs an alignment based on the settings in the sensor's live job
file. A reply to the command is sent when the alignment has completed or failed. The command is timed
out if there has been no progress after one minute.

Formats
Message Format

Command StationaryAlignment

Gocator 2100, 2300 & 2880 Series Protocols • ASCII Protocol • 377
Message Format

Reply If no arguments are specified

OK or ERROR, <Error Message>

Examples:

Command: StationaryAlignment
Reply: OK
Command: StationaryAlignment
Reply: ERROR,ALIGNMENT FAILED

Moving Alignment
The Moving Alignment command performs an alignment based on the settings in the sensor's live job
file. A reply to the command is sent when the alignment has completed or failed. The command is timed
out if there has been no progress after one minute.

Formats
Message Format

Command MovingAlignment

Reply If no arguments are specified

OK or ERROR, <Error Message>

Examples:

Command: MovingAlignment
Reply: OK
Command: MovingAlignment
Reply: ERROR, ALIGNMENT FAILED

Clear Alignment
The Clear Alignment command clears the alignment record generated by the alignment process.

Formats
Message Format

Command ClearAlignment

Reply OK or ERROR, <Error Message>

Examples:

Command: ClearAlignment
Reply: OK

Data Commands
Optional parameters are shown in italic. The placeholder for data is surrounded by brackets (<>). In the
examples, the delimiter is set to ','.

Gocator 2100, 2300 & 2880 Series Protocols • ASCII Protocol • 378
Result
The Result command retrieves measurement values and decisions.

Formats
Message Format

Command Result,measurement ID,measurement ID...

Reply If no arguments are specified, the custom format data string is used.
OK, <custom data string> ERROR, <Error Message>
If arguments are specified,
OK, <data string in standard format>
ERROR, <Error Message>

Examples:

Standard data string for measurements ID 0 and 1:

Result,0,1

OK,M00,00,V151290,D0,M01,01,V18520,D0

Standard formatted measurement data with a non-existent measurement of ID 2:

Result,2

ERROR,Specified measurement ID not found. Please verify your input

Custom formatted data string (%time, %value[0], %decision[0]):

Result

OK,1420266101,151290,0

Value
The Value command retrieves measurement values.

Formats
Message Format

Command Value,measurement ID,measurement ID...

Reply If no arguments are specified, the custom format data string is used.
OK, <custom data string> ERROR, <Error Message>
If arguments are specified,
OK, <data string in standard format, except that the decisions are not sent> ERROR,
<Error Message>

Examples:

Gocator 2100, 2300 & 2880 Series Protocols • ASCII Protocol • 379
Standard data string for measurements ID 0 and 1:

Value,0,1

OK,M00,00,V151290,M01,01,V18520

Standard formatted measurement data with a non-existent measurement of ID 2:

Value,2

ERROR,Specified measurement ID not found. Please verify your input

Custom formatted data string (%time, %value[0]):

Value

OK, 1420266101, 151290

Decision
The Decision command retrieves measurement decisions.

Formats
Message Format

Command Decision,measurement ID,measurement ID...

Reply If no arguments are specified, the custom format data string is used.
OK, <custom data string> ERROR, <Error Message>
If arguments are specified,
OK, <data string in standard format, except that the values are not sent> ERROR, <Error
Message>

Examples:

Standard data string for measurements ID 0 and 1:

Decision,0,1

OK,M00,00,D0,M01,01,D0

Standard formatted measurement data with a non-existent measurement of ID 2:

Decision,2

ERROR,Specified measurement ID not found. Please verify your input

Custom formatted data string (%time, %decision[0]):

Decision

OK,1420266101, 0

Gocator 2100, 2300 & 2880 Series Protocols • ASCII Protocol • 380
Health Commands
Optional parameters are shown in italic. The placeholder for data is surrounded by brackets (<>). In the
examples, the delimiter is set to ','.

Health
The Health command retrieves health indicators. See Health Results on page 356 for details on health
indicators.

Formats
Message Format

Command Health,health indicator ID.Optional health indicator instance ...

More than one health indicator can be specified. Note that the health indicator instance
is optionally attached to the indicator ID with a '.'. If the health indicator instance field is
used the delimiter cannot be set to '.'.

Reply OK, <health indicator of first ID>, <health indicator of second ID>
ERROR, <Error Message>

Examples:

health,2002,2017

OK,46,1674

Health

ERROR,Insufficient parameters.

Standard Result Format

Gocator can send measurement results either in the standard format or in a custom format. In the
standard format, you select in the web interface which measurement values and decisions to send. For
each measurement the following message is transmitted:

M t , i , V v , D d CR
n n n 1

Field Shorthand Length Description

MeasurementStart M 1 Start of measurement frame.

Type t n Hexadecimal value that identifies the type of

n
measurement. The measurement type is the same as
defined elsewhere (see on page 347).

Id i n Decimal value that represents the unique identifier of

n
the measurement.

ValueStart V 1 Start of measurement value.

Value v n Measurement value, in decimal. The unit of the value

n
is measurement-specific.

Gocator 2100, 2300 & 2880 Series Protocols • ASCII Protocol • 381
Field Shorthand Length Description

DecisionStart D 1 Start of measurement decision.

Decision d 1 Measurement decision,

1
a bit mask where:
Bit 0:
1 – Pass
0 – Fail
Bits 1-7:
0 – Measurement value OK
1 – Invalid value
2 - Invalid anchor

Custom Result Format

In the custom format, you enter a format string with place holders to create a custom message. The
default format string is "%time, %value[0], %decision[0]".

Result Placeholders
Format Value Explanation

%time Timestamp

%encoder Encoder position

%frame Frame number

%value[Measurement ID] Measurement value of the specified measurement ID. The ID must correspond to an
existing measurement.

The value output will be displayed as an integer in micrometers.

%decision[Measurement ID] Measurement decision, where the selected measurement ID must correspond to an
existing measurement.

Measurement decision is a bit mask where:

Bit 0:
1 – Pass
0 – Fail
Bits 1-7:
0 – Measurement value OK
1 – Invalid value
2 - Invalid anchor

Gocator 2100, 2300 & 2880 Series Protocols • ASCII Protocol • 382
Selcom Protocol
This section describes the Selcom serial protocol settings and message formats supported by Gocator
sensors.

To use the Selcom protocol, it must be enabled and configured in the active job.

For information on configuring the protocol using the Web interface, see Serial Output on page 225.

Units for data scales use the standard units (mm, mm2, mm3, and degrees).

Serial Communication
Data communication is synchronous using two unidirectional (output only) RS-485 serial channels: data
(Serial_Out0) and clock (Serial_Out1). See Serial Output on page 444 for cable pinout information.

Measurement results are sent on the serial output (data) in asynchronous mode. Measurement values
and decisions can be transmitted to an RS-485 receiver, but job handling and control operations must be
performed through the Gocator's web interface or through communications on the Ethernet output.

Connection Settings
The Selcom protocol uses the following connection settings:

Serial Connection Settings

Parameter Value

Data Bits 16

Baud Rate (b/s) 96000, 512000, 1024000

Format Binary

Message Format
The data channel is valid on the rising edge of the clock and data is output with the most significant bit
first, followed by control bits for a total of 16 bits of information per frame. The time between the start
of the camera exposure and the delivery of the corresponding range data is fixed to a deterministic
value.

The sensor can output data using one of four formats, illustrated below, where:

l MSB = most significant bit

l LSB = least significant bit
l C = data valid bit (high = invalid)
l S = whether data is acquired in search mode or track mode (high = search mode)

Gocator 2100, 2300 & 2880 Series Protocols • Selcom Protocol • 383
 12-bit data format (SLS mode; "SLS" in Gocator web interface)

12-bit data format with Search/Track bit

14-bit data format

14-bit data format with Search/Track bit

Gocator 2100, 2300 & 2880 Series Protocols • Selcom Protocol • 384
 Software Development Kit

The Gocator Software Development Kit (SDK) includes open-source software libraries and
documentation that can be used to programmatically access and control Gocator sensors. The latest
version of the SDK can be downloaded by going to http://lmi3d.com/support/downloads/, selecting a
Gocator series, and clicking on the Product User Area link.

You can download the Gocator SDK from within the Web interface.

To download the SDK:

1. Go to the Manage page and click on the Support category

2. Next to Software Development Kit (SDK), click Download

3. Choose the location for the SDK on the client computer.

Applications compiled with previous versions of the SDK are compatible with Gocator firmware if the
major version numbers of the protocols match. For example, an application compiled with version 4.0 of
the SDK (which uses protocol version 4.0) will be compatible with a Gocator running firmware version
4.1 (which uses protocol version 4.1). However, any new features in firmware version 4.1 would not be
available.

If the major version number of the protocol is different, for example, an application compiled using
SDK version 3.x being used with a Gocator running firmware 4.x, you must rewrite the application with
the SDK version corresponding to the sensor firmware in use.

The Gocator API, included in the SDK, is a C language library that provides support for the commands
and data formats used with Gocator sensors. The API is written in standard C to allow the code to be
compiled for any operating system. A pre-built DLL is provided to support 32-bit and 64-bit Windows
operating systems. Projects and makefiles are included to support other editions of Windows and Linux.

For Windows users, code examples explaining how to wrap the calls in C# and VB.NET are provided in
the tools package, which can be downloaded at http://lmi3d.com/support/downloads/.

For more information about programming with the Gocator SDK, refer to the class reference and sample
programs included in the Gocator SDK.

Setup and Locations

Class Reference
The full SDK class reference is found by accessing 14400-4.x.x.xx_SOFTWARE_GO_SDK\GO_
SDK\doc\GoSdk\Gocator_2x00\GoSdk.html.

Gocator 2100, 2300 & 2880 Series 385

Examples
Examples showing how to perform various operations are provided, each one targeting a specific area.
All of the examples can be found in GoSdkSamples.sln.

