Gocator Line Profile Sensors

USER MANUAL
Gocator 2100, 2300, 2400, 2500 Series; Gocator 2880
Firmware version: 5.3.x.xx
Document revision: B
Copyright
Copyright © 2019 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
LMI Technologies, Inc.
9200 Glenlyon Parkway
Burnaby BC  V5J 5J8
Canada

Telephone: +1 604-636-1011
Fax: +1 604-516-8368

www.lmi3D.com

Gocator Line Profile Sensors: User Manual 2

Table of Contents Configuring Master 810
Setting the Divider
44
44
Encoder Quadrature Frequency 45
Copyright 2
Setting the Debounce Period 45
Table of Contents 3
Rut-Scanning System Setup 46
Introduction 14
Layout 46
Gocator Overview 15
System Setup 46
Safety and Maintenance 16
Software Configuration 47
Laser Safety 16
System Operation 48
Laser Classes 17
Network Setup 49
Precautions and Responsibilities 18
Client Setup 49
Class 3B Responsibilities 18
Gocator Setup 52
Nominal Ocular Hazard Distance (NOHD) 19
Running a Standalone Sensor System 52
Systems Sold or Used in the USA 20
Running a Dual-Sensor System 53
Electrical Safety 21
Required Ports 56
Heat Warning 21
Next Steps 56
Handling, Cleaning, and Maintenance 21
How Gocator Works 58
Environment and Lighting 22
3D Acquisition 58
Getting Started 23
Clearance Distance, Field of View and
Hardware and Firmware Capabilities 23 Measurement Range 59
Hardware Overview 25 Resolution and Accuracy 60
Gocator Sensor 25 X Resolution 60
Gocator Cordsets 25 Z Resolution 61
Master 100 26 Z Linearity 61
Master 400 / 800 / 1200 / 2400 27 Profile Output 63
Master 810 / 2410 28 Coordinate Systems 63
Alignment Targets 30 Sensor Coordinates 63
System Overview 31 System Coordinates 64
Standalone System 31 Part and Section Coordinates 67
Dual-Sensor System 32 Switching between Coordinate Systems 68
Multi-Sensor System 33 Resampled Data and Point Cloud Data 68
Installation 35 Data Generation and Processing 70
Mounting 35 Surface Generation 70
Orientations 36 Part Detection 70
Cordset Bend Radius Limits 38 Sectioning 71
Grounding 40 Part Matching 71
Gocator 40 Measurement 72
Recommended Practices for Cordsets 40 Tool Chaining 72
Master Network Controllers 41 Anchoring Measurements 73
Grounding When Using a DIN Rail (Master Geometric Features 75
810/2410) 41
Tool Data 78
Additional Grounding Schemes 42
Output and Digital Tracking 82
Installing DIN Rail Clips: Master 810 or 2410 42

Gocator Line Profile Sensors: User Manual 3

 Gocator Web Interface 84 Manual Access 119
Browser Compatibility 84 Software Development Kit 120
Internet Explorer 11 Issues 84 Scan Setup and Alignment 121
Internet Explorer Switches to Software Scan Page Overview 121
Rendering 84 Scan Modes 122
Internet Explorer Displays "Out of Memory" 84 Triggers 123
User Interface Overview 85 Trigger Examples 126
Toolbar 87 Trigger Settings 127
Creating, Saving and Loading Jobs (Settings) 87 Maximum Input Trigger Rate 129
Recording, Playback, and Measurement Maximum Encoder Rate 129
Simulation 88
Sensor 129
Recording Filtering 91
Active Area 129
Downloading, Uploading, and Exporting
Tracking Window 131
Replay Data 92
Transformations 133
Metrics Area 95
Exposure 134
Data Viewer 95
Single Exposure 135
Status Bar 95
Dynamic Exposure 136
Log 96
Multiple Exposure 137
Frame Information 96
Spacing 138
Quick Edit Mode 97
Sub-Sampling 139
Interface Language 97
Spacing Interval 139
Management and Maintenance 98
Advanced 140
Manage Page Overview 98
Material 142
Sensor System 99
Material Settings and Dynamic Exposure 142
Dual- and Multi-sensor Systems 99
Alignment 143
Buddy Assignment 100
Alignment Types 143
Over Temperature Protection 101
Aligning Sensors 144
Sensor Autostart 101
Encoder Calibration 150
Layout 101
Clearing Alignment 151
Device Exposure Multiplexing 108
Filters 151
Networking 109
Gap Filling 151
Motion and Alignment 110
Median 152
Alignment Reference 111
Smoothing 153
Encoder Resolution 111
Decimation 154
Encoder Value and Frequency 112
Surface Generation 154
Travel Speed 112
Part Detection 158
Jobs 112
Part Detection Status 162
Security 114
Edge Filtering 164
Maintenance 115
Data Viewer 165
Sensor Backups and Factory Reset 116
Data Viewer Controls 165
Firmware Upgrade 117
Video Mode 168
Support 118
Exposure Information 168
Support Files 119

Gocator Line Profile Sensors: User Manual 4

 Exposures 168 Editing Tool, Input, or Output Names 222
Overexposure and Underexposure 169 Changing a Measurement ID 222
Spots and Dropouts 170 Duplicating a Tool 223
Profile Mode 171 Removing a Tool 223
Surface Mode 173 Reordering Tools 224
Height Map Color Scale 176 Profile Measurement 225
Sections 177 Advanced Height 225
Region Definition 178 Measurements, Data, and Settings 227
Intensity Output 179 Master Comparison 228
Models 181 X Correction 229
Model Page Overview 181 Reference Line 229
Part Matching 181 Anchoring 229
Using Edge Detection 182 Area 230
Creating a Model 185 Measurements, Features, and Settings 231
Modifying a Model's Edge Points 187 Bounding Box 234
Adjusting Target Sensitivity 190 Measurements, Features, and Settings 235
Setting the Match Acceptance Criteria 191 Bridge Value 237
Running Part Matching 191 Understanding the Window and Skip
Using Bounding Box and Ellipse 191 Settings 237

Configuring a Bounding Box or an Ellipse193 Measurements and Settings 238

Running Part Matching 194 Using Window and StdDev as Metrics

Measurements 240
Using Part Matching to Accept or Reject a
Part 195 Circle 242

Sections 195 Measurements, Features, and Settings 242

Creating a Section 198 Circle Radii 245

Deleting a Section 200 Measurements, Features, and Settings 246

Measurement and Processing 201 Closed Area 249

Measure Page Overview 201 Measurements and Settings 249

Data Viewer 202 Dimension 253

Tools Panel 203 Measurements and Settings 253

Adding and Configuring a Measurement Edge 256

Tool 203 Measurements, Features, and Settings 257
Stream 204 Groove 261
Source 205 Measurements, Features, and Settings 262
Regions 206 Intersect 266
Feature Points 209 Measurements, Features, and Settings 266
Geometric Features 212 Line 269
Fit Lines 213 Measurements, Features, and Settings 270
Decisions 213 Line Advanced 273
Filters 215 Measurements, Features, and Settings 274
Measurement Anchoring 216 Panel 279
Enabling and Disabling Measurements 221 Position 283

Gocator Line Profile Sensors: User Manual 5

 Measurements, Features, and Settings 283 Measurements and Settings 394
Round Corner 285 OCR 400
Strip 289 Measurements and Settings 401
Template Matching 294 Opening 405
Measurements, Features, and Settings 295 Measurements, Features, and Settings 408
Script 299 Measurement Region 412
Surface Measurement 301 Plane 413
Arithmetic 302 Measurements, Features, and Settings 415
Settings 302 Position 417
Ball Bar 304 Measurements, Features, and Settingss 418
Barcode 306 Section 419
Measurements, Features, and Settings 308 Measurements, Data, and Settings 422
Bounding Box 312 Segmentation 428
Measurements, Features, and Settings 313 Measurements, Data, and Settings 430
Circular Edge 317 Sphere 435
Calipers, Extracted Paths, and Edge Measurements, Features, and Settings 436
Points 319 Stitch 438
Measurements, Features, and Settings 320 Measurements, Data, and Settings 439
Countersunk Hole 330 String Encoding 441
Measurements, Features, and Settings 332 Measurements and Settings 442
Curvature 338 Stud 444
Measurements and Settings 340 Measurements, Features, and Settings 446
Dimension 344 Measurement Region 447
Direction Filter 347 Track 448
Measurements and Settings 350 Key Concepts 450
Edge 354 Track Location 452
Paths and Path Profiles 356 Peak Detection 453
Measurements, Features, and Settings 357 Side Detection 453
Ellipse 369 Center Point Detection 454
Measurements, Features, and Settings 370 Configuring the Track Tool 454
Extend 372 Measurements, Data, and Settings 455
Data and Settings 373 Anchoring 460
Filter 375 Using the Track Editor 461
Settings and Available Filters 376 Transform 464
Flatness 379 Combinations of geometric feature
Measurements, Data, and Settings 380 inputs and results 467
Hole 385 Plane 467
Measurements, Features, and Settings 387 Line 468
Measurement Region 389 Point 469
Mask 390 Plane + Line 470
Working with Circular and Elliptical Plane + Point 471
Regions 392 Line + Point 472

Gocator Line Profile Sensors: User Manual 6

 Plane + Line + Point 473 Dashboard and Health Indicators 528
Scaling Modes 474 Hardware Acceleration: GoMax 528
Measurements, Data, and Settings 475 Software-Based Acceleration 528
Vibration Correction 478 System Requirements and Recommendations 529
Data and Settings 479 Minimum System Requirements 529
Volume 480 Recommendations 529
Script 483 Installation 529
Feature Measurement 484 Gocator Accelerator Utility 529
Create 485 SDK Application Integration 532
Line from Two Points 486 Estimated Performance 532
Perpendicular or Parallel Line from Point Gocator Emulator 534
and Line 487 System Requirements 534
Perpendicular Line from Point to Plane 488 Limitations 535
Projected Point on Plane 488 Downloading a Support File 535
Projected Line on Plane 489 Running the Emulator 536
Circle from Points 489 Adding a Scenario to the Emulator 537
Plane from Point and Normal 489 Running a Scenario 538
Plane from Three Points 489 Removing a Scenario from the Emulator 539
Line from Two Planes 489 Using Replay Protection 540
Point from Three Planes 490 Stopping and Restarting the Emulator 540
Point from Line and Circle 491 Running the Emulator in Default Browser 540
Point or Line 491 Working with Jobs and Data 541
Dimension 493 Creating, Saving, and Loading Jobs 541
Intersect 497 Playback and Measurement Simulation 542
Robot Pose 501 Downloading, Uploading, and Exporting
Measurements and Settings 503 Replay Data 543
Scripts 504 Downloading and Uploading Jobs 546
Built-in Script Functions 504 Scan, Model, and Measurement Settings 547
Output 509 Calculating Potential Maximum Frame Rate 548
Output Page Overview 509 Protocol Output 548
Ethernet Output 510 Remote Operation 548
Digital Output 514 Sensor Device Files 550
Analog Output 517 Live Files 550
Serial Output 520 Log File 550
Dashboard 523 Job File Structure 551
Dashboard Page Overview 523 Job File Components 551
State and Health Information 523 Accessing Files and Components 552
Statistics 525 Configuration 552
Measurements 525 Setup 553
Performance 525 BackgroundSuppression 554
Gocator Acceleration 527 Filters 554
Benefits 528 XSmoothing 554

Gocator Line Profile Sensors: User Manual 7

 YSmoothing 555 StreamOptions 580
XGapFilling 555 Tools 580
YGapFilling 555 Profile Types 580
XMedian 555 ProfileFeature 580
YMedian 556 ProfileLine 581
XDecimation 556 ProfileRegion2d 581
YDecimation 556 Surface Types 581
XSlope 556 Region3D 581
YSlope 557 SurfaceFeature 581
Trigger 557 SurfaceRegion2d 582
Layout 559 Geometric Feature Types 582
Alignment 560 Parameter Types 582
Disk 561 ProfileArea 584
Bar 561 ProfileBoundingBox 586
Plate 561 ProfileBridgeValue 588
Polygon 562 ProfileCircle 589
Polygon/Corner 562 ProfileDimension 591
Devices / Device 562 ProfileGroove 593
SurfaceGeneration 569 ProfileIntersect 595
FixedLength 570 ProfileLine 597
VariableLength 570 ProfilePanel 599
Rotational 570 ProfilePosition 601
SurfaceSections 570 ProfileRoundCorner 603
ProfileGeneration 571 ProfileStrip 604
FixedLength 571 Script 607
VariableLength 572 SurfaceBoundingBox 607
Rotational 572 SurfaceCsHole 610
PartDetection 572 SurfaceDimension 612
EdgeFiltering 574 Tool (type SurfaceEdge) 614
PartMatching 574 SurfaceEllipse 617
Edge 574 SurfaceHole 619
BoundingBox 575 SurfaceOpening 621
Ellipse 575 SurfacePlane 624
Replay 576 SurfacePosition 626
RecordingFiltering 576 SurfaceStud 628
Conditions/AnyMeasurement 576 SurfaceVolume 630
Conditions/AnyData 577 Tool (type FeatureDimension) 632
Conditions/Measurement 577 Tool (type FeatureIntersect) 634
Streams/Stream (Read-only) 577 Custom 635
ToolOptions 578 Output 636
MeasurementOptions 579 Ethernet 636
FeatureOptions 579 Ascii 639

Gocator Line Profile Sensors: User Manual 8

 EIP 639 Set Default Job 666
Modbus 640 Get Loaded Job 666
Profinet 640 Get Alignment Reference 667
Digital0 and Digital1 640 Set Alignment Reference 667
Analog 641 Clear Alignment 668
Serial 642 Get Timestamp 668
Selcom 642 Get Encoder 668
Ascii 643 Reset Encoder 669
Transform 643 Start 669
Device 644 Scheduled Start 670
Part Models 644 Stop 670
Edge Points 645 Get Auto Start Enabled 670
Configuration 646 Set Auto Start Enabled 671
Integrations 647 Get Voltage Settings 671
Protocols 647 Set Voltage Settings 672
Gocator Protocol 647 Get Quick Edit Enabled 672
Data Types 648 Set Quick Edit Enabled 672
Commands 649 Start Alignment 673
Discovery Commands 649 Start Exposure Auto-set 673
Get Address 650 Software Trigger 674
Set Address 651 Schedule Digital Output 674
Get Info 651 Schedule Analog Output 675
Control Commands 652 Ping 675
Protocol Version 653 Reset 676
Get Address 653 Backup 676
Set Address 654 Restore 677
Get System Info V2 654 Restore Factory 677
Get System Info 657 Get Recording Enabled 678
Get States 658 Set Recording Enabled 678
Log In/Out 660 Clear Replay Data 678
Change Password 660 Get Playback Source 679
Assign Buddies 661 Set Playback Source 679
Remove Buddies 661 Simulate 680
Set Buddy 662 Seek Playback 680
List Files 662 Step Playback 680
Copy File 663 Playback Position 681
Read File 663 Clear Measurement Stats 681
Write File 664 Read Live Log 682
Delete File 664 Clear Log 682
User Storage Used 665 Simulate Unaligned 682
User Storage Free 665 Acquire 683
Get Default Job 665 Acquire Unaligned 683

Gocator Line Profile Sensors: User Manual 9

 Create Model 684 Concepts 711
Detect Edges 684 Messages 711
Add Tool 684 Registers 712
Add Measurement 685 Control Registers 713
Read File (Progressive) 685 Output Registers 714
Export CSV (Progressive) 686 State 714
Export Bitmap (Progressive) 687 Stamp 715
Get Flag 688 Measurement Registers 716
Set Flag 688 EtherNet/IP Protocol 718
Get Runtime Variable Count 689 Explicit Messaging 718
Set Runtime Variables 689 Identity Object (Class 0x01) 719
Get Runtime Variables 689 TCP/IP Object (Class 0xF5) 719
Upgrade Commands 690 Ethernet Link Object (Class 0xF6) 720
Start Upgrade 690 Assembly Object (Class 0x04) 720
Start Upgrade Extended 691 Command Assembly 720
Get Upgrade Status 691 Runtime Variable Configuration
Get Upgrade Log 692 Assembly 721

Results 692 Sensor State Assembly 722

Data Results 692 Sample State Assembly 723

Stamp 693 Implicit Messaging 725

Video 693 Assembly Object (Class 0x04) 725

Profile Point Cloud 694 Implicit Messaging Command

Assembly 725
Uniform Profile 695
Implicit Messaging Output Assembly 726
Profile Intensity 696
Rockwell Allen-Bradley Instructions 728
Uniform Surface 696
Software and Hardware Setup 728
Surface Intensity 697
Byte Order Options 728
Surface Section 698
Setting Up Implicit Messaging on the
Surface Section Intensity 699
Gocator 729
Measurement 699
Setting Up Implicit Messaging on the
Alignment Result 700 PLC 731
Exposure Calibration Result 701 Install EDS File 731
Edge Match Result 701 Add Gocator IO Device to PLC Program 736
Bounding Box Match Result 701 Using the Implicit Messaging Gocator
Ellipse Match Result 702 Command Assembly 748
Event 702 Starting a Sensor 749
Feature Point 702 Loading a Sensor Job File 752
Feature Line 703 Setting Up Explicit Messaging on the
Feature Plane 703 Gocator 754

Feature Circle 703 Reading Single Attribute on the PLC

(Explicit Messaging) 754
Generic Message 704
Setting Single Attribute to Gocator on
Health Results 704
the PLC (Explicit Messaging) 761
Modbus Protocol 711
Loading a Sensor Job File 773

Gocator Line Profile Sensors: User Manual 10

 PROFINET Protocol 777 Interfacing with Halcon 801
Control Module 777 Setting Up Halcon 802
Runtime Variables Module 778 Halcon Procedures 805
State Module 778 Generating Halcon Acquisition Code 809
Stamp Module 779 MountainsMap Transfer Tool 810
Measurements Module 779 Configuring a Sensor to Work with the
ASCII Protocol 780 Transfer Tool 810

Connection Settings 780 Using the Mountains Map Transfer Tool 811

Ethernet Communication 780 Development Kits 813

Serial Communication 781 GoSDK 813

Polling Operation Commands (Ethernet Setup and Locations 814

Only) 781 Class Reference 814
Command and Reply Format 782 Examples 814
Special Characters 782 Example Project Environment Variable 814
Command Channel 782 Header Files 814
Start 783 Functional Hierarchy of Classes 814
Stop 783 GoSystem 815
Trigger 783 GoSensor 815
LoadJob 784 GoSetup 815
Stamp 784 GoLayout 815
Clear Alignment 784 GoTools 816
Moving Alignment 785 GoTransform 816
Stationary Alignment 785 GoOutput 816
Set Runtime Variables 786 Data Types 816
Get Runtime Variables 786 Value Types 816
Data Channel 786 Output Types 816
Result 786 GoDataSet Type 817
Value 787 Measurement Values and Decisions 818
Decision 788 Operation Workflow 818
Health Channel 788 Initialize GoSdk API Object 819
Health 789 Discover Sensors 820
Standard Result Format 789 Connect Sensors 820
Custom Result Format 790 Configure Sensors 820
Selcom Protocol 791 Enable Data Channels 820
Serial Communication 791 Perform Operations 820
Connection Settings 791 Limiting Flash Memory Write Operations 822
Message Format 791 GDK 823
GenICam GenTL Driver 793 Benefits 823
16-bit RGB Image 797 Supported Sensors 823
16-bit Grey Scale Image 798 Typical Workflow 824
Registers 800 Installation and Class Reference 824
XML Settings File 801 Required Tools 824

Gocator Line Profile Sensors: User Manual 11

 Getting Started with the Example Code 824 Gocator 2342 856
Building the Sample Code 825 Gocator 2150 and 2350 858
Tool Registration 825 Gocator 2170 and 2370 861
Tool Definitions 826 Gocator 2175 and 2375 864
Entry Functions 826 Gocator 2180 and 2380 868
Parameter Configurations 827 Gocator 2400 Series 871
Graphics Visualization 828 Gocator 2410 873
Debugging Your Tools 830 Gocator 2420 876
Debugging Entry Functions 831 Gocator 2430 879
Tips 831 Gocator 2440 881
Backward Compatibility with Older Versions Gocator 2500 Series 883
of Tools 831 Gocator 2510/2512 885
Define new parameters as optional 831 Gocator 2520 887
Configuration Versioning 831 Estimated Performance 889
Version 833 Gocator 2880 Sensor 891
Common Programming Operations 833 Gocator 2880 892
Input Data Objects 833 Sensor Connectors 895
Setup and Region Info during Tool Gocator Power/LAN Connector 895
Initialization 834
Grounding Shield 896
Computing Region Based on the Offset
Power 896
from an Anchor Source 834
Laser Safety Input 896
Part Matching 834
Gocator I/O Connector 897
Accessing Sensor Local Storage 834
Grounding Shield 898
Print Output 835
Digital Outputs 899
Tools 836
Inverting Outputs 899
Sensor Discovery Tool 836
Digital Input 899
CSV Converter Tool 837
Encoder Input 900
CSV File Format 839
Serial Output 901
Info 839
Selcom Serial Output 901
DeviceInfo 840
Analog Output 902
RecordingFilter 841
Master Network Controllers 903
Ranges 842
Master 100 903
Profile 842
Master 100 Dimensions 904
RawProfile 843
Master 400/800 905
Part 844
Master 400/800 Electrical Specifications 906
Surface Section 845
Master 400/800 Dimensions 908
Troubleshooting 846
Master 810/2410 909
Specifications 847
Electrical Specifications 912
Sensors 847
Encoder 913
Gocator 2100 & 2300 Series 847
Input 914
Gocator 2120 and 2320 850
Master 810 Dimensions 916
Gocator 2130 and 2330 852
Master 2410 Dimensions 917
Gocator 2140 and 2340 854

Gocator Line Profile Sensors: User Manual 12

 Master 1200/2400 918
Master 1200/2400 Electrical Specifications 919
Master 1200/2400 Dimensions 920
Accessories 921
Return Policy 924
Software Licenses 925
Support 930
Contact 931

Gocator Line Profile Sensors: User Manual 13

Introduction

This documentation describes how to connect, configure, and use a Gocator. It also contains reference
information on the device's protocols and job files, as well as an overview of the development kits you
can use with Gocator. Finally, the documentation describes the Gocator emulator and accelerator
applications.

The documentation applies to the following:

l Gocator 2100 series

l Gocator 2300 series
l Gocator 2400 series
l Gocator 2500 series
l Gocator 2880

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

C revision Gocator sensors are only supported by firmware version 4.5 SR1 or later. These
sensors are compatible with SDK applications built with version 4.x of the SDK. The sensors are
also compatible with jobs created on sensors running firmware 4.x.

Notational Conventions
This documentation uses the following notational conventions:

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

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

Gocator Line Profile Sensors: User Manual 14

Gocator Overview

Gocator Line Profile Sensors: User Manual 15

Safety and Maintenance

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

Laser Safety
Gocator sensors contain semiconductor lasers that emit visible or invisible light and are designated as
Class 2, 2M, Class 3R, or Class 3B, depending on the laser option. For more information on the laser
classes used in these sensors, Laser Classes on the next page.

Gocator sensors are referred to as components, indicating that they are sold only to qualified customers
for incorporation into their own equipment. These sensors do not incorporate safety items that the
customer may be required to provide in their own equipment (e.g., remote interlocks, key control; refer
to the references below for detailed information). As such, these sensors do not fully comply with the
standards relating to laser products specified in IEC 60825-1 and FDA CFR Title 21 Part 1040.

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

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

Gocator Line Profile Sensors: User Manual 16

Laser Classes
Class 2 laser components
Class 2 laser components are considered to be safe, provided that:
l The user’s blink reflex can terminate exposure (in under 0.25 seconds).

l Users do not need to look repeatedly at the beam or reflected light.

l Exposure is only accidental.

Class 2M laser components

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

l The user’s blink reflex can terminate exposure (in under 0.25 seconds).

l Users do not need to look repeatedly at the beam or reflected light.

l Exposure is only accidental.

Class 3R laser components

Class 3R laser products emit radiation where direct intrabeam viewing is potentially hazardous, but
the risk is lower with 3R lasers than for 3B lasers. Fewer manufacturing requirements and control
measures for 3R laser users apply than for 3B lasers.
l Eye protection and protective clothing are not required.

l The laser beam must be terminated at the end of an appropriate path.

l Avoid unintentional reflections.

l Personnel must be trained in working with laser equipment.

Class 3B laser components

Class 3B components are unsafe for eye exposure.
l Usually only eye protection is required. Protective gloves may also be used.

l Diffuse reflections are safe if viewed for less than 10 seconds at a minimum distance of 13 cm.

l There is a risk of fire if the beam encounters flammable materials.

l The laser area must be clearly identified.

l Use a key switch or other mechanism to prevent unauthorized use.

l Use a clearly visible indicator to show that a laser is in use, such as “Laser in operation.”

l Restrict the laser beam to the working area.

l Ensure that there are no reflective surfaces in the working area.

For more information, see Precautions and Responsibilities on the next page.

Gocator Line Profile Sensors: User Manual Safety and Maintenance • 17

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

Requirement Class 2 Class 2M Class 3R Class 3B

Remote interlock Not required Not required Not required Required*
Key control Not required Not required Not required Required – cannot
remove key when in
use*
Power-on delays Not required Not required Not required Required*
Beam attenuator Not required Not required Not required Required*
Emission indicator Not required Not required Not required Required*
Warning signs Not required Not required Not required Required*
Beam path Not required Not required Terminate beam at Terminate beam at
useful length useful length
Specular reflection Not required Not required Prevent unintentional Prevent unintentional
reflections reflections
Eye protection Not required Not required Not required Required under
special conditions
Laser safety officer Not required Not required Not required Required
Training Not required Not required Required for operator Required for operator
and maintenance and maintenance
personnel 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 Line Profile Sensors: User Manual Safety and Maintenance • 18

Power-On Delays
A delay circuit is required that illuminates warning indicators for a short period of time before supplying
power to the lasers.

Beam Attenuators
A permanently attached method of preventing human access to laser radiation other than switches,
power connectors or key control must be employed.

Emission Indicator
It is required that the controls that operate the sensors incorporate a visible or audible indicator when
power is applied and the lasers are operating. If the distance between the sensor and controls is more
than 2 meters, or mounting of sensors intervenes with observation of these indicators, then a second
power-on indicator should be mounted at some readily-observable position. When mounting the
warning indicators, it is important not to mount them in a location that would 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 tables provide the NOHD values for each sensor model and laser class, assuming
continuous operation of the laser. As a configurable device, a sensor 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 exposure can be
smaller than the frame period (less than 100% duty cycle), thereby reducing the NOHD. The tables
therefore show the worst-case NOHD.

Gocator Line Profile Sensors: User Manual Safety and Maintenance • 19

The following table provides NOHD values for current hardware versions of sensors.

Current Hardware Versions

Model Laser Class Wavelength (nm) Class I NOHD (mm) Class II NOHD (mm)

2410A 2M 405 259 a 103 a

2420A 3R 405 1300 a 500 a

2430A 2 660 670 -

2440A
3R 660 3340 1330
21x0D/23x0D (except 2x80D)

2350C 3B (NIR laser) 808 19750 -

2375C 3B (NIR laser) 808 13777 -

2375D 2 660 670 -

3R 660 3340 1330

2x80D 2 660 1310 -

3R 660 4700 1850

a With exposure time < 10 seconds. For longer exposure times, consult IEC 60825.

The following table provides NOHD values for older hardware version sensors.

Older Hardware Versions

Model Laser Class Wavelength (nm) Class I NOHD (mm) Class II NOHD (mm)

2120A to C, 2320A to C 2M 660 259 103

2130A to C, 2330A to C
3R 660 900 358
2140A to C, 2340A to C
2150A to C, 2350A to C 3B 660 5759 2292

2350A 3B (NIR laser) 808 19750 -

2170A to C, 2370A to C 2M 660 251 100

3R 660 875 348

3B 660 3645 1451

2375A 3B (NIR laser) 808 13777 -

2180A to C, 2380A to C 2M 660 245 97

3R 660 859 342

3B 660 2645 1052

Systems Sold or Used in the USA

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

Customers are responsible for achieving and maintaining this certification.

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.

Gocator Line Profile Sensors: User Manual Safety and Maintenance • 20

This publication, containing the full details of laser safety requirements, can be obtained directly from
the FDA, or downloaded from their web site at https://www.fda.gov/Radiation-
EmittingProducts/ElectronicProductRadiationControlProgram/default.htm.

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

Sensors should be connected to earth ground

All sensors should 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.

For a description of the connector pins, see Gocator I/O Connector on page 897.

Use a suitable power supply

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

Use care when handling powered devices

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

Heat Warning
If a sensor is not adequately heat-sunk, the housing may get hot enough to cause injury.

Sensors should be properly heat-sunk

To avoid injury and to ensure that a sensor functions properly, mount the sensor to a thermally
conductive material for good heat-sinking.

Handling, Cleaning, and Maintenance

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

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.

Gocator Line Profile Sensors: User Manual Safety and Maintenance • 21

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

Avoid excessive modifications to files stored on the sensor

Sensor settings 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. Do not operate this device near
windows or lighting fixtures that could influence measurement or data acquisition.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.

Avoid installing sensors in hazardous environments

To ensure reliable operation and to prevent damage to 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

Sensors are suitable for operation between 0–50° C (0–40° C for Gocator 2500 sensors) and 25–85%
relative humidity (non-condensing). Measurement error due to temperature is limited to 0.015% of full
scale per degree C. The storage temperature is -30–70° C.

The Master network controllers are similarly rated for operation between 0–50° C.

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

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 Line Profile Sensors: User Manual Safety and Maintenance • 22

Getting Started

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

Hardware and Firmware Capabilities

The following table lists the overall hardware and firmware capabilities of the different hardware
versions of line profile sensors.

New tools and

Runs firmware
Enhanced Enhanced Runs firmware Runs firmware PROFINET in
4.5 SR1 to
processor1 sensitivity2 2.0 to 3.6 4.0 to 4.5 SR1 firmware 5.1
latest3
and later4

2000 X

2100 & 2300 A/B X X X

2100 & 2300 C X X X

2100 & 2300 D X X X X

2400 A X X X X

1. More powerful sensor controller, allowing Gocator-based solutions to run faster than before, at a
lower overall temperature.

2. Twice the sensitivity of previous generations and effectively lower laser classifications (from 3B to 3R
in some cases, and from 3R to 2 in many cases). This lets you scan darker targets at higher speeds
without the safety considerations of class 3B lasers.

3. The A and B versions of Gocator 2100 and 2300 sensors can run the latest versions of firmware, but
they do not support the new tools and PROFINET output protocol available in these versions. You
can however use these features if you accelerate the sensors using GoMax or the PC-based Gocator
accelerator. For more information on the accelerator, see Gocator Acceleration on page 527.

4. You can however use these tools if you accelerate the sensors using GoMax or the PC-based Gocator
accelerator. For more information on the accelerator, see Gocator Acceleration on page 527. For a
complete list of tools not available on non-accelerated A revision sensors, see below.
The following tools are not available on non-accelerated revision A G2 sensors:

Profile Advanced Height Surface Filter

Profile Circle Radii Surface Flatness

Profile Closed Area Surface Mask

Gocator Line Profile Sensors: User Manual 23

Profile Edge Surface OCR

Profile Line Advanced Surface Section

Profile Template Matching Surface Segmentation

Surface Arithmetic Surface Stitch

Surface Ball Bar Surface Track

Surface Barcode Surface Transform

Surface Circular Edge Surface Vibration Correction

Surface Curvature Feature Create

Surface Direction Filter Feature Robot Pose

Surface Extend

Gocator Line Profile Sensors: User Manual Getting Started • 24

Hardware Overview
The following sections describe Gocator and its associated hardware.

Gocator Sensor

Gocator 2140 / 2340

Item Description

Camera Observes laser light reflected from target surfaces.

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

Gocator Cordsets
Gocator sensors use two types of cordsets: the Power & Ethernet cordset and the I/O cordset.

The Power & Ethernet cordset provides power, laser safety interlock to the sensor. It is also used for
sensor communication via 1000 Mbit/s Ethernet with a standard RJ45 connector. The Master version of
the Power & Ethernet cordset provides direct connection between the sensor and a Master network
controller, excluding Master 100 (for more information, see Master Network Controllers on page 903).

Gocator Line Profile Sensors: User Manual Getting Started • 25

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

The maximum cordset length is 60 m.

See Gocator I/O Connector on page 897 and Gocator Power/LAN Connector on page 895 for pinout
details.

See Accessories on page 921 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 sensors for standalone system setup (that is, a single sensor).

Item Description

Master Ethernet Port Connects to the RJ45 connector labeled Ethernet on the Power/LAN to Master cordset.
Master Power Port Connects to the RJ45 connector labeled Power/Sync on the Power/LAN to Master
cordset. Provides power and laser safety to the sensor.
Sensor I/O Port Connects to the I/O cordset.
Master Host Port Connects to the host PC's Ethernet port.
Power Accepts power (+48 V).
Power Switch Toggles sensor power.

Gocator Line Profile Sensors: User Manual Getting Started • 26

Item Description

Safety Switch Toggles safety signal provided to the sensors [O= off, I= on]. This switch must be set to
on in order to scan with laser-based sensors.
Trigger Signals a digital input trigger to the sensor.
Encoder Accepts encoder A, B and Z signals.
Digital Output Provides digital output.

See Master 100 on page 903 for pinout details.

Master 400 / 800 / 1200 / 2400

The Master 400, 800, 1200, and 2400 network controllers let you connect more than two sensors:

l Master 400: accepts four sensors

l Master 800 accepts eight sensors
l Master 1200: accepts twelve sensors
l Master 2400: accepts twenty-four sensors

Master 400 and 800

Gocator Line Profile Sensors: User Manual Getting Started • 27

 Master 1200 and 2400

Item Description

Sensor Ports Master connection for sensors (no specific order required).
Ground Connection Earth ground connection point.
Power and Safety Power and safety connections. Safety input must be high in order to scan with laser-
based sensors.
Encoder Accepts encoder signal.
Input Accepts digital input.

For pinout details for Master 400 or 800, see Master 400/800 on page 905.

For pinout details for Master 1200 or 2400, see Master 1200/2400 on page 918.

Master 810 / 2410

The Master 810 and 2410 network controllers let you connect multiple sensors to create a multi-sensor
system:

l Master 810 accepts up to eight sensors

l Master 2410 accepts up to twenty-four sensors
Both models let you divide the quadrature frequency of a connected encoder to make the frequency
compatible with the Master, and also set the debounce period to accommodate faster encoders. For
more information, see Configuring Master 810 on page 44. (Earlier revisions of these models lack the
DIP switches.)

Gocator Line Profile Sensors: User Manual Getting Started • 28

 Master 810

Master 2410

Item Description

Sensor Ports Master connection for sensors (no specific order required).
Power and Safety Power and safety connections. Safety input must be high in order to scan with laser-
based sensors.
Encoder Accepts encoder signal.
Input Accepts digital input.

DIP Switches Configures the Master (for example, allowing the device to work with faster encoders).
For information on configuring Master 810 and 2410 using the DIP switches, see
Configuring Master 810 on page 44.

For pinout details, see Master 810/2410 on page 909.

Gocator Line Profile Sensors: User Manual Getting Started • 29

Alignment Targets
Targets are used for alignment and calibrating transport systems.

Disks are typically used with systems containing a single sensor and can be ordered from LMI
Technologies. When choosing a disk for your application, select the largest disk that fits entirely within
the required field of view. See Accessories on page 921 for disk part numbers.

For dual- and multi-sensor systems, where sensor laser planes are roughly coplanar, bars are required to
match the length of the system by following the guidelines illustrated below. (LMI Technologies does not
manufacture or sell bars.)

For multi-sensor systems in a ring layout, use a polygon-shaped alignment target. The number of corners
in the target should correspond with the number of sensors in the system. Sensors should be positioned
so that each sensor can scan a corner and surrounding surface.

Gocator Line Profile Sensors: User Manual Getting Started • 30

For more information on alignment, see Aligning Sensors on page 144.

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 sensor is required. The device can be
connected to a computer's Ethernet port for setup and can also be connected to devices such as
encoders, photocells, or PLCs.

Gocator Line Profile Sensors: User Manual Getting Started • 31

Dual-Sensor System
In a dual-sensor system, two sensors work together to perform data acquisition 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. The sensor's software recognizes three installation orientations:
Opposite, Wide, and Reverse.

A Master network controller (excluding Master 100) must be used to connect two sensors in a dual-
sensor system. Power and Ethernet to Master cordsets are used to connect sensors to the Master.

Gocator Line Profile Sensors: User Manual Getting Started • 32

Multi-Sensor System
A Master network controller (excluding Master 100) can be used to connect two or more sensors into a
multi-sensor system. Master cordsets are used to connect the sensors to a Master. The Master provides
a single point of connection for power, safety, encoder, and digital inputs. A Master
400/800/810/1200/2400/2410 can be used to ensure that the scan timing is precisely synchronized
across sensors. Sensors and client computers communicate via an Ethernet switch (1 Gigabit/s
recommended).

Master networking hardware does not support digital, serial, or analog output.

Gocator Line Profile Sensors: User Manual Getting Started • 33

Gocator Line Profile Sensors: User Manual Getting Started • 34
Installation
The following sections provide grounding, mounting, and orientation information.

Mounting
Sensors should be mounted using a model-dependent number of screws. Some models also provide the
option to mount using bolts in through-body holes. Refer to the dimension drawings of the sensors in
Specifications on page 847 for the appropriate screw diameter, pitch, and length, and bolt hole diameter.

Proper care should be taken in order to ensure that the internal threads are not damaged from
cross-threading or improper insertion of screws.

Sensors should not be installed near objects that might occlude a camera's view of the projected light.
(Gocator 2880 is an exception, as it is specifically designed to compensate for occlusions.)

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

Gocator Line Profile Sensors: User Manual Getting Started • 35

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

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

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

See Layout on page 101 for more information on orientations.

Standalone Orientations

Single sensor above conveyor

Gocator Line Profile Sensors: User Manual Getting Started • 36

 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 Line Profile Sensors: User Manual Getting Started • 37

 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.

Cordset Bend Radius Limits

Limit bends in cordsets based on which type you are using (standard or high flex). The following table
lists the bend limits, as well as number of bends performed in LMI's testing.

In the table below, part numbers do not include the length indicator.