To run the SDK samples, make sure GoSdk.dll and kApi.dll (or GoSdkd.dll and kApid.dll in debug
configuration) are copied to the executable directory. All sample code, including C examples, is now
located in the Tools package, which can be downloaded by going to
http://lmi3d.com/support/downloads/.

Sample Project Environment Variable

All sample projects use the environment variable GO_SDK_4. The environment variable should point to
the GO_SDK directory, for example, C:\14400-4.0.9.156_SOFTWARE_GO_SDK\GO_SDK.

Header Files
Header files are referenced with GoSdk as the source directory, for example: #include
<GoSdk/GoSdk.h>. The SDK header files also reference files from the kApi directory. The include path
must be set up for both the GoSdk and the kApi directories. For example, the sample projects set the
include path to $(GO_SDK_4)\Gocator\GoSdk and $(GO_SDK_4)\Platform\kApi.

Class Hierarchy
This section describes the class hierarchy of the Gocator 4.x SDK.

Gocator 2100, 2300 & 2880 Series Software Development Kit • 386
GoSystem
The GoSystem class is the top-level class in Gocator 4.x. Multiple sensors can be enabled and connected
in one GoSystem. Only one GoSystem object is required for multi-sensor control.

Refer to the How To Use The Open Source SDK To Fully Control A Gocator Multi-sensor System how-to guide
in http://lmi3d.com/sites/default/files/APPNOTE_Gocator_4.x_Multi_Sensor_Guide.zip for details on
how to control and operate a multi-sensor system using the SDK.

All objects that are explicitly created by the user or passed via callbacks should be destroyed
by using the GoDestroy function.

GoSensor
GoSensor represents a physical sensor. If the physical sensor is the Main sensor in a dual-sensor setup, it
can be used to configure settings that are common to both sensors.

GoSetup
The GoSetup class represents a device's configuration. The class provides functions to get or set all of the
settings available in the Gocator web interface.

GoSetup is included inside GoSensor. It encapsulates scanning parameters, such as exposure, resolution,
spacing interval, etc. For parameters that are independently controlled for Main and Buddy sensors,
functions accept a role parameter.

GoLayout
The GoLayout class represents layout-related sensor configuration.

GoTools
The GoTools class is the base class of the measurement tools. The class provides functions for getting
and setting names, retrieving measurement counts, etc.

GoTransform
The GoTransform class represents a sensor transformation and provides functions to get and set
transformation information, as well as encoder-related information.

GoOutput
The GoOutput class represents output configuration and provides functions to get the specific types of
output (Analog, Digital, Ethernet, and Serial). Classes corresponding to the specific types of output
(GoAnalog, GoDigital, GoEthernet, and GoSerial) are available to configure these outputs.

Data Types
The following sections describe the types used by the SDK and the kApi library.

Gocator 2100, 2300 & 2880 Series Software Development Kit • 387
Value Types
GoSDK is built on a set of basic data structures, utilities, and functions, which are contained in the kApi
library.

The following basic value types are used by the kApi library.

Value Data Types

Type Description

k8u 8-bit unsigned integer

k16u 16-bit unsigned integer
k16s 16-bit signed integer
k32u 32-bit unsigned integer
k32s 32-bit signed integer
k64s 64-bit signed integer
k64u 64-bit unsigned integer
k64f 64-bit floating number
kBool Boolean, value can be kTRUE or kFALSE
kStatus Status, value can be kOK or kERROR
kIpAddress IP address

Output Types
The following output types are available in the SDK.

Output Data Types

Data Type Description

GoAlignMsg Represents a message containing an alignment result.

GoBoundingBoxMatchMsg Represents a message containing bounding box based part matching results.

GoDataMsg Represents a base message sourced from the data channel. See GoDataSet Type on the
next page for more information.

GoEdgeMatchMsg Represents a message containing edge based part matching results.

GoEllipseMatchMsg Represents a message containing ellipse based part matching results.

GoExposureCalMsg Represents a message containing exposure calibration results.

GoMeasurementMsg Represents a message containing a set of GoMeasurementData objects.

GoProfileIntensityMsg Represents a data message containing a set of profile intensity arrays.

GoProfileMsg Represents a data message containing a set of profile arrays.

GoRangeIntensityMsg Represents a data message containing a set of range intensity data.

GoRangeMsg Represents a data message containing a set of range data.

GoResampledProfileMsg Represents a data message containing a set of resampled profile arrays.

GoSectionMsg Represents a data message containing a set of section arrays.

Gocator 2100, 2300 & 2880 Series Software Development Kit • 388
Data Type Description

GoSectionIntensityMsg Represents a data message containing a set of profile intensity arrays.

GoStampMsg Represents a message containing a set of acquisition stamps.

GoSurfaceIntensityMsg Represents a data message containing a surface intensity array.

GoSurfaceMsg Represents a data message containing a surface array.

GoVideoMsg Represents a data message containing a video image.

Refer to the GoSdkSamples sample code for examples of acquiring data using these data types.

See Setup and Locations on page 385 for more information on the code samples.

GoDataSet Type
Data are passed to the data handler in a GoDataSet object. The GoDataSet object is a container that can
contain any type of data, including scan data (profiles, sections, or surfaces), measurements, and results
from various operations. Data inside the GoDataSet object are represented as messages.

The following illustrates the content of a GoDataSet object of a profile mode setup with two
measurements. The content when using a surface mode setup is identical, except that a GoSurfaceMsg is
sent instead of a GoProfileMsg.

After receiving the GoDataSet object, you should call GoDestroy to dispose the GoDataSet object. You do
not need to dispose objects within the GoDataSet object individually.

All objects that are explicitly created by the user or passed via callbacks should be destroyed
by using the GoDestroy function.

Measurement Values and Decisions

Measurement values and decisions are 32-bit signed values (k32s). See Value Types on the previous page
for more information on value types.

The following table lists the decisions that can be returned.

Gocator 2100, 2300 & 2880 Series Software Development Kit • 389
Measurement Decisions
Decision Description

1 The measurement value is between the maximum and minimum decision values. This
is a pass decision.
0 The measurement value is outside the maximum and minimum. This is a fail decision.
-1 The measurement is invalid (for example, the target is not within range). Provides the
reason for the failure.
-2 The tool containing the measurement is anchored and has received invalid
measurement data from one of its anchors. Provides the reason for the failure.

Refer to the SetupMeasurement example for details on how to add and configure tools and
measurements. Refer to the ReceiveMeasurement example for details on how to receive measurement
decisions and values.

You should check a decision against <=0 for failure or invalid measurement.

Operation Workflow
Applications created using the SDK typically use the following programming sequence:

See Setup and Locations on page 385 for more information on the code samples referenced
below.

Sensors must be connected before the system can enable the data channel.

Gocator 2100, 2300 & 2880 Series Software Development Kit • 390
 All data functions are named Go<Object>_<Function>, for example, GoSensor_Connect. For
property access functions, the convention is Go<Object>_<Property Name> for reading the
property and Go<Object>_Set<Property Name> for writing it, for example, GoMeasurement_
DecisionMax and GoMeasurement_SetDecisionMax, respectively.

Initialize GoSdk API Object

Before the SDK can be used, the GoSdk API object must be initialized by calling GoSdk_Construct(api):

kAssembly api = kNULL;

if ((status = GoSdk_Construct(&api)) != kOK)
{
printf("Error: GoSdk_Construct:%d\n", status);
return;
}
When the program finishes, call GoDestroy(api) to destroy the API object.

Discover Sensors
Sensors are discovered when GoSystem is created, using GoSystem_Construct. You can use GoSystem_
SensorCount and GoSystem_SensorAt to iterate all the sensors that are on the network.

GoSystem_SensorCount returns the number of sensors physically in the network.

Alternatively, use GoSystem_FindSensorById or GoSystem_FindSensorByIpAddress to get the sensor by ID

or by IP address.

Refer to the Discover example for details on iterating through all sensors. Refer to other examples for
details on how to get a sensor handle directly from IP address.

Connect Sensors
Sensors are connected by calling GoSensor_Connect. You must first get the sensor object by using
GoSystem_SensorAt, GoSystem_FindSensorById, or GoSystem_FindSensorByIpAddress.

Configure Sensors
Some configuration is performed using the GoSensor object, such as managing jobs, uploading and
downloading files, scheduling outputs, setting alignment reference, etc. Most configuration is however
performed through the GoSetup object, for example, setting scan mode, exposure, exposure mode,
active area, speed, alignment, filtering, subsampling, etc. Surface generation is configured through the
GoSurfaceGeneration object and part detection settings are configured through the GoPartDetection
object.

See Class Hierarchy on page 386 for information on the different objects used for configuring a sensor.
Sensors must be connected before they can be configured.

Refer to the Configure example for details on how to change settings and to switch, save, or load jobs.
Refer to the BackupRestore example for details on how to back up and restore settings.

Gocator 2100, 2300 & 2880 Series Software Development Kit • 391
Enable Data Channels
Use GoSystem_EnableData to enable the data channels of all connected sensors. Similarly, use GoSystem_
EnableHealth to enable the health channels of all connected sensors.

Perform Operations
Operations are started by calling GoSystem_Start, GoSystem_StartAlignment, and GoSystem_
StartExposureAutoSet.

Refer to the StationaryAlignment and MovingAlignment examples for details on how to perform
alignment operations. Refer to the ReceiveRange, ReceiveProfile, and ReceiveWholePart examples for
details on how to acquire data.

Example: Configuring and starting a sensor with the Gocator API

#include <GoSdk/GoSdk.h>

void main()
{
kIpAddress ipAddress;
GoSystem system = kNULL;
GoSensor sensor = kNULL;
GoSetup setup = kNULL;

//Construct the GoSdk library.