Bend Radius Limits

Number of
Outer Number of
Cable Type Cordset Part Numbers Static (mm) Dynamic (mm) Ticks
Diameter Ticks (U-shape)
(90° Tick Tock)

Power and
Ethernet to
30858, 30877,
Master 8.89 45 140 > 2,000,000
Standard 30861, 30880
Power and
Ethernet

I/O 30864,30883 8 45 124 > 2,000,000

Power and
Ethernet to
301165, 301173,
Master 8.5 34 40 > 2,000,000 > 7,000,000
High Flex 301176, 301171
Power and
Ethernet

I/O 301175,301172 9 34 40 > 2,000,000 > 7,000,000

Gocator Line Profile Sensors: User Manual Getting Started • 38

 Standard cordset bend radius limits

High flex cordset bend radius limits

The following illustrations show the test setups used to determine the number of bends.

Tick-tock test setup (θ = 180°)

U-shape test setup (L = 500 mm).

For cordset part numbers, see Accessories on page 921.

For more information on cordsets, see Gocator Cordsets on page 25.

Gocator Line Profile Sensors: User Manual Getting Started • 39

Grounding
Components of a sensor system should be properly grounded.

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

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

Recommended Practices for Cordsets

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

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 Line Profile Sensors: User Manual Getting Started • 40

2. Install a 360-degree ground clamp.

Master Network Controllers

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

When using the rack mount brackets, you must connect the frame or electrical cabinet to which
the Master is mounted to earth ground.

You must check electrical continuity between the mounting frame and RJ45 connectors on the
front using a multi-meter.

If you are mounting Master 810 or 2410 using the provided DIN rail mount adapters, you must ground
the Master directly; for more information, see Grounding When Using a DIN Rail (Master 810/2410)
below.

Grounding When Using a DIN Rail (Master 810/2410)

If you are using DIN rail adapters instead of the rack mount brackets, you must ensure that the Master is
properly grounded by connecting a ground cable to one of the holes indicated below. The holes accept
M4x5 screws.

You can use any of the ground holes shown below. However, LMI recommends using the holes
indicated on the housing by a ground symbol.

Gocator Line Profile Sensors: User Manual Getting Started • 41

An additional ground hole is provided on the rear of Master 810 and 2410 network controllers, indicated
by a ground symbol.

Additional Grounding Schemes

Potential differences and noise in a system caused by grounding issues can sometimes cause sensors to
reset or otherwise behave erratically. If you experience such issues, see the Gocator Grounding Guide
(https://downloads.lmi3d.com/gocator-grounding-guide) in the Download center for additional
grounding schemes.

Installing DIN Rail Clips: Master 810 or 2410

You can mount the Master 810 and 2410 using the included DIN rail mounting clips with M4x8 flat
socket cap screws. The following DIN rail clips (DINM12-RC) are included:

Older revisions of Master 810 and 2410 network controllers use a different configuration for the DIN rail
clip holes.

Gocator Line Profile Sensors: User Manual Getting Started • 42

To install the DIN rail clips:
1. Remove the 1U rack mount brackets.

2. Locate the DIN rail mounting holes on the back of the Master (see below).
Master 810:

Current revision

Older revision

Master 2410:

Current revision

Older revision

Gocator Line Profile Sensors: User Manual Getting Started • 43

3. Attach the two DIN rail mount clips to the back of the Master using two M4x8 flat socket cap screws for each
one.
The following illustration shows the installation of clips on a Master 810 (current revision) for horizontal
mounting:

Ensure that there is enough clearance around the Master for cabling.

Configuring Master 810

If you are using Master 810 with an encoder that runs at a quadrature frequency higher than 300 kHz,
you must use the device's divider DIP switches to limit the incoming frequency to 300 kHz.

Master 810 supports up to a maximum incoming encoder quadrature frequency of 6.5 MHz.

The DIP switches are located on the rear of the device.

Switches 5 to 8 are reserved for future use.

This section describes how to set the DIP switches on Master 810 to do the following:

l Set the divider so that the quadrature frequency of the connected encoder is compatible with the
Master.

l Set the debounce period to accommodate faster encoders.

Setting the Divider

To set the divider, you use switches 1 to 3. To determine which divider to use, use the following formula:

Output Quadrature Frequency = Input Quadrature Frequency / Divider

In the formula, use the quadrature frequency of the encoder (for more information, see Encoder
Quadrature Frequency on the next page) and a divider from the following table so that the Output
Quadrature Frequency is no more than 300 kHz.

Gocator Line Profile Sensors: User Manual Getting Started • 44

Divider Switch 1 Switch 2 Switch 3

1 OFF OFF OFF

2 ON OFF OFF

4 OFF ON OFF

8 ON ON OFF

16 OFF OFF ON

32 ON OFF ON

64 OFF ON ON

128 ON ON ON

The divider works on debounced encoder signals. For more information, see Setting the
Debounce Period below.

Encoder Quadrature Frequency

Encoder quadrature frequency is defined as illustrated in the following diagram. It is the frequency of
encoder ticks. This may also be referred as the native encoder rate.

You must use a quadrature frequency when determining which divider to use (see Setting the Divider on
the previous page). Consult the datasheet of the encoder you are using to determine its quadrature
frequency.

Some encoders may be specified in terms of encoder signal frequency (or period). In this case,
convert the signal frequency to quadrature frequency by multiplying the signal frequency by 4.

Setting the Debounce Period

If the quadrature frequency of the encoder you are using is greater than 3 MHz, you must set the
debounce period to “short.” Otherwise, set the debounce period to “long.”

You use switch 4 to set the debounce period.

Gocator Line Profile Sensors: User Manual Getting Started • 45

Debounce period Switch 4

short debounce ON

long debounce OFF

Rut-Scanning System Setup

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

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

The diagram above shows the clearance 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 network controller (excluding Master 100).

Gocator Line Profile Sensors: User Manual Getting Started • 46

To connect a Gocator 2375:

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

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

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

4. Repeat the steps above for each sensor.

See Master 400/800 on page 905 and Master 1200/2400 on page 918 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 52.

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

2. Upgrade the firmware.

a. Follow the steps in Firmware Upgrade on page 117.

3. Set up profiling parameters.

a. Follow the steps in Scan Setup and Alignment on page 121 to set up profiling parameters. Typically,
trigger, active area, and exposure will need to be adjusted.

Gocator Line Profile Sensors: User Manual Getting Started • 47

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

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

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

You can find the app notes under the How-to category in LMI's online Gocator resources.

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

Gocator Line Profile Sensors: User Manual Getting Started • 48

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

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

Client Setup
To connect to a sensor from a client PC, you must ensure the client's network card is properly
configured.

Sensors are shipped with the following default network configuration:

Setting Default

DHCP Disabled
IP Address 192.168.1.10
Subnet Mask 255.255.255.0
Gateway 0.0.0.0

All 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 53 to assign each
sensor a unique address.

Gocator Line Profile Sensors: User Manual Getting Started • 49

To connect to a sensor for the first time:

1. Connect cables and apply power.

Sensor cabling is illustrated in System
Overview on page 31.

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.

Gocator Line Profile Sensors: User Manual Getting Started • 50

 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 846 if you experience any problems while attempting to establish a
connection to the sensor.

Gocator Line Profile Sensors: User Manual Getting Started • 51

Gocator Setup
The Gocator is shipped with a default configuration that will produce 3D data for most targets.

The following describes how to set up a sensor system for operations. After you have completed the
setup, you can perform a scan to verify basic sensor operation.

Running a Standalone Sensor System

To configure a standalone sensor system:

1. Power up the sensor.

The power indicator (blue) should turn on immediately.

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

browser.
The sensor interface loads.
If a password has been set, you will be prompted to
provide it and then log in.

3. Go to the Manage page.

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

left).

Replay mode disables measurements.

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

Laser Safety input is high.
6. Go to the Scan page.
7. Observe the profile in the data viewer
8. Press the Start button or the Snapshot on the Toolbar
Standalone
to start the sensor.
The Start button is used to run sensors continuously.
The Snapshot button is used to trigger the capture of a
single frame.

Master 400/800/1200/2400

Master 810/2410

Gocator Line Profile Sensors: User Manual Getting Started • 52

9. Move a target into the sensor's projected light.
If a target object is within the sensor's measurement
range, the data viewer will display scan data, and the
sensor's range indicator will illuminate.
If no scan data is displayed in the data viewer, see
Troubleshooting on page 846.

10. Press the Stop button.

The projected light 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.

3. Enter the sensor's IP address 192.168.1.10 in

a web browser.
The web interface loads.

4. Go to the Manage Page.

Gocator Line Profile Sensors: User Manual Getting Started • 53

5. Modify the IP address to 192.168.1.11 in the
Networking category and click the Save
button.
When you click the Save button, you will be
prompted to confirm your selection.

6. Turn off the sensors, re-connect the Main

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

7. Enter the sensor's IP address 192.168.1.10 in

a web browser.
The web interface loads.

8. Select the Manage page.

9. Go to Manage page, Sensor System panel,

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

10. Select the Buddy sensor and click the Assign

button.
The Buddy sensor will be assigned to the
Main sensor and its status will be updated in
the System panel.

Gocator Line Profile Sensors: User Manual Getting Started • 54

 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 117 to upgrade the
sensors.

11. Ensure that the Laser Safety Switch is

enabled or the Laser Safety input is high.

Master 400/800/1200/2400

Master 810/2410

12. Ensure that Replay mode is off (the slider is

set to the left).

13. Go to the the Scan page.

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

15. Move a target into the laser plane.

If a target object is within the sensor's
measurement range, the data viewer will
display scan data, and the sensor's range
indicator will illuminate.
If no scan data is displayed in the data
viewer, see Troubleshooting on page 846.

16. Press the Stop button if you used the Start

button to start the sensors.
The laser should turn off.

Gocator Line Profile Sensors: User Manual Getting Started • 55

Required Ports
The following table lists the ports used by sensors, the Ethernet-based protocols, the SDK, and the PC-
based accelerator. Use this information to determine whether you need to open ports on your network
and to understand the traffic that a sensor system will produce over a network.

Ports used
Port Data Packet Protocol Description

80 TCP Server for sensor web interface

502 TCP Modbus protocol communication
2016 UDP Internal (protocol-independent)
2017 TCP Internal (protocol-independent)
2018 TCP Internal (protocol-independent)
2019 TCP Internal (protocol-independent)
2020 UDP Gocator protocol discovery; SDK; accelerator

3189 TCP Flash security policy server (only in Gocator 4.7 and earlier releases)

3190 TCP Gocator protocol control channel; SDK; accelerator

3191 TCP Emulator web port

3192 TCP Gocator protocol upgrade channel; SDK; accelerator

3194 TCP Gocator protocol health channel; SDK; accelerator

3195 TCP Gocator protocol private data

3196 TCP Gocator protocol discovery; SDK; accelerator

3197 UDP Emulator scenario management (RPC)

3220 UDP Gocator protocol discovery; SDK; accelerator

8190 TCP ASCII protocol

44818 TCP EtherNet/IP protocol (standard port)

44818 UDP EtherNet/IP protocol (standard port)

For more information on how the different protocols use these ports, see the appropriate section in
Protocols on page 647.

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

Management and Maintenance (page 98)

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

Scan Setup and Alignment (page 121)

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

Gocator Line Profile Sensors: User Manual Getting Started • 56

Models (page 181)
Contains settings for creating part matching models and sections. 

Measurement and Processing (page 201)

Contains built-in measurement tools and their settings.

Output (page 509)

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

Dashboard (page 523)

Provides monitoring of measurement statistics and sensor health.

Toolbar (page 87)

Controls sensor operation, manages jobs, and replays recorded measurement data.

Gocator Line Profile Sensors: User Manual Getting Started • 57

How Gocator Works

The following sections provide an overview of how Gocator acquires and produces data, detects and
measures parts, and controls devices such as PLCs. Some of these concepts are important for
understanding how you should mount sensors and configure settings such as active area.

You can use the Accelerator to speed up processing of data. For more information, see Gocator
Acceleration on page 527.

3D Acquisition
After a sensor system has been set up and is running, it is ready to start capturing 3D data.

Laser profile sensors project a laser line onto the target.

The sensor's camera views the laser line on the target from an angle and captures the reflection of the
laser light off the target. The camera captures a single 3D profile—a slice, in a sense—for each camera
exposure. The reflected laser light falls on the camera at different positions, depending on the distance
of the target from the sensor. The sensor’s laser emitter, its camera, and the target form a triangle. The
sensor uses the known distance between the laser emitter and the camera, and two known angles—one
of which depends on the position of the laser light on the camera—to calculate the distance from the
sensor to the target. This translates to the height of the target. This method of calculating distance is
called laser triangulation.

Gocator Line Profile Sensors: User Manual 58

Target objects typically move on a conveyor belt or other transportation mechanism under a sensor
mounted in a fixed position. Sensors can also be mounted on robot arms and moved over the target. In
both cases, the sensor captures a series of 3D profiles, building up a full scan of the target. Sensor speed
and required exposure time to measure the target are typically critical factors in applications with line
profile sensors.

Gocator sensors are always pre-calibrated to deliver 3D data in engineering units throughout
their measurement range.

Clearance Distance, Field of View and Measurement Range

Clearance distance (CD), field of view (FOV), and measurement range (MR) are important concepts for
understanding the setup of a sensor and for understanding results.

Clearance distance – The minimum distance from the sensor that a target can be scanned and
measured. A target closer than this distance will result in invalid data.

Measurement range – The vertical distance, starting at the end of the clearance distance, in which
targets can be scanned and measured. Targets beyond the measurement range will result in invalid data.

Field of view – The width on the X axis along the measurement range. At the far end of the
measurement range, the field of view is wider, but the X resolution and Z resolution are lower. At the
near end, the field of view is narrower, but the X resolution is higher. When resolution is critical, if
possible, place the target closer to the near end. (For more information on the relation between target
distance and resolution, see Z Resolution on page 61.)

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Resolution and Accuracy
The following sections describe X Resolution, Z Resolution, and Z Linearity. These terms are used in the
Gocator datasheets to describe the measurement capabilities of the sensors.

X Resolution
X resolution is the horizontal distance between each measurement point along the laser line. This
specification is based on the number of camera columns used to cover the field of view (FOV) at a
particular measurement range.

Because the FOV is trapezoidal (shown in red, below), the distance between points is closer at the near
range than at the far range. This is reflected in the Gocator data sheet as the two numbers quoted for X
resolution.

X Resolution is important for understanding how accurately width on a target can be measured.

When the sensor runs in Profile mode and Uniform Spacing is enabled, the 3D data is
resampled to an X interval that is different from the raw camera resolution. For more
information, see Resampled Data and Point Cloud Data on page 68.

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Z Resolution
Z Resolution gives an indication of the smallest detectable height difference at each point, or how
accurately height on a target can be measured. Variability of height measurements at any given moment,
in each individual 3D point, with the target at a fixed position, limits Z resolution. This variability is
caused by camera and sensor electronics.

Like X resolution, Z resolution is better closer to the sensor. This is reflected in the Gocator datasheets as
the two numbers quoted for Z resolution.

Z Linearity
Z linearity is the difference between the actual distance to the target and the measured distance to the
target, throughout the measurement range. Z linearity gives an indication of the sensor's ability to
measure absolute distance.

Gocator Line Profile Sensors: User Manual How Gocator Works • 61

Z linearity is expressed in the Gocator data sheet as a percentage of the total measurement range.

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

Coordinate Systems
Range data is reported in one of three coordinate systems, which generally depends on the alignment
state of the sensor.

l Sensor coordinates: Used on unaligned sensors.

l System coordinates: Used on aligned sensors. Applies to either standalone or multi-sensor sys-
tems.

l Part and section coordinates: Data can optionally be reported using a coordinate system relative
to the part itself.
These coordinate systems are described below.

For most Gocator 2100, 2300, 2400, and 2800 sensors, X and Y increase as illustrated below,
relative to the connectors. For Gocator 2320, 2410, and 2420, one or both of these axes
increase relative to the laser and camera; for more information, see the coordinate system
orientations illustrated in the specification drawings of these sensors in Sensors on page 847.

Sensor Coordinates
Unaligned sensors use sensor coordinates: The measurement range (MR) is along the Z axis. The sensor’s
field of view (FOV) is along the X axis. Most importantly, the origin is at the center of the measurement
range and field of view.

Gocator 2130/2330 sensor

Gocator Line Profile Sensors: User Manual How Gocator Works • 63

The Y axis represents the relative position of the part in the direction of travel. Y position increases as the
object moves forward (increasing encoder position). The image below represents a left-handed
coordinate system.

Gocator 2130/2330 sensor

The mounting direction, relative to the direction of travel, can be set using either the Normal or Reverse
layout. For more information, see Layout on page 101.

System Coordinates
Aligning sensors adjusts the coordinate system in relation to sensor coordinates, resulting in system
coordinates (for more information on sensor coordinates, see Sensor Coordinates on the previous page).
For more information on aligning sensors, see Alignment on page 143.

The adjustments resulting from alignment are called transformations (offsets along the axes and
rotations around the axes). Transformations are displayed in the Sensor panel on the Scan page. For
more information on transformations in the web interface, see Transformations on page 133.

System coordinates are aligned so that the system X axis is parallel to the alignment target surface. The
system Z origin is set to the base of the alignment target object. In both cases, alignment determines the
offsets in X and Z.

Alignment is used with a single sensor to compensate for mounting misalignment and to set a zero
reference, such as a conveyor belt surface.

Gocator Line Profile Sensors: User Manual How Gocator Works • 64

 Gocator 2130/2330 sensor

Additionally, in multi-sensor systems, alignment sets a common coordinate system. That is, scan data
and measurements from the sensors are expressed in a unified coordinate system.

Gocator 2130/2330 sensors

Alignment can also determine offsets along the Y axis. This allows setting up a staggered layout in multi-
sensor systems. This is especially useful in side-by-side mounting scenarios, as it provides full coverage
for models with a small scan area.

As with sensor coordinates, in system coordinates, Y position increases as the object moves forward
(increasing encoder position).

Alignment also determines the Y Angle (angle on the X–Z plane, around the Y axis) needed to align sensor
data. This is also sometimes called roll correction.

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 Gocator 2130/2330: Y Angle

Y angle is positive when rotating from positive X to positive Z axis.

Similarly, tilt can be determined around the X and the Z axis, which compensates for the angle in height
measurements. These are sometimes called pitch correction and yaw correction, respectively. Rotation
around the X axis often used for specular mounting.

Gocator 2130/2330: X Angle

Gocator Line Profile Sensors: User Manual How Gocator Works • 66

 Gocator 2130/2330 sensor: Z Angle

X angle is positive when rotating from positive Y to positive Z. Z angle is positive when rotating from
positive X to positive Y.

When applying the transformations, the object is first rotated around X, then Y, and then Z, and then the
offsets are applied.

Part and Section Coordinates

When you work with parts or sections extracted from scan data, a different coordinate system is
available.

Part data can be expressed in aligned system coordinates or unaligned sensor coordinates. But part data
can also be represented in part coordinates: data and measurement results are in a coordinate system
that places the X and Y origins at the center of the part. The Z origin is at the surface surrounding the
alignment target (if the sensor or system has been aligned) or in the center of the center of the
measurement range (if the sensor or system has not been aligned).

The Frame of Reference setting, in the Part Detection panel on the Scan page, controls
whether part data is recorded using sensor/system coordinates or part coordinates.

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Sections are always represented in a coordinate system similar to part coordinates: the X origin is always
at the center of the extracted profile, and the Z origin is at the bottom of the alignment target (or in the
center of the measurement range if the sensor is unaligned).

Switching between Coordinate Systems

In many situations, when working with part data that has been recorded with Frame of Reference set
to Part, it is useful to have access to the "real-world" coordinates, rather than part-relative coordinates.
Sensors provide special "global" measurements, in the Bounding Box tools, that you can use in scripts to
convert from part coordinates to sensor/system coordinates. Note that the same applies to sections.

For more information, see the Profile Bounding Box tool or the Surface Bounding Box tool, and the
Script tool.

Resampled Data and Point Cloud Data

The data that a sensor produces in Profile mode is available in two formats: as resampled data and as
point cloud data. The sensor produces resampled data when Uniform Spacing is enabled and produces
point cloud data when Uniform Spacing is disabled. The setting is available in the Scan Mode panel, on
the Scan page.

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When Uniform Spacing is enabled, the ranges that make up a profile are resampled so that the spacing
is uniform along the laser line (X axis). The resampling divides the X axis into fixed size "bins." Profile
points that fall into the same bin are combined into a single range value (Z).

The size of the spacing interval is set under the Spacing tab in the Sensor panel on Scan page.

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

When uniform spacing is not enabled, no processing is required on the sensor. This frees up processing
resources in the sensor, but usually requires more complicated processing on the client side. Ranges in
this case are reported in (X, Z) coordinate pairs.

Most built-in measurement tools in the Gocator in Profile mode operate on profiles with uniform
spacing. A limited number of tools can operate on profiles without uniform spacing. For more
information on the profile tools, see Profile Measurement on page 225.

A drawback of uniform spacing is that if sensors are angled to scan the sides of a target, data on the
"verticals" is lost because points falling in the same "bin" are combined. When Uniform Spacing is
disabled, however, all points are preserved on the sides. In this case, the data can be processed by the
subset of tools that work on profiles without uniform spacing. Alternatively, the data can be processed
externally using the SDK.

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 When uniform spacing is enabled, in the Ethernet output, only the range values (Z) are reported.
The X positions can be reconstructed through the array index at the receiving end (the client).
For more information on Ethernet output, see Ethernet Output on page 510.

For information on enabling uniform spacing, see Scan Modes on page 122.

Data Generation and Processing

After scanning a target, a sensor can process the scan data to allow the use of more sophisticated
measurement tools. This section describes the following concepts:

l Surface generation
l Part detection
l Sectioning

Surface Generation
Laser profile sensors create a single profile with each exposure. These sensors can combine a series of
profiles gathered as a target moves under the sensor to generate a height map, or surface, of the entire
target.

For more information, see Surface Generation on page 154.

Part Detection
After a sensor has generated data by combining single exposures into larger pieces of data, the firmware
can isolate discrete parts on the generated surface into separate scans representing parts.

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Gocator can then perform measurements on these isolated parts.

Part detection is useful when measurements on individual parts are needed and for robotic pick and
place applications.

For more information on part detection, see Part Detection on page 158.

Sectioning
In Surface mode, the sensor can also extract a profile from a surface or part using a line you define on
that surface or part. The resulting profile is called a “section.” A section can have any orientation on the
surface, but its profile is parallel to the Z axis.

You can use most of Gocator's profile measurement tools on a section, letting you perform
measurements that are not possible with surface measurement tools.

For more information on sections, see Sections on page 195.

Part Matching
The sensor can match scanned parts to the edges of a model based on a previously scanned part (see
Using Edge Detection on page 182) or to the dimensions of a fitted bounding box or ellipse that
encapsulate the model (see Using Bounding Box and Ellipse on page 191). When parts match, the sensor
can rotate scans so that they are all oriented in the same way. This allows measurement tools to be
applied consistently to parts, regardless of the orientation of the part you are trying to match.

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Measurement
After Gocator scans a target and, optionally, further processes the data, the sensor is ready to take
measurements on the scan data.

Gocator provides several measurement tools, each of which provides a set of individual measurements,
giving you dozens of measurements ideal for a wide variety of applications to choose from. The
configured measurements start returning pass/fail decisions, as well as the actual measured values,
which are then sent over the enabled output channels to control devices such as PLCs, which can in turn
control ejection or sorting mechanisms. (For more information on measurements and configuring
measurements, see Measurement and Processing on page 201. For more information on output
channels, see Output and Digital Tracking on page 82.)

You can create custom tools that run your own algorithms. For more information, see GDK on
page 823.

A part's position can vary on a transport system. To compensate for this variation, Gocator can anchor a
measurement to the positional measurement (X, Y, or Z) or Z angle of an easily detectable feature, such
as the edge of a part.

The calculated offset between the two ensures that the anchored measurement will always be properly
positioned on different parts.

Tool Chaining
Gocator’s measurement and processing tools can be linked together: one tool uses another tool’s output
as input. This gives you a great deal of control and flexibility when it comes to implementing your
application.

The following table lists the available outputs from Gocator’s tools:

Gocator Line Profile Sensors: User Manual How Gocator Works • 72

Gocator tool outputs
Supported Output Visualization in Data Input for Other
Data Type
Protocol Viewer Tools

Measurement Single 64-bit value SDK, PLC protocols Rendered on tool's input Not supported as input,
data positional and Z angle
measurements can be
used by some tools for
anchoring

Geometric Structured data Cannot be output via Rendered on tool's input Tools that accept the
Features values: for protocols data specific features
example, point or
line

Tool Data Binary data SDK Rendered separately Tools that accept the
structure: Profile, specific data type
Surface, or Generic

The following sections describe these types of output and how you use them as input.

Anchoring Measurements
Tools can use the positional measurements (X, Y, or Z) of other tools as anchors to compensate for
minor shifts of parts: anchored tools are “locked” to the positional measurements of the anchoring tool’s
measurements. Some tools can also use a Z Angle measurement as an anchor. Typically, you will use
measurements from more easily found features on a target—such as an edge or a hole—as anchors to
accurately place other positional and dimensional measurements. This can help improve repeatability
and accuracy in the anchored tools. Note that anchoring measurements are used to calculate the offsets
of the anchored tools: the results from these measurements are not used as part of the anchored tool's
measurements.

Anchoring measurements are rendered as overlays on a tool's input data.

Gocator Line Profile Sensors: User Manual How Gocator Works • 73

 Height measurements rendered a tool's input: a small PCB component (F2) relative to nearby surface (F1),
anchored to positional (X and Y) measurements of the hole (lower right)
and to the Z angle of a larger component to the left (white arrow)

You enable anchoring on the Anchoring tab on the Tools panel:

Note that anchoring is visualized on the anchored tool’s input.

When combined with the matching and rotation capabilities of part matching, anchoring accounts for
most sources of variation in part position and orientation and, consequently, avoids many measurement
errors. For more information on anchoring, see Measurement Anchoring on page 216.

Gocator Line Profile Sensors: User Manual How Gocator Works • 74

Geometric Features
Many of Gocator’s measurement tools can output data structures such as points, lines, planes, and
circles. These structures are called geometric features and contain the components you would expect: a
point geometric feature contains X, Y, and Z components (representing the location of the point in 3D
space). Examples of point geometric features output by Gocator’s measurement tools are hole center
points, the tip and base of studs, or a position on a surface.

Geometric features are rendered as overlays on a tool's input data.

Point geometric feature (a hole's Center Point) rendered

on a tool's input as a small white circle

Gocator’s “Feature” tools (such as Feature Dimension and Feature Intersect) use geometric features as
inputs. For example, because the point geometric feature representing the center of a hole has X, Y, and
Z components, you can perform dimensional measurements between it and another geometric feature,
such as another hole or an edge. The Feature Create tool takes one or more geometric features as input
and generates new geometric features (for example, creating a line from two point geometric features).

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You can then perform measurements on those features directly in the tool or in other Feature
measurement tools. You can also use angle measurements on the newly created features for anchoring.
For more information on Feature tools, see Feature Measurement on page 484.

You enable geometric feature output on a tool’s Features tab:

Center Point geometric feature of a Surface Hole tool enabled on Features tab

You enable geometric feature inputs on a Feature tool’s Parameters tab:

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 Setting the Point and Reference Feature to the Center Point
geometric features of two different holes

Geometric features are distinct from the “feature points” used by certain tools to determine which data
point in a region should be used in a measurement, for example, the maximum versus the minimum on
the Z axis of a data point in a region of interest:

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For more information on feature points, see Feature Points on page 209.

Tool Data
Some measurement and processing tools can output more complex data, which can be used as input by
other tools or SDK applications. The following types of data are available: Profile, Surface, and Generic.

Profile and Surface tool data are identical in nature to the data produced by a sensor scan, except that
they are the processed result from a tool. This kind of data can be used as input in compatible tools.
Examples of this kind of this kind of data are the Stitched Surface output from the Surface Stitch tool, or
the Filtered Surface output from the Surface Filter tool. Another important kind of data is the
Transformed Surface produced by the Surface Transform tool, which transforms (shifting or rotating on
the X, Y, and Z axes) the sensor's scan data; the Surface Transform tool supports a full 6 degrees of
freedom. For more information, see Transform on page 464.

Both Profile and Surface tool data can be visualized in the data viewer, not as an overlay, however, but as
independent data. The following is the output of the Surface Filter tool . Note that the first drop-down is
set to Tool, to tell the sensor to display the tool data output, rather than the sensor output:

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The following shows the scan data coming directly from the sensor's scan engine. Note that the first
drop-down is set to Surface, rather than Tool.

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You enable this processed output in a tool’s Data tab:

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 Stitched Surface tool enabled in Surface Stitch tool

You enable tool data input on a tool’s Parameters tab, using the Stream drop-down:

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 Setting a Surface Flatness tool's input to a Surface Stitch tool's data output

Generic tool data can’t be visualized. It can however be accessed from GDK tools or SDK applications you
create. Examples of Generic tool data are the Segments Array data produced by the Surface
Segmentation tool, or the Output Measurement data produced by the Surface Flatness. For more
information on the SDK, see GoSDK on page 813. Generic tool data is enabled in the same way as Profile
and Surface tool data, from the tool’s Data tab.

You may need to switch the first data viewer drop-down to “Tool” to view Profile or Surface tool data:

Output and Digital Tracking

After Gocator has scanned and measured parts, the last step in the operation flow is to output the
results and/or measurements.

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One of the main functions of Gocator sensors is to produce pass/fail decisions, and then control
something based on that decision. Typically, this involves rejecting a part through an eject gate, but it can
also involve making decisions on good, but different, parts. This is described as “output” in Gocator.
Gocator supports the following output types:

l Ethernet (which provides industry-standard protocols such as Modbus, EtherNet/IP, and ASCII, in
addition to the Gocator protocol)
l Digital
l Analog
l Serial interfaces
An important concept is digital output tracking. Production lines can place an ejection or sorting
mechanism at different distances from where the sensor scans the target. For this reason, Gocator lets
you schedule a delayed decision over the digital interfaces. Because the conveyor system on a typical
production line will use an encoder or have a known, constant speed, targets can effectively be “tracked”
or "tagged." Gocator will know when a defective part has traveled far enough and trigger a PLC to
activate an ejection/sorting mechanism at the correct moment. For more information on digital output
tracking, see Digital Output on page 514.

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Gocator Web Interface

The following sections describe the Gocator web interface.

Browser Compatibility
LMI recommends Chrome, Firefox, or Edge for use with the Gocator web interface.

Internet Explorer 11 is supported with limitations; for more information, see below.

Internet Explorer 11 Issues

If you use sensors with large datasets on Internet Explorer 11, you may encounter the following issues.

Internet Explorer Switches to Software Rendering

If the PC connected to a sensor is busy, Internet Explorer may switch to software rendering after a
specific amount of time. If this occurs, data is not displayed in the data viewer, and the only reliable way
to recover from the situation is to restart the browser.

It is possible to remove the time limit that causes this issue, but you must modify the computer’s
registry. To do so, follow Microsoft's instructions at https://support.microsoft.com/en-
us/help/3099259/update-to-add-a-setting-to-disable-500-msec-time-limit-for-webgl-frame.

Internet Explorer Displays "Out of Memory"

In some situations, you may encounter “Out of Memory” errors in the sensor's web interface. This issue
can be resolved by checking two options in Internet Explorer.

To correct out of memory issues in Internet Explorer 11:

1. In upper right corner, click the settings icon ( ), and choose Internet options.

2. In the dialog that opens, click the Advanced tab, and scroll down to the Security section.

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3. In the dialog, check both "Enable 64-bit processes for Enhanced Protected Mode" and "Enable Enhanced
Protected Mode".

4. Click OK and then restart your computer for the changes to take effect.

User Interface Overview

Gocator sensors are configured by connecting to the IP address of a sensor with a web browser.

The web interface is shown below.

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 Element Description

1 Manage page Contains settings for sensor system layout, network, motion and
alignment, handling jobs, and sensor maintenance. See Management and
Maintenance on page 98.

2 Scan page Contains settings for scan mode, trigger source, detailed sensor
configuration, and performing alignment. See Scan Setup and Alignment on
page 121.

3 Model page Lets you set up sections and part matching. See Models on page 181

4 Measure page Contains built-in measurement tools and their settings. See Measurement
and Processing on page 201.

5 Output page Contains settings for configuring output protocols used to communicate
measurements to external devices. See Output on page 509.

6 Dashboard page Provides monitoring of measurement statistics and sensor health. See
Dashboard on page 523.

7 CPU Load and Speed Provides important sensor performance metrics. See Metrics Area on
page 95.

8 Toolbar Controls sensor operation, manages jobs, and filters and replays
recorded data. See Toolbar on the next page.

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

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 Element Description

10 Data viewer Displays sensor data, tool setup controls, and measurements. See Data
Viewer on page 165 for its use when the Scan page is active and on page
202 for its use when the Measure page is active.

11 Status bar Displays log messages from the sensor (errors, warnings, and other
information) and frame information, and lets you switch the interface
language. For more information, see Status Bar on page 95.

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

Element Description

1 Job controls For saving and loading jobs.

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

Creating, Saving and Loading Jobs (Settings)

A sensor can store several hundred jobs. Being able to switch between jobs is useful when a sensor 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 sensor'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 sensor web interface in the emulator, some changes are
saved automatically, while other changes are temporary until you save them manually. The following
table lists the types of information that can be saved in a sensor.

Setting Type Behavior

Job Most of the settings that can be changed in the sensor'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.

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Setting Type Behavior

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.

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 112 for more information.

Recording, Playback, and Measurement Simulation

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

Recording and playback are controlled using the toolbar controls.

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 Recording and playback controls when replay is off

To record live data:

1. Toggle Replay mode off by setting the slider to the left in the Toolbar.

Replay mode disables measurements.

2. (Optional) Configure recording filtering.

For more information on recording filtering, see Recording Filtering on page 91.

3. Click the Record button to enable recording.

The center of the Record button turns red.

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

4. Press the Snapshot button or Start button.

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

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

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 Playback controls when replay is on

To replay data:

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

2. Use the Replay slider or the Step Forward, Step Back, or Play buttons to review data.
The Step Forward and Step Back buttons move the current replay location forward and backward by a
single frame, respectively.
The Play button advances the replay location continuously, animating the playback until the end of the
replay data.
The Stop button (replaces the Play button while playing) can be used to pause the replay at a particular
location.
The Replay slider (or Replay Position box) can be used to go to a specific replay frame.

To simulate measurements on replay data:

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

2. Go to the Measure page.

Modify settings for existing measurements, add new measurement tools, or delete measurement tools
as desired. For information on adding and configuring measurements, see Measurement and Processing
on page 201.

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 523.

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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
the sensor records, based on one or more conditions, which makes it easier to find problems.

How a sensor treats conditions

Setting Description

Any Condition The sensor records a frame when any condition is true.

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

Conditions
Setting Description

Any Measurement The sensor records a frame when any measurement is in the state you select.
The following states are supported:
l pass
l fail or invalid
l fail and valid
l valid
l invalid
Single Measurement The sensor records a frame if the measurement with the ID you specify in ID is in the
state you select. This setting supports the same states as the Any Measurement
setting (see above).

Any Data At/Above Threshold : The sensor records a frame if the number of valid points in
the frame is above the value you specify in Range Count Threshold .
Below Threshold : The sensor 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.

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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 the sensor treats conditions:
For information on the available settings, see How a sensor treats conditions on the previous page.

4. Configure the conditions that will cause the sensor to record a frame:
For information on the available settings, see Conditions on the previous page.

5. Click the "x" button or outside of the Recording Filtering dialog to close the dialog.
The recording filter icon turns green to show that recording filters have been set.
When you run the sensor, it 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 sensor to a client computer, or uploaded
from a client computer to a sensor.

Data can also be exported from a sensor 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:

1. Click the Download button .

2. In the File Download dialog, click Save.
3. In the Save As... dialog, choose a location, optionally change the name, and click Save.

To upload replay data:

1. Click the Upload button .

The Upload menu appears.

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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.

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

3. Do one of the following:

l Click Discard to discard any unsaved changes.

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

4. If you clicked Discard, navigate to the replay data to upload from the client computer and click OK.
The replay data is loaded, and a new unsaved, untitled job is created.

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

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

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To export replay data in the CSV format:

1. In the Scan Mode panel, switch to Profile or Surface.

2. Switch to Replay mode.

3. Click the Export button and select All Data as CSV.

In Profile mode, all data in the record buffer is exported. In Surface mode, only data at the current
replay location is exported.
Use the playback control buttons to move to a different replay location; for information on playback,
see To replay data in Recording, Playback, and Measurement Simulation on page 88.

4. (Optional) Convert exported data to another format using the CSV Converter Tool. For information on
this tool, see CSV Converter Tool on page 837.

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 Switch to Replay mode and click the Export button and select Intensity data as BMP.

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

Use the playback control buttons to move to a different replay location; for information on playback,
see To replay data in Recording, Playback, and Measurement Simulation on page 88.

To export video data to a BMP file:

1. In the Scan Mode panel, switch to Video mode.

Use the playback control buttons to move to a different replay location; for information on playback,
see To replay data in Recording, Playback, and Measurement Simulation on page 88.

2. Switch to Replay mode.

3. Click the Export button and select Video data as BMP.

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

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

CPU at 100%

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

Open the log for details on the warning. For more information on logs, see Log on the next page.

When a sensor is accelerated a "rocket" icon appears in the metrics area.

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

When the Scan page is active, the data viewer displays sensor data and can be used to adjust the active
area and other settings. Depending on the selected operation mode (page 122), the data viewer can
display video images, profiles, sections, or surfaces. For details, see Data Viewer on page 165.

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 202.

Status Bar
The status bar lets you do the following:

l See sensor messages in the log.

l See frame information.
l Change the interface language.
l Switch to Quick Edit mode.

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Log
The log, located at the bottom of the web interface, is a centralized location for all messages that the
sensor 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.

Frame Information
The area to the right of the status bar displays useful frame information, both when the sensor is
running and when viewing recorded data.

This information is especially useful when you have enabled recording filtering. If you look at a recording
playback, when you have enabled recording filtering, some frames can be excluded, resulting in variable
"gaps" in the data.