GoSdk_Construct(&api);
//Construct a Gocator system object.
GoSystem_Construct(&system, kNULL);
//Parse IP address into address data structure
kIpAddress_Parse(&ipAddress, SENSOR_IP);
//Obtain GoSensor object by sensor IP address
GoSystem_FindSensorByIpAddress(system, &ipAddress, &sensor)
//Connect sensor object and enable control channel
GoSensor_Connect(sensor);
//Enable data channel
GoSensor_EnableData(system, kTRUE)
//[Optional] Setup callback function to receive data asynchronously
//GoSystem_SetDataHandler(system, onData, &contextPointer)
//Retrieve setup handle
setup = GoSensor_Setup(sensor);
//Reconfigure system to use time-based triggering.
GoSetup_SetTriggerSource(setup, GO_TRIGGER_TIME);
//Send the system a "Start" command.
GoSystem_Start(system);

//Data will now be streaming into the application

Gocator 2100, 2300 & 2880 Series Software Development Kit • 392
 //Data can be received and processed asynchronously if a callback function has been
//set (recommended)
//Data can also be received and processed synchronously with the blocking call
//GoSystem_ReceiveData(system, &dataset, RECEIVE_TIMEOUT)
//Send the system a "Stop" command.
GoSystem_Stop(system);

//Free the system object.

GoDestroy(system);

//Free the GoSdk library

GoDestroy(api);
}

Limiting Flash Memory Write Operations

Several operations and Gocator SDK functions write to the Gocator's flash memory. The lifetime of the
flash memory is limited by the number of write cycles. Therefore it is important to avoid frequent write
operation to the Gocator's flash memory when you design your system with the Gocator SDK.

Power loss during flash memory write operation will also cause Gocators to enter rescue
mode.

This topic applies to all Gocator sensors.

Gocator SDK Write-Operation Functions

Name Description

GoSensor_Restore Restores a backup of sensor files.

GoSensor_RestoreDefaults Restores factory default settings.

GoSensor_CopyFile Copies a file within the connected sensor.

The flash write operation does not occur if GoSensor_CopyFile
function is used to load an existing job file. This is accomplished by
specifying “_live” as the destination file name.

GoSensor_DeleteFile Deletes a file in the connected sensor.

GoSensor_SetDefaultJob Sets a default job file to be loaded on boot.

GoSensor_UploadFile Uploads a file to the connected sensor.

GoSensor_Upgrade Upgrades sensor firmware.

GoSystem_StartAlignment When alignment is performed with alignment reference set to fixed,

flash memory is written immediately after alignment. GoSensor_
SetAlignmentReference() is used to configure alignment reference.

GoSensor_SetAddress Configures a sensor's network address settings.

GoSensor_ChangePassword Changes the password associated with the specified user account.

Gocator 2100, 2300 & 2880 Series Software Development Kit • 393
System created using the SDK should be designed in a way that parameters are set up to be appropriate
for various application scenarios. Parameter changes not listed above will not invoke flash memory write
operations when the changes are not saved to a file using the GoSensor_CopyFile function. Fixed
alignment should be used as a means to attach previously conducted alignment results to a job file,
eliminating the need to perform a new alignment.

Gocator 2100, 2300 & 2880 Series Software Development Kit • 394
 Tools and Native Drivers

The following sections describe the tools and native drivers you can use with a Gocator.

Sensor Recovery Tool

If a sensor's network address or administrator password is forgotten, the sensor can be discovered on
the network and/or restored to factory defaults by using a special software tool called the Sensor
Discovery tool. This software tool can be obtained from the downloads area of the LMI Technologies
website: http://www.lmi3D.com.

After downloading the tool package [14405-x.x.x.x_SOFTWARE_GO_Tools.zip], unzip the file and run the
Sensor Discovery Tool [bin>win32>kDiscovery.exe].

Any sensors that are discovered on the network will be displayed in the Devices list.

To change the network address of a sensor:

1. To change the network address of a sensor.

2. Select the Custom option.

3. Enter the new network address information.

4. Press the Set Address button.

To restore a sensor to factory defaults:

1. Select the sensor serial number in the Devices list.

2. Press the Factory Restore... button.

Confirm when prompted.

Gocator 2100, 2300 & 2880 Series 395

 The Sensor Discovery tool uses UDP broadcast messages to reach sensors on different
subnets. This enables the Sensor Discovery tool to locate and re-configure sensors even when
the sensor IP address or subnet configuration is unknown.

Gocator 2100, 2300 & 2880 Series Tools and Native Drivers • Sensor Recovery Tool • 396
GenTL Driver
GenTL is an industry standard method of controlling and acquiring data from an imaging device.
Gocator provides a GenTL driver that allows GenTL-compliant third-party software (e.g., Halcon and
Common Vision Blox) to acquire and process 3D point clouds and intensity generated from the
Gocator's Video, Profile (with Uniform Spacing disabled) and Surface modes in real-time.

You can download the toolset package containing the driver from the LMI Technologies website at
http://lmi3d.com/support/downloads/. Click on the link for your sensor, click on Product User Area, and
log in.

After downloading the tool package (14405-x.x.x.x_SOFTWARE_GO_Tools.zip), unzip the file. The driver
is found under the GenTL\x86 directory.

To install the driver in Windows 7:

1. Open the Control panel.

2. Select System and Security and then click System.

3. Click Advanced System Settings.

The Advanced System Settings link is typically in the left column of the window.

4. For 32-bit systems, click New to create a system environment variable GENICAM_GENTL32_PATH and
point it to the GenTL\x86 directory.
If the system environment variable already exists, click Edit.

5. For 64-bit systems, click New to create a system environment variable GENICAM_GENTL64_PATH and
point it to the GenTL\x64 directory.
If the system environment variable already exists, click Edit.

To work with the Gocator GenTL driver, the Gocator must operate in Surface or Video mode with its the
appropriate output enabled in the Ethernet panel in the Output page. Check Acquire Intensity in the

Gocator 2100, 2300 & 2880 Series Tools and Native Drivers • GenTL Driver • 397
Scan Mode panel on the Scan page and enable intensity output in the Ethernet panel if intensity data
is required.

Refer to the documentations in the GenTL\ directory for instructions on how to interface to various third
party software.

Gocator GenTL driver packs the part output, intensity and stamps (e.g., time stamp, encoder index, etc.)
into either a 16-bit RGB image or a 16-bit grey scale image. You can select the format in the Go2GenTL.
xml setting file.

The width and height of the 16-bit RGB or grey scale image is calculated from the maximum number of
columns and rows required to support the sensor's FOV and the maximum part length.

16-bit RGB Image

When the 16-bit RGB format is used, the height map, intensity, and stamps are stored in the red, green,
and blue channel respectively.

Channel Details

Red Height map information. The width and height of the image represent the dimensions
in the X and Y axis. Together with the pixel value, each red pixel presents a 3D point in
the real-world coordinates.

The following formula can be used to calculate the real-world coordinates (X, Y, Z) from
pixel coordinates (Px, Py, Pz):

X = X offset + Px * X resolution
Y = Y offset + Py * Y resolution
Z = Z offset + Pz * Z resolution

Refer to the blue channel on how to retrieve the offset and resolution values. If Pz is 0 if
the data is invalid. The Z offset is fixed to -32768 * Z resolution. Z is zero if Pz is 32768.

Green Intensity information. Same as the red channel, the width and height of the image
represent the dimension in the X and the Y axis. Together with the pixel value, each
blue pixel represents an intensity value in the real-world coordinates.

The following formula can be used to calculate the real-world coordinates (X, Y, Z) from
pixel coordinates (Px, Py, Pz):

X = X offset + Px * X resolution
Y = Y offset + Py * Y resolution
Z = 16-bit intensity value

The intensity value is 0 if the intensity image is not available. Gocator outputs 8-bit
intensity values. The values stored in the 16-bit RGB image is multiplied by 256. To
obtain the original values, divide the intensity values by 256.
Refer to the blue channel on how to retrieve the offset and resolution values.

Blue Stamp information. Stamps are 64-bit auxiliary information related to the height map
and intensity content. The next table explains how the stamps are packed into the blue

Gocator 2100, 2300 & 2880 Series Tools and Native Drivers • GenTL Driver • 398
Channel Details

pixel channel

See Data Results on page 347 for an explanation of the stamp information.

The following table shows how the stamp information is packed into the blue channel. A stamp is a 64-
bit value packed into four consecutive 16-bit blue pixels, with the first byte position storing the most
significant byte.

Stamp Information from GenTL driver

Stamp Index Blue Pixel Position Details

0 0..3 Version

1 4..7 Frame Count

2 8..11 Timestamp (µs)

3 12..15 Encoder value (ticks)

4 16..19 Encoder index (ticks)

This is the encoder value when the last index is triggered

5 20..23 Digital input states

6 24..27 X offset (nm)

7 28..31 X resolution(nm)

8 32..35 Y offset (nm)

9 36..39 Y resolution (nm)

10 40..43 Z offset (nm)

11 44..47 Z resolution (nm)

12 48..51 Height map Width (in pixels)

13 52..55 Height map length (in pixels)

14 56..59 Specify if the intensity is enabled

16-bit Grey Scale Image

When the 16-bit grey scale format is used, the height map, intensity, and stamps are stored sequentially
in the grey scale image.

The last row of the image contains the stamp information.

Rows Details

0 .. (max part height - 1) Height map information. The width and height of the image represent the dimensions
in the X and Y axis. Together with the pixel value, each pixel presents a 3D point in the
real-world coordinates.

The following formula can be used to calculate the real-world coordinates (X, Y, Z) from
pixel coordinates (Px, Py, Pz):

X = X offset + Px * X resolution

Gocator 2100, 2300 & 2880 Series Tools and Native Drivers • GenTL Driver • 399
Rows Details

Y = Y offset + Py * Y resolution
Z = Z offset + Pz * Z resolution

Refer to the blue channel on how to retrieve the offset and resolution values. If Pz is 0 if
the data is invalid. The Z offset is fixed to -32768 * Z Resolution. Z is zero if Pz is 32768.

(max part height) .. 2* (max Intensity information. The width and height of the image represent the dimension in
part height) the X and the Y axis. Together with the pixel value, each blue pixel represents an
If intensity is enabled intensity value in the real-world coordinates.