The following information is available:

Frame Index: Displays the index in the data buffer of the current frame. The value resets to 0 when the
sensor is restarted or when recording is enabled.

Master Time: Displays the recording time of the current frame, with respect to when the sensor was
started.

Encoder Index: Displays the encoder value at the time of the last encoder Z index pulse. Note this is not
the same as the encoder value at the time the frame was captured.

Timestamp: Displays the timestamp the current frame, in microseconds from when the sensor was
started.

To switch between types of frame information:

l Click the frame information area to switch to the next available type of information.

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Quick Edit Mode
When working with a very large number of measurement tools (for example, a few dozen) or a very
complex user-created GDK tool, you can switch to a "Quick Edit" mode to make configuration faster.

When this mode is enabled, the data viewer and measurement results are not refreshed after each
setting change. Also, when Quick Edit is enabled, in Replay mode, stepping through frames or playing
back scan data does not change the displayed frame.

When a sensor is running, Quick Edit mode is ignored: all changes to settings are reflected
immediately in the data viewer.

Interface Language
The language button on the right side of the status bar at the bottom of the interface lets you change
the language of the interface.

To change the language:

1. Click the language button at the bottom of the web interface.

2. Choose a language from the list.

The interface reloads on the page you were working in, displaying the page using the language you chose.
The sensor state is preserved.

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

Manage Page Overview

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

Element Description

1 Sensor System Contains sensor information, buddy assignment, and the

autostart setting. See Sensor System on the next page.

2 Layout Contains settings for configuring dual- and multi-sensor system

layouts.

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

page 109.

4 Motion and Alignment Contains settings to configure the encoder. See Motion and
Alignment on page 110.

5 Jobs Lets you manage jobs stored on the sensor. See Jobs on
page 112.

6 Security Lets you change passwords. See Security on page 114.

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 Element Description

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

sensors. See Maintenance on page 115.

8 Support Lets you open an HTML version or download a PDF version of the

manual, download the SDK, or save a support file. Also provides
device information. See Support on page 118

Sensor System
The following sections describe the Sensor System category on the Manage page. This category
provides sensor information and the autostart setting. It also lets you choose which sensors to add to a
dual- or multi-sensor system.

Dual- and Multi-sensor Systems

Gocator supports dual- and multi-sensor systems. In these systems, data from each sensor is combined
into a single profile or surface, effectively creating a wider field of view. Any measurements you
configure work on the combined data.

Although some sensor models have much wider fields of view, the trade-off is that their resolution is
much lower: finer features on targets are below their resolution and therefore can't be measured.
Models with smaller fields of view—which limit the maximum size of targets that can be scanned—have
vastly finer resolutions. When you combine multiple sensors with a smaller field of view, you obtain a
wider overall field of view with the finer resolution of those models.

The sensors lets you easily and quickly set up dual- and multi-sensor systems from the web interface.
Setting up these systems involves two steps:

1. Assigning one or more additional sensors, called Buddy sensors, to the Main sensor. For more inform-
ation, see Buddy Assignment on the next page.

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2. Choosing the layout of the dual- or multi-sensor system. For more information, see Layout on the
next page.

Buddy Assignment
In a dual- or multi-sensor system, the Main sensor controls a second sensor, called the Buddy sensor,
after the Buddy sensor is assigned to the Main sensor. You configure both sensors through the Main
sensor's interface.

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

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

A sensor can only be assigned as a Buddy if its firmware and model number match the
firmware and model number of the Main sensor.

To assign a Buddy sensor:

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

2. In the Visible Sensors list, click the "plus" icon next to the sensor you want to add as a Buddy.
The sensor you added to the system appears in a Buddies list.

3. Repeat the previous step to add more sensors to the system.

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After you have assigned the desired number of Buddy sensors, you must specify system's layout. For
more information, see Layout below.

To remove a Buddy, click the "minus" icon next to the sensor you want to remove. To remove all
Buddies, click Remove All Buddies.

Over Temperature Protection

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

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

To enable/disable overheat temperature protection:

1. Check/uncheck the Over Temperature Shutoff option.

2. Save the job file.

Sensor Autostart
With the Autostart setting enabled, scanning and measurements begin automatically when the sensor
is powered on. Autostart must be enabled if the sensor will be used without being connected to a
computer.

To enable/disable Autostart:

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

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

Layout
The following sections describe the Layout category on the Manage page. This category lets you
configure dual- and multi-sensor systems.

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Mounting orientations must be specified for a dual- or multi-sensor system. This information allows the
alignment procedure to determine the correct system-wide coordinates for laser profiling and
measurements. For more information on sensor and system coordinates, see Coordinate Systems on
page 63.

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

For multi-sensor layouts with sensors angled around the Y axis, to get "side" data, you must
uncheck Uniform Spacing before scanning. The Y offset, X angle, and Z angle transformations
cannot be non-zero when Uniform Spacing is unchecked. Therefore, when aligning a sensor
using a bar alignment target with Uniform Spacing unchecked, set the Degrees of Freedom
setting to X, Z, Y Angle, which prevents these transformations from being non-zero.

Supported Layouts
Layout Type Example

Normal
The sensor operates as an isolated device.

Reverse
The sensor operates as an isolated device,
but in a reverse orientation. You can use
this layout to change the handedness of the
data.

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 Layout Type Example

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

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

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

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 Layout Type Example

Grid
For systems composed of three or more
sensors. Sensors can be mounted in a 2-
dimensional grid using the settings in the
Layout Grid area below. Side-by-side and
top-bottom configurations are supported,
as well as combinations of these and
reversed orientations.

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 Layout Type Example

To specify a standalone layout:

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

2. Under Layout Types, choose Normal or Reverse layout by clicking one of the layout buttons.

See the table above for information on layouts.

Before you can select a dual-sensor layout, you must assign a second sensor as the Buddy
sensor. For more information, see Dual- and Multi-sensor Systems on page 99.

To specify a dual-sensor layout:

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

2. Under Layout Types, choose a layout by clicking one of the layout buttons.

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 See the table above for information on layouts.

Before you can select a multi-sensor layout, you must assign two or more additional sensors as
Buddy sensors. For more information, see Dual- and Multi-sensor Systems on page 99.

To specify a multi-sensor layout:

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

2. Under Layout Grid, click the "plus" icon to the right to add the desired number of columns in the grid.

The Main sensor is automatically assigned to the first cell. You can however assign the Main sensor to
any cell.

3. Choose a sensor from the drop-down in each cell you want to populate.

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 The following shows the layout of a four-sensor Wide system:

The following shows the layout of a four-sensor system, with two sensors on the top and two sensors on
the bottom:

See the table above for more information on layouts.

4. (Optional) For each sensor mounted in a reversed orientation in relation to the Main sensor (rotated
180 degrees around the Z axis to avoid occlusions), check the Reversed option.

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You must assign all Buddy sensors to a cell in the layout grid. Otherwise, the system will not run.

You can configure dual- and multi-sensor systems so that there is a slight delay between the exposures
of sensors or groups of sensors to eliminate laser interference, using the Device Exposure
Multiplexing setting. For more information, see Device Exposure Multiplexing below.

Device Exposure Multiplexing

If the sensors in a dual- or multi-sensor system are mounted such that the camera from one sensor can
detect the laser from the other sensor, the Device 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 this setting 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 Device Exposure Multiplexing option.

This option is only displayed if a buddy is assigned.

3. (Optional) If the system contains more than two sensors, assign the sensors to different banks.

Networking
The Networking category on the Manage page provides network settings. Settings must be configured
to match the network to which the 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 sensor can be configured to use DHCP or assigned a static IP address by selecting the appropriate
option in the Type drop-down.

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, and confirm that encoder signals are being received by the sensor.

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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 the sensor 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 sensor 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 144).

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... Uploads a job from the client computer.

button

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
You can prevent unauthorized access to a sensor by setting passwords. Each sensor has two accounts:
Administrator and Technician.

By default, no passwords are set. When you start a sensor, you are prompted for a password only if a
password has been set.

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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.

The Administrator and Technician accounts can be assigned unique passwords.

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 lost, the sensor can be recovered using a special software
tool. See Sensor Discovery Tool on page 836 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 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.

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3. Download the latest firmware.
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. Locate the firmware file in the File dialog and then click open.

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 do the following:

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 emulator (for more information on the emulator, see Gocator
Emulator on page 534). 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.

Downloading a support file stops the sensor.

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

You may need to configure your browser to allow pop-ups to open or download the manual.

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:

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 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.

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 Development Kits on page 813.

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Scan Setup and Alignment
The following sections describe the steps to configure sensors for data acquisition 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 and other options. See Scan Modes on the
next page.

2 Trigger panel Contains trigger source and trigger-related settings. See Triggers on page 123.

3 Sensor panel Contains settings for an individual sensor, such as active area or exposure. See Sensor on
page 129.

4 Alignment panel Used to perform alignment. See Alignment on page 143.

5 Surface Generation Contains settings for surface generation. See Surface Generation on page 154.
panel

6 Part Detection Used to set the part detection logic for sorting data into discrete objects. See Part
panel Detection on page 158.
7 Filters panel Contains settings for post-processing of the profiles. See Filters on page 151.

8 Data Viewer Displays sensor data and adjusts regions of interest. Depending on the current operation
mode, the data viewer can display video images or scan data. See Data Viewer on
page 165.

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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 123)

Ensure that camera exposure is appropriate for scan data acquisition. Exposure (page 134)

Find the right balance between data quality, speed, and CPU utilization. Active Area (page 129)
Exposure (page 134)
Job File Structure (page 551)

Specify mounting orientations. Layout (page 101)

Align scan data to a common reference and so that values can be correctly scaled Aligning Sensors (page 144)
along the different axes.

Set up the part detection logic to create discrete objects from scan data. Part Detection (page 158)

Specify smoothing, gap-filling, and resampling parameters to remove effects of Filters (page 151)
occlusions.

Scan Modes
The sensor web interface supports a video mode and one or more data acquisition modes. The scan
mode can be selected in the Scan Mode panel.

Mode and Option Description

Video Outputs video images from the sensor. 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 and performs surface measurements. The sensor uses various
methods to generate a surface (see Surface Generation on page 154). Part detection
can be enabled on a surface to identify discrete parts (Part Detection on page 158).

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Mode and Option Description

Uniform Spacing When this option is enabled, data points are resampled to a uniform spacing
(Resampled Data and Point Cloud Data on page 68 for more information). Set the size
of the spacing in the Spacing tab (see Spacing Interval on page 139).
When the option is disabled, the sensor outputs unprocessed range data. The sensor
reports data points in (x, z) coordinate pairs. Post-processing is disabled. Only a subset
of the measurement tools is available.
Disable this option to extract ranges from the sensor at the highest possible rate.

The Y offset, X angle, and Z angle transformations cannot be non-

zero when Uniform Spacing is unchecked. Therefore, when aligning
a sensor using a bar alignment target with Uniform Spacing
unchecked, set the Degrees of Freedom setting to X, Z, Y Angle,
which prevents these transformations from being non-zero.

If you are using a layout in which sensors are angled around the Y
axis in order to capture "side" data, you must uncheck Uniform
Spacing. However, currently, only a limited set of built-in
measurement tools are able to perform measurements on the
resulting data. If more complex measurements are required, data
can be processed using an SDK-based application instead.

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

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

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). The data
can then be used for measurement.

The sensor can be triggered by one of the sources described in the table below.

If the sensor is connected to a Master 400 or higher, encoder and digital (external) input signals
over the IO cordset are ignored. The sensor instead receives these signals from the Master; for
encoder and digital input pinouts on Masters, see the section corresponding to your Master in
Master Network Controllers on page 903.
If the sensor is connected to a Master 100 (or no Master is used), the sensor receives signals
over the IO cordset. For information on connecting encoder and digital input signals to a sensor
in these cases, see Encoder Input on page 900 and Digital Input on page 899, respectively.

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.

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Trigger Source Description

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

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

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Trigger Source Description

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.

For information on the maximum encoder rate, see Maximum Encoder Rate on page 129.

To verify that the sensor is receiving encoder signals, check whether Encoder
Value is changing in the Motion and Alignment category on the Manage page,
or in the dashboard.

External Input A digital input can provide triggers in response to external events (e.g., photocell). The external
input triggers on the rising edge of the signal.

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.

For information on the maximum input trigger rate, see Maximum Input Trigger Rate on page 129.

Software A network command can be used to send a software trigger. See Protocols on page 647 for more
information.

Depending on the setup and measurement tools used, the CPU utilization may exceed 100%, which
reduces the overall acquisition speed.

For examples of typical real-world scenarios, see Trigger Examples on the next page. For information on
the settings used with each trigger source, see Trigger Settings on page 127.

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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 trigger 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.
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 data acquisition
in a sensor. When this option is enabled, the sensor will
respond to time or encoder triggers only when the external
input is asserted.

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Parameter Trigger Source Description

This setting is not displayed when Surface Generation is set

to Fixed Length, Variable Length, or Rotational (Surface
Generation on page 154).
See Digital Input on page 899 for more information on
connecting external input to sensors.

Behavior Encoder Specifies how the sensor is triggered when the target moves.
Can be Track Backward, Ignore Backward, or Bi-Directional. See
Triggers on page 123 for more information on these behaviors.
Spacing Encoder, External Input Specifies the distance between triggers (mm). Internally the
sensor rounds the spacing to a multiple of the encoder
resolution.

Reversal Distance Encoder When encoder triggering is set to Bi-Directional , use this
setting to ignore jitter or vibrations in your transport system by
specifying what distance the target must travel before a
direction change is triggered. One of the following:
Auto: The distance is automatically set by multiplying the value
in Spacing by 3.
Custom: Set the distance (in millimeters). Various functions in
the sensor depend on this value to explicitly determine the
point where direction change is triggered. Set this value larger
than the maximum vibrations you see in your transport
system.

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. The unit is implicitly set to 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 134.

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.

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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 .

Maximum Input Trigger Rate

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

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

Maximum Speed Vin Maximum Duty Cycle

32 kHz 3.3 V 88%

32 kHz 5V 56%
32 kHz 7V 44%
32 kHz 10 V 34%

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

Vin Maximum Speed

3.3 V 34 kHz
5V 34 kHz
10 V 22 kHz

Maximum Encoder Rate

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

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

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 data
acquisition.

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. You can also reduce the active area to exclude areas that are affected by
ambient light.

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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 63 for more information on sensor and system
coordinates.

Active area is set in the Active Area tab on the Sensor panel.

To set the active area:

1. Go to the Scan page.

2. Choose a mode other than Video mode.

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.

6. Click Select.

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7. Click Acquire to see a scan while setting the active area.
Acquiring a scan while setting the active area can help you determine where to size and place the
active area.

8. Set the active area.

Adjust the active area graphically in the data viewer or enter the values manually in the fields.
The 2D view lets you adjust the size and position of the active area on the X and Z axis. The 3D view lets
you adjust the size and position in the X, Y, and Z axis. For more information, see Regions on page 206.

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 .

Scanning 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.

A sensor can follow a relatively flat target as it moves up and down beneath the sensor, using a
“tracking window.” When you define a tracking window, the sensor effectively reduces the active area
to match the size of the tracking window, which results in a faster scan rate. The reduced area moves to
track the laser line within the area defined in the Active Area tab. A tracking window is typically used in
road or web scanning applications where the target is a continuous surface.

You must balance the gain in speed due to the reduced area of the tracking window and the impact it
has on the sensor’s tracking ability: a smaller window gives the tracking function less data to predict
where the profile is moving.

The sensor adjusts the position of the tracking window to center the area on the average height of the
entire visible laser profile. 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
searches for the laser line using the full defined active area.

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You should adjust the lighting and the active area to remove all background objects, such as the
conveyor belt surface.

On Gocator 2342 sensors, the Bridge Value tool's Window and StdDev measurements can force
the tracking engine to switch to search mode in some situations. For more information, see
Bridge Value on page 237.

The tracking window is defined in the Active Area tab, beneath the settings for the active area.

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 the number of points falls below this percentage, tracking is lost, and
the sensor searches for the laser line 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 .

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Transformations
The transformation settings determine how data is converted from sensor coordinates to system
coordinates (for an overview on coordinate systems, see Coordinate Systems on page 63). Typically,
transformations are set when you align a sensor. However, you can also manually set values using the
Transformations section of the Active Area tab on the Sensor panel.

Parameter Description

X Offset Specifies the shift along the X axis. With Normal orientation, a positive value shifts the data to the
right. With Reverse orientation, a positive value shifts the data to the left.

Y Offset Specifies the shift along the Y axis.

Z Offset Specifies the shift along the Z axis. A positive value shifts the data toward the sensor.

Angle X Specifies the tilt around the X axis.

Angle Y Specifies the tilt around the Y axis.
Angle Z Specifies the tilt around the Z axis.

When applying the transformations, the object is first rotated around X, then Y, and then Z, and then the
offsets are applied.

Setting Angle X or Angle Z, and to a lesser extent Y Offset, to a non-zero value

increases CPU usage when scanning, which reduces the maximum scan speed.

Artifacts may appear in scan data when Angle Z or Angle X is set to a non-zero value if
encoder trigger spacing is set too high (resulting in a low sampling rate).

To configure transformation settings:

1. Go to the Scan page.

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2. Choose a mode other than Video mode in the Scan Mode panel.
If Video mode is selected, you will not be able to change the settings.

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.

The Y offset, X angle, and Z angle transformations cannot be non-zero when

Uniform Spacing is unchecked. Therefore, when aligning a sensor using a bar
alignment target with Uniform Spacing unchecked, set the Degrees of
Freedom setting to X, Z, Y Angle, which prevents these transformations from
being non-zero.

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

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

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

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).

For more information on the different types of exposure options, see the sections below.

Video mode lets you see how the light appears on the camera and identify any stray light or ambient
light problems. When exposure is tuned correctly, the projected light 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.

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

When the sensor 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 targets.

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.

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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.
Exposure is configured separately for each sensor.

5. Click the Exposure tab.

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

7. Edit the exposure setting by using the slider or by manually entering a value.
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.

Dynamic Exposure
The sensor automatically uses past profile information to adjust the exposure for subsequent exposures
to yield the best profile. This is used when the target surface changes from exposure to exposure (that is,
from scan to scan).

You can tune settings that control the exposure that is chosen by dynamic exposure in the
Material tab.

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.

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 Exposure is configured separately for each sensor.

4. Click 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 134 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.
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.

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If you have enabled intensity in the Scan Mode tab, you can use the Intensity setting to choose which
of the exposures the sensor uses for acquiring intensity data. This lets you choose the exposure that
produces the best image for intensity data.

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 is configured separately for each sensor.

4. Click 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 sensor's camera less or more sensitive, as required.

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

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 134 for details.

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

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Sub-Sampling
Sub-sampling reduces the number of camera columns or rows that are used for laser profiling, reducing
the resolution. Reducing the resolution can increase speed or reduce 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.

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 is configured separately for each sensor.

4. Click 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 Resampled Data and Point Cloud Data on page 68.

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.

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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 configured separately for each sensor.

5. Click 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).

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. Select a spacing interval level.

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

Advanced
The Advanced tab contains settings to configure material characteristics, camera gain, and dynamic
exposure.

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To configure advanced settings:

1. Go to the Scan page.

2. Switch to Video mode.

Using Video mode while configuring the settings lets you evaluate their impact.