The following formula can be used to calculate the real-world coordinates (X, Y, Z) from
pixel coordinates (Px, Py, Pz): The following formula assumes Py is relative to the first
row of the intensity information, not the first row of the whole 16-bit grey scale image.

X = X offset + Px * X resolution
Y = Y offset + Py * Y resolution
Z = 16-bit intensity value

This intensity value is 0 if the intensity image is not available. Gocator outputs 8-bit
intensity values. The values stored in the 16-bit Grey scale image is multiplied by 256. To
obtain the original values, divide the intensity values by 256.
Refer to the stamps on how to retrieve the offset and resolution values.

The last row of the 16-bit Stamp information. Stamps are 64-bit auxiliary information related to the height map
grey scale image and intensity content. The next table explains how the stamps are packed into the blue
pixel channel

See Data Results on page 347 for an explanation of the stamp information.

The following table shows how the stamp information is packed into the last row. A stamp is a 64-bit
value packed into four consecutive 16-bit pixels, with the first byte position storing the most significant
byte.

Stamp Information from GenTL driver

Stamp Index Column Position Details

0 0..3 Version

1 4..7 Frame Count

2 8..11 Timestamp (µs)

3 12..15 Encoder value (ticks)

4 16..19 Encoder index (ticks)

This is the encoder value when the last index is triggered

5 20..23 Digital input states

6 24..27 X offset (nm)

7 28..31 X resolution(nm)

8 32..35 Y offset (nm)

Gocator 2100, 2300 & 2880 Series Tools and Native Drivers • GenTL Driver • 400
Stamp Index Column Position Details

9 36..39 Y resolution (nm)

10 40..43 Z offset (nm)

11 44..47 Z resolution (nm)

12 48..51 Height map Width (in pixels)

13 52..55 Height map length (in pixels)

14 56..59 Specify if intensity is enabled or not

Registers
GenTL registers are multiple of 32 bits. The registers are used to control the operation of the GenTL
driver, send commands to the sensors, or to report the current sensor information.

Register Map Overview

Register
Name Read/Write Length (bytes) Description
Address

260 WidthReg RO 4 Specify the width of the returned images. The part
height map is truncated if it is wider than the
specified width.

264 HeightReg RO 4 Specify the height of the returned images (i.e., length
of the part). The part height map is truncated if it is
longer than the specified length.

292 ResampleMode RO 4 Enable the resampling logic in the GenTL driver

0 – Disable resampling
1 – Enable resampling

When resampling is enabled, the GenTL driver will

resample the height map so that the pixel spacing is
the same in the X and Y axis.

296 EncoderValue0 RO 4 Report the current encoder value (least significant 32-
bit).

The current encoder value is latched from the sensor

when this register is read.

300 EncoderValue1 RO 4 Report the current encoder value (most significant

32-bit).

The encoder value is latched when EncoderValue0

register is read. User should read EncoderValue0
before reading EncoderValue1.

304 Configuration RW 16 Read the name of sensor live configuration file or

File switch (write) the sensor configuration file. The
configuration name is NULL terminated and includes
the extension ".job". Writing to this register causes
the sensor to switch to the specified configuration.

Gocator 2100, 2300 & 2880 Series Tools and Native Drivers • GenTL Driver • 401
Register
Name Read/Write Length (bytes) Description
Address

320 Transformatio RO 4 Return the sensor transformation X offset

n X offset

324 Transformatio RO 4 Return the sensor transformation Z offset

n Z offset

328 Transformatio RO 4 Return the sensor transformation angle

n Angle

332 Transformatio RO 4 Return the sensor transformation orientation

n Orientation

336 Clearance RO 4 Return the sensor clearance distance

distance

XML Settings File

The settings file, Go2GenTL.xml, resides in the same directory as the Gocator GenTL driver. Users can set
the resample mode and output format by changing the setting in this file.

Element Type Description

ResampleMode 32u Settings to disable or enable resampling mode:

0 – Disable
1 – Enable

When resampling mode is enabled, the GenTL driver will resample the
height map so that the pixel spacing is the same in the X and Y axis. The
default value is 1.

DataFormat 32u Settings to choose 16-bit RGB or 16-bit grey scale image output:
0 – 16-bit RGB Image
1 – 16-bit grey scale Image
The default value is 0

Interfacing with Halcon

Halcon is a comprehensive software package for machine vision applications with an integrated
development environment.

Gocator The MikroCAD software includes a GenTL driver that you can use to stream 3D point clouds and
intensity data into Halcon in real-time.

The Gocator 4.x GenTL driver does not currently support scanning in profile mode.

Before continuing, make sure Halcon is installed. For information on installing and setting up the GenTL
driver, see GenTL Driver on page 397. This section describes how to set up the GenTL paths and
configure Halcon to acquire data from the Gocator 4.x firmware MikroCAD software. You should be
familiar with Gocator's Surface mode. the MikroCAD software.

Gocator 2100, 2300 & 2880 Series Tools and Native Drivers • GenTL Driver • 402
Requirements
Sensor Gocator 2100, 2300, or 2880
Firmware Firmware 4.0.9.136 or later
Halcon Version 10.0 or later

Requirements
Scanner MikroCAD lite, premium or plus scanner
MikroCAD software Version 1.1.0.50 or later
Halcon Version 10.0 or later

Setting Up Halcon
You must set up Halcon before using it with Gocator.

To set up Halcon:
1. Connect a Gocator sensor to the PC running Halcon.
You will need a Master hub to connect the sensor to the PC. For more information, see Installation on page
26 and Network Setup on page 33.

2. Click the Scan page icon.

3. On the Scan page, click the Surface icon to switch to Surface mode.

4. (Optional) If you need intensity data, check the Acquire Intensity option.

5. Configure the sensor to produce the desired surface data.

For more information on configuring Gocator sensors, see Scan Setup and Alignment on page 72 and Models
on page 117.

6. Click the Output page icon.

Gocator 2100, 2300 & 2880 Series Tools and Native Drivers • GenTL Driver • 403
7. On the Output page, enable the required surface under Data and choose Gocator in Protocol.

For more information on configuring Ethernet output, see Ethernet Output on page 217.

8. Make sure the Gocator is running.

9. On the PC, launch Halcon.

10. In Halcon, in the Assistants menu, click Open New Image Acquisition.

11. In the dialog that opens, in the Source tab, check the Image Acquisition Interface option and choose
GenICamTL in the drop-down.

The driver uses the Gocator protocol discovery messages to search for available Gocator
sensors. Discovery messages can be blocked by a PC’s firewall. You should therefore turn
off the firewall and try again if the Gocator sensor can't be detected.

Gocator 2100, 2300 & 2880 Series Tools and Native Drivers • GenTL Driver • 404
12. Switch to the Connection tab.
If Halcon detects a Gocator sensor, the sensor's IP will be listed next to Device.

13. In the Connection tab, set Color Space to RGB and Bit Depth to 16.

14. In the Gocator web interface, click the Snapshot button to trigger the output of a surface.

The output displays in the Halcon Graphics Window.

Gocator 2100, 2300 & 2880 Series Tools and Native Drivers • GenTL Driver • 405
 Halcon is now configured for use with Gocator.

Halcon Procedures
The Halcon example code contains internal procedures that you can use to decompose the RGB image
and to control registers that the GenTL driver opens.

You can import the procedures into your own code by selecting File > Insert Program > Insert Procedures
and then choosing the example code Continuous_Acq.hdev under the Examples/Halcon directory.

The Go2GenTL.xml file for Gocator 4.x has more fields than the Gocator 3.x version. Make sure
you are using the correct version.

The following section describes each of these procedures.

Halcon Procedures
Procedures Description

Go2GenTL_ The Gocator GenTL driver packs the height map, intensity and stamp information into a 16-bit RGB

Gocator 2100, 2300 & 2880 Series Tools and Native Drivers • GenTL Driver • 406
Procedures Description

ParseData image. The function is used to unpack data out from the RGB image.
MCGenTL_ For details on how the information is packed in the data, see the sections under GenTL Driver on
ParseData page 397.
The function accepts the image acquired from grab_image_async, and returns the height map,
intensity and stamps.

Parameters (Input)
Image: RGB Image acquired by using grab_image_async.

Parameters (Output)
HeightMap : The height map image.
Intensity: The intensity image.
FrameCount: The number of frames.
Timestamp : The timestamp.
Encoder: The encoder position. (Not used.)
EncoderIndex: The last encoder position at which the encoder index occurs. (Not used.)
Inputs: The digital input states. (Not used.)
xOffset: The X offset in millimeters.
xResolution: The X resolution in millimeters.
yOffset: The Y offset in millimeters.
yResolution: The Y resolition in millimeters.
zOffset: The Z offset in millimeters.
zResolution: The Z resolution in millimeters.
Width: The width (number of columns) of the image that contains the part. The part width
can be less than the image width requested by the user.
Height: The height or length (number of rows) of the image that contains the part (length).
The part length can be less than the image height requested by the user.
HasIntensity: Specifies if the intensity image is available. The intensity image is available if
Acquire Intensity is enabled in the Gocator web interface.
Each output is returned as decimal value.

Example
Go2GenTL_ParseDataMCGenTL_ParseData(Image, HeightMap, Intensity,
frameCount, timestamp, encoderPosition, encoderIndex, inputs,
xOffset, xResolution, yOffset, yResolution, zOffset, zResolution,
width, height, hasIntensity)
Go2GenTL_ Returns the resample mode.
ResampleMode
Parameters (Input)
AcqHandle: Acquisition handle created by open_framegrabber.

Parameters (Output)
ResampleMode:
No - Resample is disabled.
Yes - Resample is enabled.
When resampling is enabled, the GenTL driver resamples the height map so that the pixel
spacing is the same on the X and Y axis.

Example

Gocator 2100, 2300 & 2880 Series Tools and Native Drivers • GenTL Driver • 407
Procedures Description
Go2GenTL_ResampleMode (AcqHandle, ResampleMode)

To set the resample mode, you must directly modify Go2GenTL.xml, which is
in the same directory as the Gocator GenTL driver (Go2GenTL.cti).

Go2GenTL_ Returns the current live sensor configuration file name.

ConfigFileName
Parameters (Input)
AcqHandle: Acquisition handle created by open_framegrabber.

Parameters (Output)
ConfigFile: The name of the configuration file. The file name \ includes the extension .set.

Example
Go2GenTL_ConfigFileName (AcqHandle, ConfigFile)
Go2GenTL_ Sets the sensor live configuration.
SetConfigFileNa
Parameters (Input)
me
AcqHandle: Acquisition handle created by open_framegrabber.
ConfigFile: The name of the configuration file. The file name \ includes the extension .set.

Example
Go2GenTL_SetConfigFileName (AcqHandle, 'test2.cfg')
Go2GenTL_ Returns the current encoder value. When this function is called, the GenTL driver retrieves the
Encoder latest encoder value from the sensor. The value is returned as a two-element tuple. The first
element is the least significant 32-bit value, and the second element is the most significant 32-bit
value.

Parameters (Input)
AcqHandle: Acquisition handle created by open_framegrabber.

Parameters (Output)
EncoderValue: The current encoder value.

Example
Go2GenTL_Encoder(AcqHandle, EncoderValue)
Go2GenTL_ Returns the size of the image returned by the Gocator GenTL driver.
ImageSize
Parameters (Input)
AcqHandle: Acquisition handle created by open_framegrabber.

Parameters (Output)
Width: The width of the image.
Height: The height of the image.

Example
Go2GenTL_ImageSize(AcqHandle, Width, Height)

To set the image size, you must directly modify Go2GenTL.xml, which is in
the same directory as the Gocator GenTL driver (Go2GenTL.cti).

Go2GenTL_ Returns the real-world coordinates (X, Y, Z) of the part given row and column position in the

Gocator 2100, 2300 & 2880 Series Tools and Native Drivers • GenTL Driver • 408
Procedures Description

CoordinateXYZ height map.

The values of the offset and resolution input parameters can be retrieved using Go2GenTL_
ParseData.

Parameters (Input)
HeightMap : The height map image.
Row: The row in the height map.
Column: The column in the height map.
xOffset: The X offset in millimeters.
xResolution: The X resolution in millimeters.
yOffset: The Y offset in millimeters.
yResoluion: The Y resolution in millimeters.
zOffset: The Z offset in millimeters.
zResolution: The Z resolution in millimeters.

Parameters (Output)
coordinateXYZ: The real-world coordinates.

Go2GenTL_ Returns the current exposure.

Exposure
Parameters (Input)
AcqHandle: Acquisition handle created by open_framegrabber.

Parameters (Output)
Exposure: The current exposure value (in µs). The value is returned as an integer.
Decimals are truncated.

Example
Go2GenTL_Exposure(AcqHandle, exposure)
Go2GenTL_ Sets the current exposure.
SetExposure
Parameters (Input)
AcqHandle: Acquisition handle created by open_framegrabber.
Exposure: The current exposure value (in µs).

Example
Go2GenTL_SetExposure(AcqHandle, exposure)
set_ Generic Halcon function to set parameters on the scanner. Can be used to set scanner specific
framegrabber_ settings. See MikroCAD SDK interface files for complete list of settings that can be changed. In the
param generic form:
set_framegrabber_param( AcqHandle, ‘Name’, ‘Value’)
For a complete list of settings that can be changed, see the MikroCAD SDK interface files.

Parameters (Input)
AcqHandle: Acquisition handle created by open_framegrabber.
Name: The name of the parameter to set on the scanner.
AcqHandle: The parameter value to set on the scanner.

Examples
To set the format of the image buffer to 16-bit packed:
set_framegrabber_param( AcqHandle, ‘PixelFormat’, ‘RGB16Packed’)

Gocator 2100, 2300 & 2880 Series Tools and Native Drivers • GenTL Driver • 409
Procedures Description
To set the Scan mode to HDR (1 = no HDR, 2 = HDR, 3 = Super HDR):
set_framegrabber_param( AcqHandle, ‘Dynamic’, ‘2’)
To set the projector brightness to ‘3’:
set_framegrabber_param( AcqHandle, ‘Exposure’, ‘3’)

Generating Halcon Acquisition Code

Halcon lets you insert acquisition code into your code in the IDE.

To generate acquisition code:

1. In Halcon, in the Assistants menu, click Open New Image Acquisition.

2. In the dialog that opens, in the Code Generation tab, set Acquisition Mode to Asynchronous Acquisition.

3. Under Acquisition, click Insert Code to generate the code that will open the acquisition device.

To handle cases when the grab_image function times out while waiting for data, add a
try-catch statement around the grab_image function code.

After the example code is generated, you should add a catch instruction to bypass the acquisition
timeout event, and use the Go2GenTL_ParseData MCGenTL_ParseData function to extract information
from the returned image.

An example, Continuous_Acq.hdevMikroCAD_HeightMap_Capture.hdev, is included in the

Examples/Halcon directory and is shown below:

* This example illustrates how to do the following:

Gocator 2100, 2300 & 2880 Series Tools and Native Drivers • GenTL Driver • 410
* 1. Acquire data from the Gocator (16-bit RGB or gray image)
* 2. Decompose the returned image into three separate image for height map, intensity and
stamps.
* 3. Extract some stamp values from the stamp image.
* Connect to the Gocator device. This code is auto generated by the Image Acquisition
dialog box. User can manually override the directory path by editing the line below.
* Set image type to 'rgb' if the format is 16-bit RGB. 'gray' if the format is 16-bit
mono
open_framegrabber ('GenICamTL', 0, 0, 0, 0, 0, 0, 'progressive', 16, 'rgb', -1, 'false',
'default', '192.168.1.10', 0, -1, AcqHandle)
grab_image_start (AcqHandle, -1)
while (true)
try
grab_image_async (Image, AcqHandle, -1)
catch(Exception)
continue
endtry

Go2GenTL_ParseData (Image, HeightMap, Intensity, frameCount, timestamp, encoderPosition,

encoderIndex, inputs, xOffset, xResolution, yOffset, yResolution, zOffset, zResolution,
width, height, hasIntensity)

* Image Processing Routines Start ****

* Add your own routines here!

* Image Processing Routines End ****

endwhile
close_framegrabber (AcqHandle)
* This example illustrates how to
* 1. Acquire data from the MikroCAD
* 2. Decompose the returned image into three separate image for height map, intensity and
stamps.
* 3. Extract some stamp values from the stamp image.

* Connect to the MikroCAD device.

while (true)
try
* This code is auto generated by the Image Acquisition dialog box. User can manually
override the directory path by editing the line below.
open_framegrabber ('GenICamTL', 0, 0, 0, 0, 0, 0, 'progressive', 16, 'rgb', -1, 'false',
'default', '104000513', 0, -1, AcqHandle)
catch(Exception)
continue
endtry

Gocator 2100, 2300 & 2880 Series Tools and Native Drivers • GenTL Driver • 411
 break
endwhile

* Set PixelFormat to 'RGB16Packed' to capture the HeightMap and a gray scale image.
* Set PixelFormat to 'Mono16' to capture a gray scale image.
set_framegrabber_param(AcqHandle, 'PixelFormat', 'RGB16Packed')

* Set Brightness/Exposure explicitly

* set_framegrabber_param(AcqHandle, 'Exposure', 2)
* Set HDR mode (1= no HDR, 2 = regular HDR, 3 = Super HDR)
set_framegrabber_param(AcqHandle, 'Dynamic', 0)

grab_image_start (AcqHandle, -1)

wait_seconds (6)

while (true)
try
grab_image_async (Image, AcqHandle, -1)
catch(Exception)
continue
endtry
break
endwhile
stop()

MCGenTL_ParseData (Image, HeightMap, Intensity, frameCount, timestamp, encoderPosition,

encoderIndex, inputs, xOffset, xResolution, yOffset, yResolution, zOffset, zResolution,
width, height, hasIntensity)
stop()

dev_display(HeightMap)
stop()

* Image Acquisition Routines Start ****

* Add your own routines here!
* Image Acquisition Routines End ****
close_framegrabber (AcqHandle)

CSV Converter Tool

After you have exported recorded data to CSV, you can use the Gocator CSV Converter Tool to convert
the exported profile or part data into the following formats:

l ASCII (XYZI)
l 16-bit BMP

Gocator 2100, 2300 & 2880 Series Tools and Native Drivers • CSV Converter Tool • 412
l 16-bit PNG
l GenTL
l OBJ
l STL
l HexSight HIG
l ODSCAD's OMC format

You can get the tool package (14405-x.x.x.x_SOFTWARE_GO_Tools.zip) from the LMI Technologies
website at http://lmi3d.com/support/downloads/. Click on the link for your sensor, click on Product User
Area, and log in.

For more information on exporting recorded data, see see Downloading, Uploading, and Exporting
Replay Data on page 52.

After downloading the tool package, unzip the file and run the Gocator CSV Converter tool
[bin>win32>kCsvConverter.exe].

The software tool supports data exported from Profile or Surface mode.

The GenTL format is a 48-bit RGB or grey scale PNG. Height map, intensity and stamp
information are stored as defined in the GenTL Driver section (see on page 397). You can load
the exported data into image processing software to provide simulation data for developing
applications using the GenTL driver.

To convert exported CSV into different formats:

1. Select the CSV file to convert.

2. If intensity information is required, check the Intensity box and select the intensity bitmap.
Intensity information is only used when converting to ASCII or GenTL format. If intensity is not selected,
the ASCII format will only contain the point coordinates (XYZ).

3. If a dual-sensor system was used, use the Image spin box to select the source sensor.
Use 0 for the Main sensor, 1 for the Buddy sensor.

4. Select the output format.

The converted file will reside in the same directory as the CSV file. It will also have the same name but

Gocator 2100, 2300 & 2880 Series Tools and Native Drivers • CSV Converter Tool • 413
 with a different file extension. The converted file name is displayed in the Output File field.