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

4. If you are configuring a dual- or multi-sensor system, 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.
Settings can be configured separately for each sensor.

5. Click on the Advanced tab.

6. Configure material characteristics, camera gain, or dynamic exposure.

For more information, see Material on the next page and Material Settings and Dynamic Exposure on the
next page.

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

8. Check that scan data is satisfactory.

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Material
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.

For 2380 sensors (revision B or later), use the Sensitivity Compensation setting (not shown above) to
make the sensitivity of the sensor compatible with revision A sensors. This setting is enabled by default.

You can select preset material types in the Materials setting under the Advanced tab. The Diffuse
material option is suitable for most materials.

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.
This setting is important for filtering false 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 or Bottom: 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
Resampled Data and Point Cloud Data on page 68.
Note that when Uniform Spacing is disabled and Spot Selection is set to None,
both Profile Dimension and Profile Position are unavailable; for more information on
enabling and disabling uniform spacing, see Scan Modes on page 122.
Continuity considers adjacent horizontal data points on the imager to place spots on
pixels, giving preference to more complete profile segments. The setting can improve
scans in the presence of reflections and noise.

Various settings can affect how the Material settings behave. See Spots and Dropouts on page 170 for
more information.

Material Settings and Dynamic Exposure

You can set camera gain and dynamic exposure to improve data acquisition.

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Setting Description

Camera Gain

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

Dynamic Exposure

Sensitivity controls the exposure that dynamic exposure converges to. The lower the
value, the lower the exposure the sensor will settle on.
The trade-off is between the number of underexposed spots and the possibility of
over-exposing.
Threshold is the minimum number of spots for dynamic exposure to consider the
profile point that make up 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. Because this is slow, the Threshold value typically should be kept as
low as possible, so this slow search is not used.
These settings let you set tune how dynamic exposure settles on an exposure for a
scan. For more information on Dynamic Exposure, see Dynamic Exposure on page 136.

Alignment
Alignment procedures are required to compensate for sensor mounting inaccuracies or to set a Z
(height) reference plane. The alignment procedure also sets a common coordinate system for multi-
sensor systems, and determines the encoder resolution (if present) and the speed of the transport
system. (In many systems, the reference surface is a conveyor belt.)

Sensors are pre-calibrated and ready to deliver data in engineering units (mm) out of the box.
Alignment procedures do not affect sensor calibration.

A sensor can be in one of two alignment states: Unaligned and Aligned. An indicator on the Alignment
panel display UNALIGNED or ALIGNED, depending on the sensor's state.

Alignment State
State Explanation

Unaligned The sensor or sensor system is not aligned. Data points are reported in sensor
coordinates.

Aligned The sensor is aligned using the alignment procedure (described below) or by manually
modifying the values under Transformation in the Sensor tab on the Scan page (for
more information, see Transformations on page 133). Data points are reported in
system coordinates.

Once the alignment procedure has completed, the derived transformation values are displayed under
Transformations in the Sensor panel.

Alignment Types
Sensors support two types of alignment: stationary or moving.

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Type Description

Stationary Stationary is used when the alignment target does not move. This type of
alignment can only compensate for mounting inaccuracies in the laser plane (Z
offsets, and optionally X offsets and Y angle rotation). It is typically used when the
sensor will run in Profile mode.

Moving Moving is used when the alignment target moves beneath the sensor. This type
allows for Y offset and Z angle alignment, in addition to X and Z offset and Y angle
alignment. It is typically used when a sensor will run in Surface mode.

Aligning Sensors
Alignment is configured and performed using the Alignment panel.

With certain types of alignment, a Degrees of Freedom setting lets you choose the axes on which
offsets and rotations are calculated. If the setting is not available, only X and Z offsets, and Y angle
rotation, are calculated. That is, alignment is only performed within the profile plane. When the Degrees
of Freedom setting is available, it provides options that let you perform alignment outside the profile
plane. For more information, see the procedure on performing moving alignment.

To prepare for alignment:

1. Choose an alignment reference in the Manage page if you have not already done so.
For more information, see Alignment Reference on page 111.

2. Go to the Scan page.

3. Choose a mode other than Video mode in the Scan Mode 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- or multi-sensor top-down or bottom-up system, ensure that the lasers illuminate
a reference hole on the bar.

To perform stationary alignment:

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

2. Clear the previous alignment if present.

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 Press the Clear Alignment button to remove an existing alignment.

3. Select an alignment Target.

l Flat Surface: Use this to align to a surface such as a conveyor.

l Bar: Use this to align to a custom calibration bar.

Configure the characteristics of the target (bar dimensions and reference hole layout). For details
on alignment targets, see Alignment Targets on page 30.

Degrees of Freedom: In stationary bar alignment, only one option is provided, namely, X, Z, Y
Angle. This setting aligns X and Z offsets, as well as rotation around the Y axis.
Height: The thickness of the bar in the Z direction. The alignment is performed to determine the
average Z height of the bar's top surface. This height value is used to offset the coordinate system
so that the bottom of the calibration bar becomes the Z origin.
Width: The width of the bar in the Y direction.

l Polygon: Use this to align a ring layout setup using a polygon-shaped alignment target. Polygon
target alignment is typically used when you need to scan 360 degrees around a target.

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 To perform polygon target alignment, you must set the X and Z coordinates of each corner of the
alignment target. The coordinates are relative to the target itself, and you typically set them such
that the X and Z origins are at the center of the target.

To properly configure the X and Z values of each corner of the alignment target (and assign
sensors to the corners), you must view the sensors and alignment target so that Y increases toward

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 you. To determine how to view the sensors and target, refer to the coordinate system orientation
information for your sensor model in Sensors on page 847. (If any sensors are defined as Reversed
in the layout grid, use only the non-reversed sensors to determine how to view the sensors; for
more information, see Layout on page 101.)

For each corner, define the X and Z coordinates and assign the sensor that is viewing that corner,
proceeding in a clockwise order. You can start with any corner.

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 You are not required to assign a sensor to every corner.

For details on alignment targets, see Alignment Targets on page 30.

4. 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
134).

Alignment uses the exposure defined for single exposure mode, regardless of the
current exposure mode.

5. Inspect alignment results.

Data points 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 moving alignment:

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 111
for more information.

l If the system does not use an encoder, configure travel speed. See Travel Speed on page 112 for
more information.

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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.

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.

Configure the characteristics of the target (bar dimensions and reference hole layout); for details
on alignment bars, see Alignment Targets on page 30.

Degrees of Freedom: In moving bar alignment, three options are available, which are
combinations of different types of alignments. X, Y, and Z compensate for offsets on the X, Y, and Z
axes, respectively. Y Angle and Z Angle compensate for rotation around the Y and Z axes,
respectively. Compensating for X angle rotation is currently only possible by manually setting the
rotation in the Transformations panel.

The Y offset, X angle, and Z angle transformations cannot be non-zero when

Uniform Spacing is unchecked. Therefore, when aligning a sensor using a bar
alignment target with Uniform Spacing unchecked, set the Degrees of Freedom
setting to X, Z, Y Angle, which prevents these transformations from being non-
zero.

On sensors aligned using Z angle or X angle, and to a lesser extent Y offset, CPU
usage increases when scanning, which reduces the maximum scan speed.

Artifacts may appear in scan data on sensors aligned using Z angle or X angle if
encoder trigger spacing is set too high (resulting in a low sampling rate).

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 When aligning using X, Y, Z, Y Angle or X, Y, Z, Y Angle, Z Angle, you can improve
alignment accuracy by reducing the motion speed of the target. Repeat alignment
at lower speeds and observe the transformation values in the Sensor panel to
achieve maximum accuracy.

5. Place the target under the sensor.

6. (Optional) Check the Encoder or Speed 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.

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. Inspect alignment results.

Data points 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.

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.

With encoder calibration Without encoder calibration

Target Type Calibration disk or calibration bar Flat surface or calibration bar
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 63 for definitions of coordinate axes. See Alignment Targets on page 30
for descriptions of calibration disks and bars.

See Aligning Sensors on page 144 for the procedure to perform alignment. After alignment, the
coordinate system for laser profiles will change from sensor coordinates to system coordinates.

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

To clear alignment:

1. Go to the Scan page.

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

3. 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 scan data along the X or Y axis to remove noise or clean it up before it is
output or is used by measurement tools.

In some situations, such as when Uniform Spacing is disabled or when a sensor does not support
filters, the filters panel is not displayed.

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.

For more information, see the following sections.

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

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neighboring values), in a specified X or Y 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.)

X Gap Filling is enabled by default.

To configure X or Y gap filling:

1. Go to the Scan page.

2. Choose a mode other than Video in the Scan Mode panel.

Otherwise, 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 sensor 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 scan data 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.

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To configure X or Y median:

1. Go to the Scan page.

2. Choose a mode other than Video in the Scan Mode panel.

Otherwise, 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 scan data 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.

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2. Choose a mode other than Video in the Scan Mode panel.
Otherwise, 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 scan data is satisfactory.

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, only points every .2
millimeters will be used.

To configure X or Y decimation:

1. Go to the Scan page.

2. Choose a mode other than Video in the Scan Mode panel.

Otherwise, 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 scan data 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 the data, depending on the needs of the application.
Data generation is configured in the Surface Generation panel on the Scan page.

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The types in the table below correspond to the Type setting in the panel.

When Type is set to Continuous, part detection is automatically enabled. When Type is set to
any of the other settings, part detection can be enabled and disabled in the Part Detection
panel. For descriptions of the settings that control part detection logic, Part Detection on
page 158.

Continuous: The sensor

continuously generates surfaces of
parts that are detected under the
sensor. This type is typically used
when the transport system
continuously feeds material or
parts under a sensor. The materials
have a distinguishable start and
stop edge.

Fixed Length: The sensor

generates surfaces of a fixed length
(in mm) using the value in the
Length setting. Like Continuous
mode, Fixed Length mode is used
when material or parts
continuously pass under the
sensor. Unlike Continuous mode,
parts/material do not have
distinguishable start and stop edge.
For correct length measurement,
you should ensure that motion is
calibrated (that is, encoder
resolution for encoder triggers or
travel speed time triggers).
The following types of start triggers

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are available under Start Trigger:
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.
o Software: Allows starting fixed
length surfaces on command
from PLC or PC.
For more information on
connecting external input to a
sensor, see Digital Input on
page 899.
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.

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.
This mode is typically used in robot-
mounted applications, for example,
measuring different parts on an
engine block.
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

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sensor, see Digital Input on
page 899.
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.

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. This mode is typically
used in applications where
measurements of circular objects or
shafts need to be taken, such as tire
tread inspection, or label
positioning on bottles.
To scan exactly one
revolution of a circular
target without knowing
the circumference,
manually set the encoder
resolution (page 111) to
1, the encoder trigger
spacing (page 123) 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.

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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, a sensor can analyze scan data to identify discrete objects. Surface measurements can
then be performed on each 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
always 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 144 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 on External Input checkbox in the Trigger panel (page 123).

Include one-sided data The option is only displayed with dual-sensor systems in Opposite layout, or multi-sensor
systems in Grid layout with at least one sensor in the Bottom row. When the option is
disabled, data points from a sensor are excluded if the points directly opposite from the
other sensor are missing (due to occlusions, drop-outs, and so on). When the option is
enabled, data points are included even if data points from the other sensor are missing.
The following image shows surface data from a dual-sensor system in which the sensors
are mounted facing each other. In this case, Include one-sided data is disabled.

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Setting Description

The data on the upper left is missing, due to the shape of the target: getting data from this
area is difficult or impossible, due to occlusions or simply because this part of the upper
surface is beyond the top sensor's measurement range. Data is missing on the left of the
lower surface, even though the target is flat in this area.
In the following image, Include one-sided data is enabled. The result is that data from
the lower left is included in the scan data, better representing the actual target. (The same
situation is occurring on the right side of the surfaces.)

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Setting Description

In general, you should leave this setting enabled.

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 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

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Setting Description

way the sensor's frame of reference is defined changes depending on the surface
generation Type setting ( and Surface Generation on page 154 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
312) 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 312).
Status Provides details on the status of the part detection engine. For more information, see Part
Detection Status.
Edge Filtering See Edge Filtering on page 164.

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.

Part Detection Status

One of the most common issues when setting up part detection is that surface data is not generated
after the target is scanned. The Status section on the Part Detection panel allows you to see details on
the status of the part detection engine. This can be used to diagnose why parts are not being detected
during setup, reducing setup time.

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The following part detection status information is available:

Part Detection Diagnostics

Status Indicator Description

Tracking State Part detection state for largest currently tracking part. One
of the following:
l Not In Part
l In Part, Min area not achieved
l In Part, Min area achieved
l In Gap, Min area not achieved
l In Gap, Min area achieved

Parts Being Tracked The number of parts the engine is currently tracking.

Part Center X The center of the partial part, midway between the
minimum X and maximum X detected for the part.

Part Length The length of the part. In cases of backtracking, the number
decreases.

Total Parts Accepted The number of parts that meet the part detection criteria.

Due to Max Part Length The number of parts accepted because they have reached
Max Part Length. If too many parts are being accepted,
increase Max Part Length.

Total Parts Rejected The number of parts that fail to meet the part detection
criteria.

Due to Min Area The number of parts rejected because they are below Min
Area. If too many parts are being rejected, reduce Min Area.

Due to Backtracking The number of parts rejected due to backtracking, for

example, when the user reverses the direction of the
transport mechanism while the sensor is actively scanning a
part. Only applicable when the encoder trigger behavior has
been set to Bi-Directional.

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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)

Edge Filtering enabled, Preserve Interior Feature enabled

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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 (Active Area on page 129) and measurement tools (see
Measurement and Processing on page 201). The data viewer changes depending on the current
operation mode and the panel that has been selected.

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.

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For more information on the kinds of data displayed in Surface mode, see Surface Mode on page 173.

When the sensor displays profiles, a safety goggle mode button ( ) is available above the data viewer.
Enabling this mode changes some colors to ensure that profiles are visible in the data viewer when
wearing laser safety goggles. The option is also available in Surface mode when a section is displayed.

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When multiple exposures have been defined, you can use the Multiple Exposures button ( ) to toggle
between showing a single-color profile made up of data from all exposures, and a profile in which the
source exposure of the data points is identified by a different color.

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Video Mode
In Video mode, the data viewer displays images directly from the sensor's camera or cameras. In a dual-
or multi-sensor system, camera images from any camera can be displayed.

In this mode, you can configure the data viewer to display exposure, spot, and dropout information that
can be useful in properly setting up the system for scanning.

Exposure Information
In Video mode, you can display exposure-related information. This information can help you correctly
adjust the exposure settings.

Exposures
If you have set Exposure Mode to Multiple, and have set more than one exposure, a drop-down at the
top of the data viewer lists the available exposures. Choosing an exposure changes the view of the data
viewer to that exposure.

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For details on setting exposure in the Exposure tab in the Sensor panel, see Exposure on page 134.

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:

l Blue: Indicates background pixels ignored by the sensor.

l 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 Advanced on page 140.

Profile Mode
When the sensor 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.

Similarly, in a multi-sensor system, profiles from individual sensors or from combined views 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.

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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 in the top position.
Bottom: View from the bottom sensor in an opposite-layout dual-sensor system, or all sensors in the
bottom row of a multi-sensor system.
Top & Bottom: Combined view from all sensors in a multi-sensor system set up with sensors on the
top and bottom rows in the layout grid.
Left: View from the left sensor in a dual-sensor system.
Right: View from the right sensor in a dual-sensor system.
Left & Right: In a dual-sensor system, 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 sensor is in Surface scan mode, the data viewer can display height maps, sections, and
intensity images. You can select the data to display from the first drop-down.

Data Type Option or

Description
Button

Surface Displays surface data received from the sensor's scan engine.

Profile Displays the last collected profile. (Only available in 2D view. Only displays data on physical
sensors: in the emulator, no data is displayed.)

Section If any sections have been defined, displays the section selected in the Sections drop-down.
(Only available in 2D view.)

Tool Displays data from tools capable of producing "tool data" output (such as Surface Stitch or

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Data Type Option or
Description
Button

Surface Track). When you select Tool , a second drop-down is displayed next to the first,
which lets you choose among the available data.

For more information on tool data output, see Tool Data on page 78.

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

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

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

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

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

Intensity button 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 for this button to be visible.)

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

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 2D viewer with intensity overlay

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

Clicking the 3D button toggles between the 2D and 3D viewer. The 3D model is overlaid with the
information that corresponds to the selected View option.

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

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

In 3D mode, you can choose how the data viewer renders the model:

Rendering Mode Description

Point Cloud (default) Renders 3D models using point clouds. Useful in scan data that contains noise around edges,
and shows hidden structure.

Mesh Renders 3D models using "meshing," connecting 3D point clouds with polygons.

In a multi--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 View 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.

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

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

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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 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.

1. Go to the Scan page.

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.

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

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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 Sensor on page 129).

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
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 . A sensor applies the same coordinate
system and resampling logic as the ranges to the intensity values.

To display intensity data, click the Intensity button ( ).

To be able to display intensity data, you must enabled Acquire Intensity 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
The sensor can match scanned parts to the edges of a model based on a previously scanned part (see
Using Edge Detection on page 182) or to the dimensions of a fitted bounding box or ellipse that
encapsulate the model (see Using Bounding Box and Ellipse on page 191). When parts match, the sensor

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can rotate scans so that they are all oriented in the same way. This allows measurement tools to be
applied consistently to parts, regardless of the orientation of the part you are trying to match.

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,
Measurement and Processing on page 201.

Using Edge Detection

When using edge detection for part matching, the sensor 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 sensor 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.

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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.

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 sensor 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

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Setting Description

new threshold. If you have edited edge points manually (removing them
selectively), those changes will be lost. See Using Edge Detection on page 182 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 182 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 sensor 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 121 for more information on setting up and
aligning a sensor. See Running a Standalone Sensor System on page 52 or Running a Dual-Sensor System
on page 53 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 88 and Downloading, Uploading, and Exporting Replay Data on page 92 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 sensor 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 87 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
page 185 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.

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4. Click in the data viewer and hold the mouse button while moving the pointer over the edge points you want
to remove.

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 sensor 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 sensor 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.
The sensor 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 121 for more information on setting up and
aligning a sensor. See Running a Standalone Sensor System on page 52 or Running a Dual-Sensor System
on page 53 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 88 and Downloading, Uploading, and Exporting Replay Data on page 92 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 87 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 sensor 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, the sensor can also extract a profile from a surface or part using a line you define on
that surface or part. The resulting profile is called a “section.” A section can have any orientation on the
surface, but its profile is parallel to the Z axis.

You can't create sections from the Models page on surface data that is produced by other tools,
such as Surface Stitch. You can however create sections on any kind of surface data using the
Surface Section tool; for more information, see Section on page 419.

You can use most profile measurement tools on a section: you can't use tools that work with
unresampled data. Using sections and the profile measurements, 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. The sensor 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 using different spacing
intervals 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 225.

Creating a Section
Before you 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.

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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 useful if you need to create a section that is
perfectly horizontal or vertical. For example, to create a 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.
The sensor creates a section on the surface.

3. Rename the section if you want.

4. 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.

5. (Optional) Adjust the Spacing Interval.

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After you create a section, the profile measurement tools become available 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 225.

The sensor also adds a Section option to the View drop-down above the data viewer, which lets you
view an extracted profile, as well as a section selector drop-down for cases where multiple sections are
defined.