5. Press the Convert button.

Gocator 2100, 2300 & 2880 Series Tools and Native Drivers • CSV Converter Tool • 414
 Troubleshooting

Review the guidance in this chapter if you are experiencing difficulty with a Gocator sensor system. See
Return Policy on page 455 for further assistance if the problem that you are experiencing is not
described in this section.

Mechanical/Environmental
The sensor is warm.
l It is normal for a sensor to be warm when powered on. A Gocator sensor is typically 15° C warmer than the
ambient temperature.

Connection
When attempting to connect to the sensor with a web browser, the sensor is not found (page does not
load).
l Verify that the sensor is powered on and connected to the client computer network. The Power Indicator LED
should illuminate when the sensor is powered.
l Check that the client computer's network settings are properly configured.

l Ensure that the latest version of Flash is loaded on the client computer.

l Use the LMI Discovery tool to verify that the sensor has the correct network settings. See Sensor Recovery
Tool on page 395 for more information.

When attempting to log in, the password is not accepted.

l See Sensor Recovery Tool on page 395 for steps to reset the password.

Laser Profiling
When the Start button or the Snapshot button is pressed, the sensor does not emit laser light.
l Ensure that the sticker covering the laser emitter window (normally affixed to new sensors) has been
removed.
l The laser safety input signal may not be correctly applied. See Specifications on page 417 for more inform-
ation.
l The exposure setting may be too low. See Exposure on page 83 for more information on configuring expos-
ure time.
l Use the Snapshot button instead of the Start button to capture a laser profile. If the laser flashes when you
use the Snapshot button, but not when you use the Start button, then the problem could be related to trig-
gering. See Triggers on page 74 for information on configuring the trigger source.

The sensor emits laser light, but the Range Indicator LED does not illuminate and/or points are not
displayed in the Data Viewer.

Gocator 2100, 2300 & 2880 Series 415

l Verify that the measurement target is within the sensor's field of view and measurement range. See Spe-
cifications on page 417 to review the measurement specifications for your sensor model.
l Check that the exposure time is set to a reasonable level.See Exposure on page 83 for more information on
configuring exposure time.

Performance
The sensor CPU level is near 100%.
l Consider reducing the speed. If you are using a time or encoder trigger source, see Triggers on page 74 for
information on reducing the speed. If you are using an external input or software trigger, consider reducing
the rate at which you apply triggers.
l Consider reducing the laser profile resolution.
See Spacing on page 87 for more information on configuring resolution.
l Review the measurements that you have programmed and eliminate any unnecessary measurements.

Gocator 2100, 2300 & 2880 Series Troubleshooting • 416

 Specifications

The following sections describe the specifications of the Gocator and its associated hardware.

Gocator 2100, 2300 & 2880 Series 417

Gocator 2100 & 2300 Series
The Gocator 2100 and 2300 series consists of the following models:

MODEL 2320 2x30 2x40 2342 2x50 2x70 2375 2x80

Data Points / 1280 640 / 1280 640 / 1280 1280 640 / 1280 640 /1280 1280 640 / 1280
Profile

Linearity Z 0.01 0.01 0.01 0.01 0.01 0.04 0.05 0.04

(+/- % of MR)

Resolution Z 0.0018 - 0.006 - 0.013 - 0.015 - 0.019 - 0.055 - 0.154 - 0.56 0.092- 0.488
(mm) 0.0030 0.014 0.037 0.040 0.060 0.200

Resolution X
(mm)

(Profile Data
Interval)

2100 series n/a 0.088 - 0.19 - 0.34 n/a 0.3 - 0.6 0.55 - 1.10 n/a 0.75 - 2.20
0.150

2300 series 0.014 - 0.021 0.044 - 0.095 - 0.095 - 0.150 - 0.275 - 0.27 - 0.80 0.375 - 1.100
0.075 0.170 0.170 0.300 0.550

Repeatability Z 0.4 0.8 1.2 1.2 2 8 n/a 12

(µm)

Clearance 40 90 190 190 300 400 650 350

Distance (CD)
(mm)

Measurement 25 80 210 210 400 500 1350 800

Range (MR) (mm)

Field of View 18 - 26 47 - 85 96 - 194 64 - 140 158 - 365 308 - 687 345 - 1028 390 - 1260
(FOV) (mm)
Recommended 2M 2M 3R 3R 3R 3B 3B-N 3B
Laser Class
Other Laser 3R 3R, 3B 2M, 3B 3B 3B
Classes (2300
series only)
Input Voltage +24 to +48 VDC (13 W); Ripple +/- 10% +48 VDC +24 to +48
(Power) (20 W); VDC (13 W);
Ripple +/-
Ripple +/-
10%
10%
Dimensions (mm) 35x120x149.5 49x75x142 49x75x197 49x75x197 49x75x272 49x75x272 49x75x272 49x75x272
Weight (kg) 0.8 0.74 0.94 0.94 1.3 1.3 1.3 1.3

Optical models, laser classes, and packages can be customized. Contact LMI for more details.

Gocator 2300 series sensors provide 1280 data points per profile. Gocator 2100 series sensors provide
640 data points per profile.

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100 & 2300 Series • 418
Specifications stated are based on standard laser classes. Linearity Z, Resolution Z, and Repeatability Z
may vary for other laser classes.

All specification measurements are performed on LMI’s standard calibration target (a diffuse, painted
white surface).

Linearity Z is the worst case difference in average height measured, compared to the actual position over
the measurement range.

Resolution Z is the maximum variability of height measurements across multiple frames, with 95%
confidence.

Resolution X is the distance between data points along the laser line.

Repeatability Z is measured with a flat target at the middle of the measurement range. It is the 95%
confidence variation of the average height over 4096 frames. Height values are averaged over the full
FOV.

See Resolution and Accuracy on page 42 for more information.

ALL 2x00 SERIES MODELS

Scan Rate Approx. 170Hz to 5000 Hz

Interface Gigabit Ethernet

Inputs Differential Encoder, Laser Safety Enable, Trigger
Outputs 2x Digital output, RS-485 Serial (115 kBaud), 1x Analog Output (4 - 20 mA)
Housing Gasketed aluminum enclosure, IP67
Operating Temp. 0 to 50° C
Storage Temp. -30 to 70° C

Mechanical dimensions for each sensor model are illustrated on the following pages.

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100 & 2300 Series • 419
Gocator 2320
Field of View / Measurement Range

Dimensions

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100 & 2300 Series • 420
Envelope

Gocator 2130 and 2330

Field of View / Measurement Range

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100 & 2300 Series • 421
Dimensions

Envelope

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100 & 2300 Series • 422
Gocator 2140 and 2340
Field of View / Measurement Range

Dimensions

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100 & 2300 Series • 423
Envelope

Gocator 2342
Field of View / Measurement Range

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100 & 2300 Series • 424
Dimensions

Envelope

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100 & 2300 Series • 425
Gocator 2150 and 2350
Field of View / Measurement Range

Dimensions

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100 & 2300 Series • 426
Envelope

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100 & 2300 Series • 427
Gocator 2170 and 2370
Field of View / Measurement Range

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100 & 2300 Series • 428
Dimensions

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100 & 2300 Series • 429
Envelope

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100 & 2300 Series • 430
Gocator 2375
Field of View / Measurement Range

Dimensions

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100 & 2300 Series • 431
Envelope

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100 & 2300 Series • 432
Gocator 2180 and 2380
Field of View / Measurement Range

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100 & 2300 Series • 433
Dimensions

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100 & 2300 Series • 434
Envelope

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100 & 2300 Series • 435
Gocator 2880 Sensor
The Gocator 2880 is defined below.

MODEL 2880

Data Points / Profile 1280

Linearity Z 0.04
(+/- % of MR)

Resolution Z (mm) 0.092 - 0.488

Resolution X (mm) 0.375 - 1.1

Clearance 350
Distance (CD) (mm)

Measurement 800
Range (MR) (mm)

Field of View (FOV) (mm) 390 - 1260

Recommended Laser 3B
Class
Dimensions (mm) 49x75x498
Weight (kg) 1.3

Scan Rate Approx. 170Hz to 5000 Hz

Interface Gigabit Ethernet

Inputs Differential Encoder, Laser Safety Enable, Trigger
Outputs 2x Digital output, RS-485 Serial (115 kBaud), 1x Analog Output (4 - 20 mA)
Input Voltage (Power) +24 to +48 VDC (13 Watts); RIPPLE +/- 10%
Housing Gasketed aluminum enclosure, IP67
Operating Temp. 0 to 50 °C
Storage Temp. -30 to 70 °C

Optical models, laser classes, and packages can be customized. Contact LMI for more details.

Specifications stated are based on standard laser classes. Resolution Z and Linearity Z may vary for other
laser classes.

Mechanical dimensions for the sensor model are illustrated on the following pages.

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2880 Sensor • 436
Gocator 2880
Field of View / Measurement Range

Dimensions

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2880 Sensor • 437
Envelope

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2880 Sensor • 438
Gocator Power/LAN Connector
The Gocator Power/LAN connector is a 14 pin, M16 style connector that provides power input, laser
safety input and Ethernet.

This connector is rated IP67 only when a cable is connected or when a protective cap is used.

This section defines the electrical specifications for Gocator Power/LAN Connector pins, organized by
function.

Gocator Power/LAN Connector Pins

Lead Color on
Function Pin
Cordset

GND_24-48V L White/
Orange & Black

GND_24-48V L Orange/ Black

DC_24-48V A White/
Green & Black

DC_24-48V A Green/ Black

Safety- G White/ Blue &

Black
View: Looking into the connector on the sensor
Safety+ J Blue/
Black

Sync+ E White/
Brown & Black

Sync- C Brown/ Black

Ethernet MX1+ M White/ Orange

Ethernet MX1- N Orange

Ethernet MX2+ O White/ Green

Ethernet MX2- P Green

Ethernet MX3- S White/ Blue

Ethernet MX3+ R Blue

Ethernet MX4+ T White/ Brown

Ethernet MX4- U Brown

Two wires are connected to the ground and power pins.

Grounding Shield
The grounding shield should be mounted to the earth ground.

Gocator 2100, 2300 & 2880 Series Specifications • Gocator Power/LAN Connector • 439
Power
Apply positive voltage to DC_24-48V. See Gocator 2100 & 2300 Series on page 418 for the sensor's power
requirement. Apply ground to GND_24-48VDC.

Power requirements
Function Pins Min Max

DC_24-48V A 24 V 48 V

GND_24-48VDC L 0V 0V

Laser Safety Input

The Safety_in+ signal should be connected to a voltage source in the range listed below. The Safety_in-
signal should be connected to the ground/common of the source supplying the Safety_in+.

Laser safety requirements

Function Pins Min Max

Safety_in+ J 24 V 48 V

Safety_in- G 0V 0V

Confirm the wiring of Safety_in- before starting the sensor. Wiring DC_24-48V into Safety_in-
may damage the sensor.

Gocator 2100, 2300 & 2880 Series Specifications • Gocator Power/LAN Connector • 440
Gocator 2100, 2300 , and 2880 I/O Connector
The Gocator 2100, 2300 & 2880 I/O connector is a 19 pin, M16 style connector that provides encoder,
digital input, digital outputs, serial output, and analog output signals.

This connector is rated IP67 only when a cable is connected or when a protective cap is used.

This section defines the electrical specifications for Gocator I/O connector pins, organized by function.

Gocator I/O Connector Pins

Function Pin Lead Color on Cordset

Trigger_in+ D Grey

Trigger_in- H Pink

Out_1+ (Digital Output 0) N Red

Out_1- (Digital Output 0) O Blue

Out_2+ (Digital Output 1) S Tan

Out_2- (Digital Output 1) T Orange

Encoder_A+ M White / Brown & Black

Encoder_A- U Brown / Black

Encoder_B+ I Black
View: Looking into the
Encoder_B- K Violet
connector on the sensor
Encoder_Z+ A White / Green & Black

Encoder_Z- L Green / Black

Serial_out+ B White

Serial_out- C Brown

Reserved E Blue / Black

Reserved G White / Blue & Black

Analog_out+ P Green

Analog_out- F Yellow & Maroon / White

Reserved R Maroon

Grounding Shield
The grounding shield should be mounted to the earth ground.

Digital Outputs
Each Gocator sensor has two optically isolated outputs. Both outputs are open collector and open
emitter, this allows a variety of power sources to be connected and a variety of signal configurations.

Out_1 (Collector – Pin N and Emitter – Pin O) and Out_2 (Collector – Pin S and Emitter Pin T) are
independent and therefore V+ and GND are not required to be the same.

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100, 2300 , and 2880 I/O Connector • 441
 Max Collector Max Collector–Emitter
Function Pins Min Pulse Width
Current Voltage

Out_1 N, O 40 mA 70 V 20 us

Out_2 S, T 40 mA 70 V 20 us

The resistors shown above are calculated by R = (V+) / 2.5 mA.

The size of the resistors is determined by power = (V+)^2 / R.

Inverting Outputs
To invert an output, connect a resistor between ground and Out_1- or Out_2- and connect Out_1+ or
Out_2+ to the supply voltage. Take the output at Out_1- or Out_2-. The resistor selection is the same as
what is shown above.

Digital Inputs
Every Gocator sensor has a single optically isolated input. To use this input without an external resistor,
supply 3.3 - 24 V to Pin D and GND to Pin H.

Active High

If the supplied voltage is greater than 24 V, connect an external resistor in series to Pin D. The resistor
value should be R = [(Vin-1.2V)/10mA]-680.

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100, 2300 , and 2880 I/O Connector • 442
 Active Low

To assert the signal, the digital input voltage should be set to draw a current of 3 mA to 40 mA from
Trigger_In+. The current that passes through Trigger_In+ is I = (Vin – 1.2 – Vdata) / 680. To reduce noise
sensitivity, we recommend leaving a 20% margin for current variation (i.e., uses a digital input voltage
that draws 4mA to 25mA).

Function Pins Min Voltage Max Voltage Min Current Max Current Min Pulse Width

Trigger_in D, H 3.3 V 24 V 3 mA 40 mA 20 us

Encoder Input
Encoder input is provided by an external encoder and consists of three RS-485 signals. These signals are
connected to Encoder_A, Encoder_B, and Encoder_Z.

Common Mode Voltage Differential Threshold Voltage

Function Pins Max Data Rate
Min Max Min Typ Max

Encoder_A M, U -7 V 12 V -200 mV -125 mV -50 mV 1 MHz

Encoder_B I, K -7 V 12 V -200 mV -125 mV -50 mV 1 MHz

Ecnoder_Z A, L -7 V 12 V -200 mV -125 mV -50 mV 1 MHz

Gocator only supports differential RS485 signalling. Both + and - signals must be connected.

Encoders are normally specified in pulses per revolution, where each pulse is made up of the
four quadrature signals (A+ / A- / B+ / B-). Because Gocator reads each of the four quadrature
signals, you should choose an encoder accordingly, given the resolution required for your
application.

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100, 2300 , and 2880 I/O Connector • 443
Serial Output
Serial RS-485 output is connected to Serial_out as shown below.

Function Pins

Serial_out B, C

Analog Output
The Sensor I/O Connector defines one analog output interface: Analog_out.

Function Pins Current Range

Analog_out P, F 4 – 20 mA

Current Mode Voltage Mode

To configure for voltage output, connect a 500 Ohm ¼ Watt resistor between Analog_out+ and Analog_
out- and measure the voltage across the resistor. To reduce the noise in the output, we recommend
using an RC filter as shown below.

Gocator 2100, 2300 & 2880 Series Specifications • Gocator 2100, 2300 , and 2880 I/O Connector • 444
Master 100
The Master 100 accepts connections for power, safety, and encoder, and provides digital output.

*Contact LMI for information regarding this type of power supply.

Connect the Master Power port to the Gocator's Power/LAN connector using the Gocator Power/LAN to
Master cordset. Connect power RJ45 end of the cordset to the Master Power port. The Ethernet RJ45
end of the cordset can be connected directly to the Ethernet switch, or connect to the Master Ethernet
port. If the Master Ethernet port is used, connect the Master Host port to the Ethernet switch with a
CAT5e Ethernet cable.

To use encoder and digital output, wire the Master's Gocator Sensor I/O port to the Gocator IO
connector using the Gocator I/O cordset.

Sensor I/O Port Pins

Gocator I/O Pin Master Pin Conductor Color

Encoder_A+ 1 White/Brown & Black

Encoder_A- 2 Brown/Black

Encoder_Z+ 3 White/Green & Black

Encoder_Z- 4 Green/Black

Trigger_in+ 5 Grey

Trigger_in- 6 Pink

Out_1- 7 Blue

Out_1+ 8 Red

Encoder_B+ 11 Black

Encoder_B- 12 Violet

The rest of the wires in the Gocator I/O cordset are not used.

Gocator 2100, 2300 & 2880 Series Specifications • Master 100 • 445
Encoder/Output Port Pins
Function Pin

Output_1+ (Digital Output 0) 1

Output_1- (Digital Output 0) 2

Encoder_Z+ 3

Encoder_Z- 4

Encoder_A+ 5

Encoder_A- 6

Encoder_B+ 7

Encoder_B- 8

Encoder_GND 9

Encoder_5V 10

Master 100 Dimensions

Gocator 2100, 2300 & 2880 Series Specifications • Master 100 • 446
Master 400/800
The Master 400/800 provides sensor power and safety interlock, and broadcasts system-wide
synchronization information (i.e., time, encoder count, encoder index, and digital I/O states) to all
devices on a sensor network.

Power and Safety (6 pin connector)

Function Pin

+48VDC 1

+48VDC 2

GND(48VDC) 3

GND(48VDC) 4

Safety Control+ 5

Safety Control– 6

The +48VDC power supply must be isolated from AC ground. This means that AC ground and
DC ground are not connected.

The Safety Control requires a voltage differential 12VDC to 48VDC across the pin to enable the
laser.

Digital Input (16 pin connector)

Function Pin

Input 1 1

Input 1 GND 2

Reserved 3

Reserved 4

Reserved 5

Gocator 2100, 2300 & 2880 Series Specifications • Master 400/800 • 447
Function Pin

Reserved 6

Reserved 7

Reserved 8

Reserved 9

Reserved 10

Reserved 11

Reserved 12

Reserved 13

Reserved 14

Reserved 15

Reserved 16

This connector does not need to be wired up for proper operation.

Encoder (8 pin connector)

Function Pin

Encoder_A+ 1

Encoder_A- 2

Encoder_B+ 3

Encoder_B- 4

Encoder_Z+ 5

Encoder_Z- 6

GND 7

+5VDC 8

Master 400/800 Electrical Specifications

Electrical Specifications for Master 400/800
Master 400 / 800

Power Supply Voltage +48VDC

Power Supply current (Max.) 10A

Power Draw (Min.) 15W

Safety Voltage +12 to +48VDC

Encoder signal voltage range RS485 Differential

Digital input voltage range Logical LOW: 0 VDC to +0.1VDC

Logical HIGH: +11 VDC to +22.5VDC

When using a Master 400/800, its chassis must be well grounded.

Gocator 2100, 2300 & 2880 Series Specifications • Master 400/800 • 448
 The +48VDC power supply must be isolated from AC ground. This means that AC ground and
DC ground are not connected.

The Power Draw specification is based on a Master with no sensors attached. Every sensor has
its own power requirements which need to be considered when calculating total system power
requirements.

Master 400/800 Dimensions

The dimensions of Master 400 and Master 800 are the same.

Gocator 2100, 2300 & 2880 Series Specifications • Master 400/800 • 449
Master 1200/2400
The Master 1200/2400 provides sensor power and safety interlock, and broadcasts system-wide
synchronization information (i.e., time, encoder count, encoder index, and digital I/O states) to all
devices on a sensor network.