Sections are also added to the Stream drop-down in Profile and Feature tools.

If parts are not consistently oriented in the same way from scan to scan, you can use part matching to
correct their rotation, if the entire part is visible in the scan. 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.

Deleting a Section
When you delete a section, the sensor removes any associated measurements. After you remove the last
section, the sensor no longer displays profile measurement tools in the Tools panel.

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,
the sensor asks if you want to delete all of the associated measurement tools.
The sensor deletes the section on the surface.

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Measurement and Processing
The following sections describe Gocator's measurement and processing tools.

Measure Page Overview

Measurement tools are added and configured in 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. If you have defined a section in Surface mode, profile tools are
also displayed. In Video mode, tools are not available.

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 Element Description

1 Tools panel Used to add, manage, and configure tools and measurements (see Tools Panel on the
next page) and to choose anchors (Measurement Anchoring on page 216).

2 Data Viewer Displays video and scan 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 below.

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
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 Regions on page 206).

For information on controls in the data viewer, see Data Viewer Controls on page 165.

For instructions on how to set up measurement regions graphically, see Region Definition on page 178.

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Tools Panel
The Tools panel lets you add, configure, and manage measurement 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; these settings are found in the
Parameters tab below the list of tools. Other settings apply to specific measurements, and are found in
a Parameters tab below the list of measurements; not all measurements have parameters.

See Profile Measurement on page 225 and Surface Measurement on page 301 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.

Adding and Configuring a Measurement Tool

Adding a tool adds all of the tool's measurements to the Tools panel. You can then enable and configure
the measurements 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.

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 For more information on sources, see Source on the next page.

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 Stream below.

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 213.

11. (Optional) Set one or more filters.

For more information on filters, see Filters on page 215.

12. (Optional) Set up anchoring.

For more information on anchoring, see Measurement Anchoring on page 216.

Stream
It's possible for more than one type of data to be available for a tool as input. You use the Stream drop-
down in a tool to choose which type. If only one type of data is available for a tool, the Stream drop-
down may not be displayed.

For example, many tools can produce processed surface data (such as the Stitched Surface output from
the Surface Stitch tool, or the Corrected Surface output from the Surface Vibration Correction tool).
When you have added one of these tools, the tool's data output is listed in the Stream drop-down, as
well as the data that comes directly from the sensor's scanning engine. Surface data coming directly
from the sensor's scan engine is always called "Surface" in the Stream drop-down. Profile data coming
directly from the sensor's scan engine is always called "Profile/Merged" in the Stream drop-down. For
data that comes from another tool, the convention is {Tool name}/{Data output name}:

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Sections are also listed in the Stream setting.

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. If it is not already selected, click the Parameter tab in the tool configuration area.

4. Select the data in the Stream drop-down list.

Source
For dual- or multi-sensor systems, you must specify which sensor, or combination of sensors, provides
data for a measurement tool.

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 The Source setting applies to 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 Layout on page 101.

Setting Description

Top The Main sensor in a standalone system.

In a dual-sensor system, refers to the Main sensor in Opposite layout, or to the combined
data from both the Main and Buddy sensors.

In a multi-sensor system, refers to the combined data from all sensors in the top row of the
layout grid.

Bottom The Buddy sensor in Opposite layout in a dual-sensor system.

In a multi-sensor system, refers to the combined data from all sensors in the bottom row of
the layout grid.

Top & Bottom In a dual-sensor system, refers to the combined data from the Main and Buddy sensor.

In a multi-sensor system, refers to the combined data from all sensors in the top and bottom
row of the layout grid.

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. If it is not already selected, click on the Parameter tab in the tool configuration area.

4. Select the profile source in the Source drop-down list.

Regions
Many measurement tools use user-defined regions to limit the area in which measurements occur or to
help in the identification of a feature (Feature Points on page 209), a fit line (Fit Lines on page 213), or left
or right side of the Panel tool ( see Panel on page 279). Unlike reducing the active area, reducing the
measurement region does not increase the maximum frame rate of the sensor.

You can disable regions entirely and cause the measurement tool uses the entire active area by
unchecking the checkbox next to the Regions setting.

All tools provide region settings under the upper Parameters tab. This region applies to all of a tool's
measurements.

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Region settings are often found within expandable feature sections in the tool's panel.

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.
Use the region reset button ( ) to set the size of a region to its default. This is useful after
zooming in or out in the data viewer.

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. Configure the region using the mouse in the data viewer.

You can also configure regions manually by clicking the expand button ( ) and entering values in the
fields. This is useful if you need to set precise values.

The measurement region of some tools can be rotated by setting the region's Z Angle to better
accommodate features that are on an angle on a target. By rotating the measurement region, data not
related to the feature can often be excluded, improving accuracy of measurements.

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To rotate measurement regions:

1. Determine the length and width of the region that will be required once it is rotated.

2. Expand the Region setting and then set a value in Z Angle.

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 The region rotates clockwise around the Z axis relative to the X axis.

Once the region has been rotated, you cannot modify it in the data viewer using the mouse. You can
however modify its dimensions and its location manually by changing the region's values in the Region
setting.

Feature Points
Dimensional and positional measurements detect feature points found within the defined measurement
region and then compare measurement values taken at the selected point with minimum and maximum
thresholds to produce a decision. Feature points are selected in one or more Feature dropdowns in a
tool and are used for all of the tool's measurements.

The following types of points can be identified in a measurement region.

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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.

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Point Type Examples

Bottom Corner

Finds the bottom-most corner in the region of interest, where

corner is defined as a change in profile shape.

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 (moving from left to

right).

Falling Edge

Finds a falling edge in the region of interest (moving from left to

right).

Any Edge

Finds a rising or falling edge in the region of interest.

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Point Type Examples

Median

Determines the median location of points in the region of

interest.

Geometric Features
Most Surface tools, and many Profile tools, can output features that Feature tools can take as input to
produce measurements. These features are called geometric features. Feature tools use these entities to
produce measurements based on more complex geometry. (For more information on Feature tools, see
Feature Measurement on page 484.)

Gocator’s measurement tools can currently generate the following kinds of geometric features:

Points:  A 2D or 3D point. Can be used for point-to-point or point-to-line measurements.

Lines: A straight line that is infinitely long. Useful for locating the orientation of an enclosure or part, or
to intersect with another line to form a reference point that can be consumed by a Feature tool.

Planes: A plane extracted from a surface. Can be used for point-to-plane distance or line-plane
intersection measurements.

Circles: A circle extracted from a sphere.

The following tables list the tools that can generate geometric features. (Tools that can't generate
geometric features are excluded.)

Geometric features generated by Surface tools

Tool Point Line Plane Circle

Bounding Box X

Countersunk Hole X

Edge X X

Ellipse X X

Hole X

Opening X

Plane X

Position X

Segmentation X

Sphere X X

Stud X

Volume

The Circle geometric feature currently cannot be used by any of the built-in Feature tools.

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Geometric features generated by Profile tools
Tool Point Line

Area X

Bounding Box X

Circle X

Intersect X X

Line X X

Position X

The Feature Intersect tool can also produce an intersect point. Script tools do not currently take
geometric features as input.

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.

A line can be defined using one or two areas. Two areas can be used to bypass discontinuity in a line
segment.

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
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.

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 Value (14.785) 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 509 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.

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 221
for instructions on how to enable a measurement.

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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. The following settings are available.

Filter Description

Scale and Offset The Scale and Offset settings are applied to a 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.

For more information on scripts, see Scripts on page 504.

Hold Last Valid Holds the last valid value when the measurement is invalid.

Smoothing Averages the valid measurements in the number of preceding frames specified in Samples.
Use this to reduce the impact of random noise on a measurement's output.

If Hold Last Valid is enabled, the smoothing filter uses the last valid measurement value
until a valid value is encountered.

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Filter Description

Preserve Invalid When enabled, smoothing is only applied to valid measurements and not to invalid results:
invalid results are not modified and are sent to output as is.

When disabled, smoothing is applied to both valid and invalid results. (This setting is only
visible when Smoothing is enabled.)

If Hold Last Valid is enabled, results will always be valid, in which case this setting does
nothing.

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.

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 221
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
When parts that a sensor is scanning move on a transport mechanism such as a conveyor, their position
typically changes from part to part in one or both of the following ways:

l along the X, Y, and Z axes (basically, horizontally and vertically)

l around the Z axis (orientation angle)
When the position and angle variation between parts is minor—for example, when scanning electronic
parts in trays—you can anchor one tool to one or more measurements from another tool to
compensate for these minor shifts. As a result, Gocator can correctly place the anchored tool's
measurement regions on each part. This increases the repeatability and accuracy of measurements.

For cases where movement from part to part is more drastic, you can use part matching to
compensate. However, in order for part matching to work properly, the entire part typically
must be visible in the field of view.

For example, the following image shows a surface scan of a PCB. A Surface Dimension height
measurement returns the height of a surface-mount capacitor relative to a nearby surface (the F1
region).

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In the following scan, the part has shifted, but the measurement regions remain where they were
originally configured, in relation to the sensor or system coordinate system, so the measurement
returned is incorrect:

When you set a tool's anchor source, an offset is calculated between the anchored tool and the anchor
source. This offset is used for each frame of scanned data: the anchored tool's measurement region is
placed in relation to the anchor source, at the calculated offset.

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In the following image, after the Surface Dimension tool is anchored to the X and Y measurements from
a Surface Hole tool (placed over the hole to the lower left), Gocator compensates for the shift—mostly
along the Y axis in this case—and returns a correct measurement, despite the shift.

You can combine the positional anchors (X, Y, or Z measurements) with an angle anchor (a Z Angle
measurement) for optimum measurement placement. For example, in the following scan, the part has
not only shifted on the XY plane but also rotated around the Z axis. Anchoring the Surface Dimension
tool to the Z Angle measurement of a Surface Edge tool (placed on the lower edge in this case)
compensates for the rotation, and the anchored tool returns a correct measurement.

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 If Z Angle anchoring is used with both X and Y anchoring, the X and Y anchors should come from
the same tool.

If Z Angle anchoring is used without X or Y anchoring, the tool's measurement region rotates
around its center. If only one of X or Y is used ,the region is rotated around its center and then
shifted by the X or Y offset.

Several anchors can be created to run in parallel. For example, you could anchor the measurements of
one tool relative to the left edge of a target, and anchor the measurements of another tool relative to
the right edge of a target.

You can combine positional anchors (X, Y, or Z) with angle anchors (Z Angle) for optimum measurement
placement.

To anchor a profile or surface tool to a measurement:

1. Place a representative target object in the field of view.

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 (Surface Generation on page 154) and adjust Part Detection
settings (see Part Detection on page 158) 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 or Z Angle as a measurement value.

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3. Adjust the anchoring 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 anchoring tool’s measurement regions define the zone within which
movement will be tracked.

If you intend to use angle anchoring and the part in the initial scan is rotated too much,
you may need to rotate the anchoring tool's region to accomodate this rotation. For
more information on region rotation, see Regions on page 206.

See Feature Points on page 209 for more information on feature types.

4. Add the tool that you want to anchor.

Any tool can be anchored.

5. Adjust the tool and measurement settings, as well as the measurement regions, on a scan of the
representative target.

6. Click on the tool's Anchoring tab.

7. Choose an anchor from one of the drop-down boxes.

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 and
angle under the sensor, as long as the anchoring measurement produces a valid measurement value.
If the anchoring measurement is invalid, for example, if part moves outside its measurement region,
the anchored tool will not show the measurement regions at all and an “Invalid-Anchor” message will be
displayed in the tool panel.

8. Verify that the anchored tool works correctly on other scans of targets in which the part has moved
slightly.

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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.

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.

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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.

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 Tool, Input, or Output Names

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.

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 To select a measurement, it must be enabled. See Enabling and Disabling Measurements on page 221
for instructions on how to enable a measurement.

5. Click in the ID field.

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.

Duplicating a Tool
You can quickly create a copy of a previously added tool in Gocator. All settings of the original are
copied. This is useful, for example, when you need almost identical tools with only minor variations, such
as different Min and Max values.

To duplicate 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 tool list, click the Duplicate button ( ) of the tool you want to duplicate.
A copy of the tool appears below the original.

5. Configure the copy as desired and rename it if necessary.

For information on renaming a tool, see Editing Tool, Input, or Output Names on the previous page.

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.

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3. Go to the Measure page by clicking on the Measure icon.

4. In the tool list, click on the Duplicate button ( ) of the tool you want to duplicate.
A copy of the tool appears below the original.

Reordering Tools
When you add or duplicate a tool, the tool is added to the bottom of the list in the Tools panel. You can
reorder tools in the web interface to organize tools more logically. For example, you could group tools
that output geometric features with the tools that use them. Or you could group tools you use as
anchors with the tools that use those anchors.

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Profile Measurement
This section describes the profile measurement tools available in Gocator sensors.

When Gocator is in Surface mode and you have defined a section, a Stream option displays in Profile
tools. Choosing a section in the Stream option lets you apply profile measurements to the section.

A subset of the Profile tools is available when Uniform Spacing is disabled, that is, when tools are
applied to point cloud data.

For more information on the Uniform Spacing setting and resampled data, see Resampled Data and
Point Cloud Data on page 68.

Profile measurement tools can be used on sections. For more information on sections, see Sections on
page 195.

Advanced Height
The Advanced Height tool provides highly accurate and repeatable master (template) comparison and
step height measurements (up to 16 in a tool instance).

All instances of the Advanced Height tool share the same template file set in File. For this
reason, you must be careful when editing or removing template files shared by another
instance of the tool.

Height measurements can be made relative to a reference line. Reference line sets the measurement
direction (perpendicular to the reference line). A separate base line can also be set so that height
measurements are between the base line and a profile feature, rather than the reference line (which in
this case is used for angle correction).

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 Measurement Panel

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For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements, Data, and Settings

Measurements
Measurement

Height {n}

The height measured in height region {n}. Height is measured perpendicular

Will be Invalid if the appropriate number of height regions has not been set in Height Region.

Master Correction X

Master Correction Z

Master Correction Z Angle

The amount of correction applied to the profile with respect to the master.

Max Height Difference

The maximum height difference.

Max Difference Position X

Max Difference Position Z

The X and Z positions of the maximum height difference.

Data
Type Description

Difference Profile A profile representing the difference between the master

and the current frame's profile, available for use as input in
the Stream drop-down in other tools.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

Master Toggles a set of settings related to master comparison. For

more information, see Master Comparison on the next page.

Reference Line Toggles a set of settings related to the reference line. For
more information, see Reference Line on page 229.

Height Region Sets the number of height region measurements the tools
returns. For each height region, the tool displays an Edit
Height Region checkbox that you use to edit the height
region's location and size. The tool also displays a Feature
drop-down that lets you select the type of feature for that
height region.

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Parameter Description

Base Height Use base height to "set" the Z axis: when enabled height
values are offset from the base. This is useful if you need to
measure between two features, rather than between a
feature and the reference line.

When enabled, the tool displays settings related to the base

height: size and position of the base height's region (Base
Height section) and the base height's feature.

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

Master Comparison
When you check the Master option, the tool displays several additional settings and disables
measurement anchoring from other tools.

Master Parameters
Parameter Description

File The file containing the master (template) profile, created by

choosing Save from the Operation drop-down.

Operation Contains operations related to the master file. One of the

following:
l Normal: Selected by the tool after you perform another
file operation.

l Create: Saves the current profile as the master.

l Delete: Deletes the master file selected in File.

Display Master Overlays the master profile, in white, on the current profile.

X Correction Enables settings related to X correction (left or right

movement) of the profile compared to the master profile.
For more information, see X Correction on the next page.

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X Correction
When you check the Master option and enable X Correction, the tool displays several additional
settings.

X Correction Parameters
Parameter Description

Edit Edge Region Enables an edge region section letting you configure the
region. You can also edit this region in the data viewer.

Edge Direction Determines the direction of the edge. One of the following:
Falling or Rising.

Count Direction Indicates how edges are counted. One of the following: Left
to Right or Right to Left.

Edge Index Indicates which edge the tool uses.

Reference Line
When you check the Master option and enable Reference Line, the tool displays several additional
settings. The reference line is used to set the measurement direction (perpendicular to the reference
line).

Reference Line Parameters

Parameter Description

Line Region The number of line regions the tool uses.

Edit Line Region Enables settings that let you edit the size and position of
the line's region.

Fitting Method Indicates the fitting method the tool uses. One of the
following: Simple or Robust.

Anchoring

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

Z angle Lets you choose the Z Angle measurement of another tool to

use as an angle anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Area
The Area tool determines the cross-sectional area within a region.

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.

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

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Measurements, Features, and Settings

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.

Features
Type Description

Center Point The center point of the area.

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 For more information on geometric features, see Geometric Features on page 212.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is

available as input for this tool.

Type Object area type is for convex shapes above the baseline.
Regions below the baseline are ignored.

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 213 for more
information on fit lines.

When this parameter is set to X-Axis, the baseline is set to z

= 0.

Region The region to which the tool's measurements will apply. For
more information, see Regions on page 206.

Line When Baseline (see above) is set to Line, set this to one of
the following:

1 Region or 2 Regions: Lets you set one or two regions

whose data the tool will use to fit a line.

All Data: The tool uses all of the data in the active area.

For more information on regions, see Regions on page 206).

For more information on fit lines, see Fit Lines on page 213.

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

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Anchoring
Anchor Description

X or Z Lets you choose the X or Z measurement of another tool to

use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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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 bounding box provides the absolute position from which the Position centroids tools are
referenced.

When you use measurement tools on parts or sections, the coordinates returned are relative to
the part or section. You can use the values returned by the Bounding Box tool's "Global" (see
below) measurements as an offset in a Gocator script to convert the positional (X, Y, or Z)
measurements of other measurement tools to sensor or system coordinates (depending on
whether the sensor is aligned). For more information on Gocator scripts, see Scripts on
page 504.

Measurement Panel

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

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Measurements, Features, and Settings

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.

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.

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 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.

Features
Type Description

Center Point The center point of the bounding box.

Corner Point The lower left corner of the bounding box.

For more information on geometric features, see Geometric Features on page 212.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is

available as input for this tool.

Region The region to which the tool's measurements will apply. For
more information, see Regions on page 206.

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

Anchoring
Anchor Description

X or Z Lets you choose the X or Z measurement of another tool to

use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Bridge Value
The Bridge Value tool calculates the "bridge value" and angle of a scanned surface. A bridge value is a
single, processed range that is an average of a laser line profile that has been filtered to exclude user-
definable portions of highs and lows in the profile. The resulting value represents a "roughness
calculation." A bridge value is typically used to measure road roughness, but can be used to measure the
roughness of any target.

The tool provides two additional measurements (Window and StdDev) that can help determine whether
the scanned data is valid; for more information, see Measurements on the next page.

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 Resampled Data and Point Cloud Data on page 68.

Understanding the Window and Skip Settings

The Bridge Value tool measurements work on a histogram of the ranges that make up the profile. 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 the portion of the points of a histogram
that would be included for calculating the bridge value, where Window is roughly 85% of the total points
of the histogram, and Skip is roughly 15% of the points.

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 exclude profile
point heights that correspond to unwanted features on the target. In road roughness applications, for
example, you could exclude rocks (profile points higher than the road surface), cracks or tining valleys
(profile points lower than the road surface), and so on, to get an accurate representation of the tire-to-
road interface.