Power and Safety (6 pin connector)

Function Pin

+48VDC 1

+48VDC 2

GND(48VDC) 3

GND(48VDC) 4

Safety Control+ 5

Safety Control– 6

The +48VDC power supply must be isolated from AC ground. This means that AC ground and
DC ground are not connected.

The Safety Control requires a voltage differential 12VDC to 48VDC across the pin to enable the
laser.

Digital Input (16 pin connector)

Function Pin

Input 1 1

Input 1 GND 2

Reserved 3

Reserved 4

Gocator 2100, 2300 & 2880 Series Specifications • Master 1200/2400 • 450
Function Pin

Reserved 5

Reserved 6

Reserved 7

Reserved 8

Reserved 9

Reserved 10

Reserved 11

Reserved 12

This connector does not need to be wired up for proper operation.

Encoder (8 pin connector)

Function Pin

Encoder_A+ 1

Encoder_A- 2

Encoder_B+ 3

Encoder_B- 4

Encoder_Z+ 5

Encoder_Z- 6

GND 7

+5VDC 8

Master 1200/2400 Electrical Specifications

Electrical Specifications for Master 1200/2400
Master 1200 / 2400

Power Supply Voltage +48VDC

Power Supply current (Max.) 10A

Power Draw (Min.) 15W

Safety Voltage +12 to +48VDC

Encoder signal voltage range RS485 Differential

Digital input voltage range Logical LOW: 0 VDC to +0.1VDC

Logical HIGH: +3.5 VDC to +6.5VDC

When using a Master 1200/2400, its chassis must be well grounded.

The +48VDC power supply must be isolated from AC ground. This means that AC ground and
DC ground are not connected.

Gocator 2100, 2300 & 2880 Series Specifications • Master 1200/2400 • 451
 The Power Draw specification is based on a Master with no sensors attached. Every sensor has
its own power requirements which need to be considered when calculating total system power
requirements.

Master 1200/2400 Dimensions

The dimensions of Master 1200 and Master 2400 are the same.

Gocator 2100, 2300 & 2880 Series Specifications • Master 1200/2400 • 452
 Accessories

Masters
Description Part Number

Master 100 - for single sensor (development only) 30705

Master 400 - for networking up to 4 sensors 30680

Master 800 - for networking up to 8 sensors 30681

Master 1200 - for networking up to 12 sensors 30649

Master 2400 - for networking up to 24 sensors 30650

Cordsets
Description Part Number

2m I/O cordset, open wire end 30864-2m

5m I/O cordset, open wire end 30862
10m I/O cordset, open wire end 30863
15m I/O cordset, open wire end 30864-15m
20m I/O cordset, open wire end 30864-20m
25m I/O cordset, open wire end 30864-25m
2m Power and Ethernet cordset, 1x open wire end, 1x RJ45 end 30861-2m
5m Power and Ethernet cordset, 1x open wire end, 1x RJ45 end 30859
10m Power and Ethernet cordset, 1x open wire end, 1x RJ45 end 30860
15m Power and Ethernet cordset, 1x open wire end, 1x RJ45 end 30861-15m
20m Power and Ethernet cordset, 1x open wire end, 1x RJ45 end 30861-20m
25m Power and Ethernet cordset, 1x open wire end, 1x RJ45 end 30861-25m
2m Power and Ethernet to Master cordset, 2x RJ45 ends 30858-2m
5m Power and Ethernet to Master cordset, 2x RJ45 ends 30856
10m Power and Ethernet to Master cordset, 2x RJ45 ends 30857
15m Power and Ethernet to Master cordset, 2x RJ45 ends 30858-15m
20m Power and Ethernet to Master cordset, 2x RJ45 ends 30858-20m
25m Power and Ethernet to Master cordset, 2x RJ45 ends 30858-25m

Accessories

Description Part Number

Calibration Disk, 40mm 30727

Calibration Disk, 100mm 30728

Gocator 2100, 2300 & 2880 Series 453

Contact LMI for information on creating cordsets with custom length or connector orientation. The
maximum cordset length is 60 m.

Gocator 2100, 2300 & 2880 Series Accessories • 454

 Return Policy

Return Policy
Before returning the product for repair (warranty or non-warranty) a Return Material Authorization
(RMA) number must be obtained from LMI. Please call LMI to obtain this RMA number.

Carefully package the sensor in its original shipping materials (or equivalent) and ship the sensor prepaid
to your designated LMI location. Please ensure that the RMA number is clearly written on the outside of
the package. Inside the return shipment, include the address you wish the shipment returned to, the
name, email and telephone number of a technical contact (should we need to discuss this repair), and
details of the nature of the malfunction. For non-warranty repairs, a purchase order for the repair
charges must accompany the returning sensor.

LMI Technologies Inc. is not responsible for damages to a sensor that are the result of improper
packaging or damage during transit by the courier.

Gocator 2100, 2300 & 2880 Series 455

 Software Licenses

Pico-C

Website:

http://code.google.com/p/picoc/

License:

picoc is published under the "New BSD License".

http://www.opensource.org/licenses/bsd-license.php

Copyright (c) 2009-2011, Zik Saleeba

All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided
that the following conditions are met:

* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.

* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and
the following disclaimer in the documentation and/or other materials provided with the distribution.

* Neither the name of the Zik Saleeba nor the names of its contributors may be used to endorse or
promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Gocator 2100, 2300 & 2880 Series 456

BlowFish

Website:

http://www.chiark.greenend.org.uk/~sgtatham/putty/licence.html

License:

PuTTY is copyright 1997-2011 Simon Tatham.

Portions copyright Robert de Bath, Joris van Rantwijk, Delian Delchev, Andreas Schultz, Jeroen Massar,
Wez Furlong, Nicolas Barry, Justin Bradford, Ben Harris, Malcolm Smith, Ahmad Khalifa, Markus Kuhn,
Colin Watson, and CORE SDI S.A.

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
associated documentation files (the "Software"), to deal in the Software without restriction, including
without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the
following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial
portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL SIMON TATHAM BE LIABLE FOR
ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
DEALINGS IN THE SOFTWARE.

CodeMirror

Website:

http://codemirror.net

License:

Copyright (C) 2011 by Marijn Haverbeke <[email protected]>

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
associated documentation files (the "Software"), to deal in the Software without restriction, including
without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the
following conditions:

Gocator 2100, 2300 & 2880 Series Software Licenses • 457

The above copyright notice and this permission notice shall be included in all copies or substantial
portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANT ABILITY,FITNESS FOR A
PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF
CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

jQuery

Website:

http://jquery.com/

License:

Copyright (c) 2011 John Resig, http://jquery.com/

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
associated documentation files (the "Software"), to deal in the Software without restriction, including
without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the
following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial
portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF
CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Closure Library

Website:

http://code.google.com/closure/library/index.html

License:

Gocator 2100, 2300 & 2880 Series Software Licenses • 458

Copyright 2006 The Closure Library Authors. All Rights Reserved.

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in
compliance with the License.

You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is
distributed on an "AS-IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express
or implied. See the License for the specific language governing permissions and limitations under the
License.

jQuery.CopyEvents

Website:

http://brandonaaron.net

License:

Copyright (c) 2006 Brandon Aaron

Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php)

jQuery.history

License:

jQuery history plugin

Copyright (c) 2006 Taku Sano (Mikage Sawatari)

Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php)

Modified by Lincoln Cooper to add Safari support and only call the callback once during initialization for
msie when no initial hash supplied. API rewrite by Lauris Bukis-Haberkorns

jQuery.mouseWheel

Website:

http://brandonaaron.net

License:

Copyright (c) 2010 Brandon Aaron

Gocator 2100, 2300 & 2880 Series Software Licenses • 459

Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php)

jQuery.scaling

Website:

http://eric.garside.name

License:

Scaling 1.0 - Scale any page element

Copyright (c) 2009 Eric Garside

Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php)

jQuery.scrollFollow

Website:

http://kitchen.net-perspective.com/

License:

Copyright (c) 2008 Net Perspective

Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php)

Flex SDK

Website:

http://opensource.adobe.com/wiki/display/flexsdk/Flex+SDK

License:

Copyright (c) 2010 Adobe Systems Incorporated

The contents of this file are subject to the Mozilla Public License Version 1.1 (the "License"); you may not
use this file except in compliance with the License. You may obtain a copy of the License at

http://www.mozilla.org/MPL/

Software distributed under the License is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
KIND, either express or implied. See the License for the specific language governing rights and limitations
under the License.

Gocator 2100, 2300 & 2880 Series Software Licenses • 460

EtherNet/IP Communication Stack

Website:

sourceforge.net/projects/opener

License:

SOFTWARE DISTRIBUTION LICENSE FOR THE

ETHERNET/IP(TM) COMMUNICATION STACK (ADAPTED BSD STYLE LICENSE)

Copyright (c) 2009, Rockwell Automation, Inc. ALL RIGHTS RESERVED.

EtherNet/IP is a trademark of ODVA, Inc.

Gocator 2100, 2300 & 2880 Series Software Licenses • 461

 Support

For assistance regarding a component or product, please contact LMI Technologies.

World

Email [email protected]

Web http://www.lmi3D.com

North America

Phone +1 604 636 1011

Fax +1 604 516 8368

Europe

Phone +31 45 850 7000

Fax +31 45 574 2500

For more information on safety and laser classifications, please contact:

U.S. Food and Drug Administration

Center for Devices and Radiological Health
WO66-G609
10903 New Hampshire Avenue
Silver Spring, MD 20993-0002
USA

Gocator 2100, 2300 & 2880 Series 462

 Contact

Americas EMEAR ASIA PACIFIC

LMI Technologies (Head Office) LMI Technologies GmbH LMI (Shanghai) Trading Co., Ltd.
Vancouver, Canada Berlin, Germany Shanghai, China
+1 604 636 1011 +49 (0)3328 9360 0 +86 21 5441 0711

LMI Technologies has sales offices and distributors worldwide. All contact information is listed at
lmi3D.com/contact/locations.

Gocator 2100, 2300 & 2880 Series 463