For more information on parameters, see the Parameters table below.

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For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements and Settings

Measurements
Measurement Illustration

Bridge Value

Determines the bridge value of the profile.

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Measurement Illustration

Angle

Determines the angle of the line fitted to the profile.

When Normalize Tilt is unchecked, the measurement

always returns 0.

Window

Returns the height of the area on the profile resulting from

the Window and Skip settings.

If you are using this measurement on a Gocator 2342

sensor, see Using Window and StdDev as Metrics Measurements
on the next page for more information.

StdDev

Returns the standard deviation of the data in the area on

the profile resulting from the Window and Skip settings.

If you are using this measurement on a Gocator 2342

sensor, see Using Window and StdDev as Metrics Measurements
on the next page for more information.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is

available as input for this tool.

Window A percentage of the profile point heights in the histogram,

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

profile point heights in the histogram to be used in the
average.

Use the setting to exclude lower parts of a profile that you

do not want to include in the measurement.

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Parameter Description

Skip A percentage of the profile point heights in the histogram,

starting from the highest points, to exclude from the
average.

The Skip setting basically sets the upper limit of the profile
point heights in the histogram to be used in the average.

Use the setting to exclude higher parts of a profile that you

do not want to include in the measurement.

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.

Region The region to which the tool's measurements will apply. For
more information, see Regions on page 206.

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

Anchoring
Anchor Description

X or Z Lets you choose the X or Z measurement of another tool to

use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

Using Window and StdDev as Metrics Measurements

When a tracking window is defined, if the profile moves too quickly out of the tracking window and there
is excessive noise in the scan data (caused for example by ambient light), the tracking window may track

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the noise instead of switching to search mode to find the actual profile. As a result, the Bridge Value tool
receives bad data and returns incorrect or invalid measurements.

On Gocator 2342 sensors, the Bridge Value tool’s Window and StdDev measurements can be used as
metrics to determine how valid the Bridge Value measurement is. The Window and StdDev
measurements force an enabled tracking window to switch to search mode when either measurement
returns a fail decision or an invalid value. The measurements’ Min and Max decision settings should be
set to define a range that reflect the expected target roughness so that the tracking window does not
switch to search mode: For example, the Window measurement should correspond to the height of the
area resulting from excluding highs and lows from the profile with the Window and Skip settings.

If the Window or StdDev measurements consistently return fail decisions or invalid

measurements, the exposure may be set too high, creating excessive noise. Adjust the
exposure to reduce the noise.

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Circle
The Circle tool provides measurements that find the best-fitted circle to a profile and measure various
characteristics of the circle.

The tool may be unable to fit a circle to the profile when attempting the fit on a small number of
relatively collinear data points.

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements, Features, and Settings

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.

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Measurement Illustration

Standard Deviation

Returns the standard deviation of the data points with

respect to the fitted circle.

Min Error
Max Error

The minimum and maximum error among the data points

with respect to the fitted circle.

Min Error X
Min Error Z

The X and Z position of the minimum error.

Max Error X
Max Error Z

The X and Z position of the maximum error.

Features
Type Description

Center Point The center point of the fitted circle.

For more information on geometric features, see Geometric Features on page 212.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is

available as input for this tool.

Region The region to which the tool's measurements will apply. For
more information, see Regions on page 206.

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

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Anchoring
Anchor Description

X or Z Lets you choose the X or Z measurement of another tool to

use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Circle Radii
This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. However, it is
supported on any accelerated sensors (PC or GoMax), including these models, and will appear
in emulator scenarios created using these sensors.

The Profile Circle Radii tool lets you measure radii and diameters at specified angle steps, given a
specified center point. The tool draws rays from the center point and returns radii or diameter
measurements for each ray.

For example, in the following scan of an exhaust pipe by a four-sensor system, the tool is showing a
radius measurement at 70 degrees that indicates a dent in the pipe. The tool also provides settings to
compensate for missing data and for rough surfaces or noise.

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

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Measurements, Features, and Settings

Measurements
Measurement Illustration

Radius at {angle}

Returns the radius at {angle}.

Diameter at {angle}

Returns the diameter at {angle}.

Data
Type Description

Points An array of the points at the end of the rays.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For
more information, see Source on page 205.

Use Region Indicates whether the tool uses a user-defined region.

If this option is not checked, the tool uses data from the entire active area.

Region The region to which the tool's measurements will apply. For more information, see Regions
on page 206.

Center Selection The source for the point geometric feature the tool uses as a center point. One of the
following:

Bounding Box – Uses the center of the bounding box that encloses the scan data selected
in Source. If Use Region is enabled, the tool places a bounding box only around the data
in the region. If Use Region is disabled, the tool places a bounding box around all scan
data; this will include any outliers in the bounding box, which could produce an undesired
center point.

Feature Input – A point geometric feature provided by another tool, such as the center
point from a Circle tool.

Center The point geometric feature coming from another tool that the Circle Radii tool uses as the
center point from which rays are drawn to search for data points. The parameter is only
available when Center Selection is set to Feature Input.

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Parameter Description

Angle Start Angle Start: The angle at which ray steps start.

Angle Step Angle Step: The angle step in degrees.

The following shows how these settings work together:

The tool searches for a data point at each angle step and returns the radius from the
center point or the diameter.

Tolerance If no data point is found at the angle step, the tool searches within the specified number
of degrees to each side of the step to find a data point. Useful to compensate for gaps in
the data.

The graphic above shows how the tool searches to each side of the angle step until it finds
a data point (circled and in yellow).

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Parameter Description

Averaging The number of data points to each side of the point the tool uses to average. Use this to
compensate for noise or rough surfaces.

The graphic above shows how the tool averages the data point at the angle step with the
number of data points specified in Averaging to each side of the angle step, replacing the
original data point with the average (circled and in yellow).

Output Selects whether to output radius, diameter, or both at each step.

Selection Lets you quickly enable or disable all measurements.

Filters The filters that are applied to measurement values before they are output. For more
information, see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the measurement
tool sends a pass or fail decision to the output. For more information, see Decisions on
page 213.

Anchoring
Anchor Description

X or Z Lets you choose the X or Z measurement of another tool to

use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Closed Area
The Closed Area tool determines the cross-sectional area within a region using point cloud data from a
dual- or multi-sensor system.

The tool is intended for use with roughly circular shaped profiles, or profiles that do not contain
excessive concavity. The tool renders a polygon corresponding to the profile in the data viewer. Use this
polygon to decide whether the tool can correctly calculate an acceptable representation of the profile.
Minor gaps in the profile are permitted; the size of these gaps is configurable.

When the tool is used in conjunction with a script tool, you can calculate the volume of a target; for more
information on the Script tool, see Script on page 299.

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements and Settings

Measurements
Measurement Illustration

Closed Area

Measures the cross-sectional area within a region using data

from a dual- or multi-sensor system.

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Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more
information, see Source on page 205.

For this tool, you should set this parameter to Top and Bottom.

Use Region Indicates whether the tool uses a user-defined region.

If this option is not checked, the tool uses data from the entire active area.

Region The region to which the tool's measurements will apply. For more information, see Regions on
page 206.

Use Max Gap Indicates whether the tool uses the Max Gap setting (see below).

Max Gap The maximum gap allowed between any two profile points on the contour of the target, in
millimeters. In the following illustration of a profile, if the gap were greater than the value set in
Max Gap, the tool would return an invalid value.

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Parameter Description

Sample Spacing The angle interval around the center of the profile the tool uses to calculate area. Enabling this
setting and setting a value can increase the tool's performance.

In the following image, the spacing is set to 1 degree. The polygon calculated from the profile
points, which is then used to calculate the area, is simplified, increasing performance but
reducing accuracy.

In the following image, Sampling Spacing is set to 0. Accuracy is increased, but performance is
reduced.

If you set the value to 0, the tool uses the smallest angle permitted internally by the sampling
engine.

Filters The filters that are applied to measurement values before they are output. For more
information, see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the measurement tool
sends a pass or fail decision to the output. For more information, see Decisions on page 213.

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Anchoring
Anchor Description

X or Z Lets you choose the X or Z measurement of another tool to

use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Dimension
The Dimension tool provides Width, Height, Distance, Center X, and Center Z measurements.

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements and Settings

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 2X position – Feature 1X 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 2Z position – Feature 1Z position

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Measurement Illustration

Distance

Determines the direct, Euclidean distance between two

feature points.

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

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is

available as input for this tool.

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Parameter Description

Feature 1 The Feature 1 and Feature 2 settings represent the two

Feature 2 features the tool uses to perform measurements. For each,

one of the following:
l Max Z
l Min Z
l Max X
l Min X
l Corner
l Average
l Rising Edge
l Falling Edge
l Any Edge
l Top Corner
l Bottom Corner
l Left Corner
l Right Corner
l Median

To set the region of a feature, adjust it graphically in the

data viewer, or expand the feature using the expand
button ( ) and enter the values in the fields. For more
information on regions, see Regions on page 206.

Absolute Determines if the result will be expressed as an absolute or

(Width and Height measurements only) a signed value.

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

Anchoring
Anchor Description

X or Z Lets you choose the X or Z measurement of another tool to

use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Edge
The Profile Edge tool finds an edge on a profile, searching from left to right. The tool's settings help fit
the edge point when multiple potential edges are in the region of interest. After the tool locates an edge,
the position (X and Z) of the center of the step and the step height can be returned as measurements.

The tool can also generate a point geometric feature corresponding to the center of the step that
Feature tools can take as input for measurement. For more information on Feature tools, see Feature
Measurement on page 484.

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

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Measurements, Features, and Settings

Measurements
Measurement

These measurements return the X and Z position of the edge point, respectively. The edge point is located half-way
between the upper and lower data points of the step.

Step Height

Returns the height of the step on the profile.

Features
Type Description

Edge Center Point The edge point.

For more information on geometric features, see Geometric Features on page 212.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more
information, see Source on page 205.

Selection Type Determines which step the tool uses when there are multiple steps in the profile. An edge point
is placed the chosen step. Steps must satisfy the tool's Step Threshold and Step Direction
settings.

Best: Selects the greatest step on the profile.

First: Selects the first step on the profile.

Last: Selects the last step on the profile.

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Parameter Description

Step Threshold The minimum step accepted as an edge candidate. Steps on the profile are treated as absolute
values when compared to this setting.

In the following profile, with Step Threshold set to 1.7 (and Selection Type set to Last), the tool
accepts the step to the right, with a step of -1.873 mm, because it is above the step threshold.

In the following, when Step Threshold is increased to 1.9, the tool excludes the falling step to the
right, because it is no longer above the step threshold, and instead uses the step to the left.

Step Direction Determines whether the expected step rises or falls, moving left to right, along the profile. Either
Rising, Falling, or Rising or Falling.

Step Smoothing The size of the (moving) window along the profile used to calculate an average for each data point
on the profile. The setting is useful for averaging out noise.

If Step Smoothing is set to 0, no averaging is performed.

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Parameter Description

Step Width The distance, along a path profile, separating the points the tool uses to find steps on a profile.

In the following, a step width of 5.5 mm causes the tool to consider profile points that distance
apart as steps. Consequently, the curved portion of the profile is not used to measure the step.

The setting is useful when you must detect a slope as an edge, rather than a sharply defined
edge: setting Step Width to a value greater than the width of the edge ensures that the tool
measures the height difference between the flat regions on either side of the edge. As a result,
the height of the step is accurately measured, and the edge is correctly located.

Setting Step Width wider than necessary can reduce the precision of edge
location.

Max Gap Fills in regions of missing data caused by an occlusion near the desired edge. Use this setting
when continuity on the target is expected. When Max Gap is set to a non-zero value, the tool
holds and extends the last data point on the low side next to an edge across a gap of null points,
up to the distance specified in Max Gap.

The tool uses data points "filled in" by Max Gap before data points filled in by Null Fill Value (see
below).

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Parameter Description

Include Null Edges Indicates whether null points (points where no height value is available, due to dropouts or
regions outside of the measurement range) are filled with the value in Null Fill Value as a general
“background level.”

To find an edges next null points, you must use either this option and an
appropriate value in Null Fill Value or Max Gap. Otherwise, only edges within
areas of contiguous data will be detected.

Null Fill Value The height value (in mm) used to replace null points when Include Null Edges is enabled.

If both Null Fill Value and Max Gap fill in null points at the same position, the tool uses the value
extended by Max Gap, regardless of the value of Null Fill Value.

Show Detail When disabled, reduces what is indicated in the data viewer.

Filters The filters that are applied to measurement values before they are output. For more information,
see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the measurement tool
sends a pass or fail decision to the output. For more information, see Decisions on page 213.

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Groove
The Groove tool provides measurements of V-shape, U-shape, or open-shape grooves.

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.

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

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Measurements, Features, and Settings

Measurements
Measurement Illustration

Width

Measures the width of a groove.

Depth

Measures the depth of a groove as the maximum

perpendicular distance from a line connecting the edge
points of the groove.

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Measurement Illustration

Measures the X position of the bottom of a groove.

Measures the Z position of the bottom of a groove.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For
more information, see Source on page 205.

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is available as input for this tool.

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Parameter Description

Shape Shape of the groove

Min Depth Minimum depth for a groove to be considered valid.

Min Width Minimum width for a groove to be considered valid. The width is the distance between the
groove corners.

Max 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.

Region The measurement region defines the region in which to search for the groove. For a stable
measurement, the measurement region should be large enough to cover some data on the
left and right sides of the groove.

For more information on regions, see Regions on page 206.

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Parameter Description

Location Specifies the location type to return

(Groove X and Groove Z Bottom - Groove bottom. For a U-shape and open-shape groove, the X position is at the
measurements only) centroid of 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.

Filters The filters that are applied to measurement values before they are output. For more
information, see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the measurement tool
sends a pass or fail decision to the output. For more information, see Decisions on page 213.

Anchoring
Anchor Description

X or Z Lets you choose the X or Z measurement of another tool to

use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Intersect
The Intersect tool determines intersect points and angles.

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.

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements, Features, and Settings

Measurements
Measurement Illustration

Finds the intersection between two fitted lines and

measures the X axis position of the intersection point.

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Measurement Illustration

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.

Features
Type Description

Intersect Point The point of intersection.

Line The intersect line.

Base Line The base line.

For more information on geometric features, see Geometric Features on page 212.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is

available as input for this tool.

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.

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Parameter Description

Line You can use one or two fit areas for the fit line. To set the
region (or regions) of the fit line, adjust it graphically in the
data viewer, or expand the feature using the expand
button ( ) and enter the values in the fields. For more
information on regions, see Regions on page 206.

For more information on fit lines, see Fit Lines on page 213.

Ref Line Used to define the reference line when Line is selected in
the Reference Type parameter. To set the region (or regions)
of the reference line, adjust it graphically in the data viewer,
or expand the feature using the expand button ( ) and
enter the values in the fields. For more information on
regions, see Regions on page 206.

For more information on fit lines, see Fit Lines on page 213.

Angle Range Determines the angle range. The options are:

(Angle measurement only) -90 – 90

0 – 180

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

Anchoring
Anchor Description

X or Z Lets you choose the X or Z measurement of another tool to

use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Line
The Line tool fits a line to the profile and measures the deviations from the best-fitted line. The sensor
compares the measurement value with the values in Min and Max to yield a decision. For more
information on decisions, see Decisions on page 213.

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

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Measurements, Features, and Settings

Measurements
Measurement Illustration

Standard Deviation

Finds the best-fitted line and measures the standard

deviation of the data 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.

Offset

Finds the best-fitted line and returns the intersection point

between that line and the Z axis.

Angle

Finds the best-fitted line and returns the angle relative to

the X axis.

Min Error X

Min Error Z

Finds the best-fitted line and returns the X or Z position of

the minimum error from the line (the maximum distance
below the line).

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Measurement Illustration

Max Error X

Max Error Z

Finds the best-fitted line and returns the X or Z position of

the maximum error from the line (the maximum distance
above the line).

Features
Type Description

Line The fitted line.

Error Min Point The point of minimum error.

Error Max Point The point of maximum error.

For more information on geometric features, see Geometric Features on page 212.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is

available as input for this tool.

Region The region to which the tool's measurements will apply. For
more information, see Regions on page 206.

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Parameter Description

Fitting Regions Determines which data Gocator uses to fit the line over the
profile.

When Fitting Regions is enabled, Gocator uses the data

indicated by one of the following options:
l All Data: All of the data in the profile is used to fit the
line.
l 1 Region: Data from a fitting region you define in the
data viewer is used to fit the line.
l 2 Regions: Data from two fitting regions you define is
used to fit the line.

When Fitting Regions is disabled, to fit the line, Gocator

uses the measurement region if Region is enabled, or the
entire profile if Region is disabled.

When Fitting Regions is enabled and 1 Region or 2 Regions

is selected, you can set the region (or regions) graphically in
the data viewer, or you can expand the feature using the
expand button ( ) and enter the values in the fields. For
more information on regions, see Regions on page 206.

Percent The specified percentage of points around the best-fitted

(Percentile measurement only) line.

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

Anchoring
Anchor Description

X or Z Lets you choose the X or Z measurement of another tool to

use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Line Advanced
This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. However, it is
supported on any accelerated sensors (PC or GoMax), including these models, and will appear
in emulator scenarios created using these sensors.

Like the Profile Line tool, the Profile Line Advanced tool fits a line to a profile and measures the
deviations from the best-fitted line. Additionally, this version of the tool provides two “roughness
parameter” measurements: Ra and Rz. Note that the region-related parameters have been reorganized
to make the tool easier to use. The sensor compares the measurement value with the values in Min and
Max to yield a decision. For more information on decisions, see Decisions on page 213.

If you do not need the roughness parameters, LMI currently recommends using the Profile Line
tool (see Line on page 269).

Set Fitting Method to Simple to cause the tool to behave like the older Profile Line tool.

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

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Measurements, Features, and Settings

Measurements
Measurement Illustration

Standard Deviation

Finds the best-fitted line and measures the standard

deviation of the data 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.

Offset

Finds the best-fitted line and returns the intersection point

between that line and the Z axis.

Angle

Finds the best-fitted line and returns the angle relative to

the X axis.

Min Error X

Min Error Z

Finds the best-fitted line and returns the X or Z position of

the minimum error from the line (the maximum distance
below the line).

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Measurement Illustration

Max Error X

Max Error Z

Finds the best-fitted line and returns the X or Z position of

the maximum error from the line (the maximum distance
above the line).

Ra

Returns the roughness average of the profile data.

Rz
Returns the average maximum height of the profile data.

Features
Type Description

Line The fitted line.

Error Min Point The point of minimum error.

Error Max Point The point of maximum error.

For more information on geometric features, see Geometric Features on page 212.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more
information, see Source on page 205.

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Parameter Description

Region Whether the fitting and measurement regions are combined or separate (or not used). One of the
following:

None

The tool uses the entire profile to fit the line and perform measurements.

Combined Fitting & Measurement

The tool uses a single, user-defined region to fit the line and in which it performs measurements.
In the following image,

Separate Fitting & Measurement

The tool uses one or two regions to fit the line, and a single, separate region in which it performs
measurements.

In the following image, the tools uses a single region to the left to fit the line, and performs
measurements in the measurement region to the right:

In the following image, the uses two regions to the left to fit the line, and performs
measurements in the measurement region to the right:

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Parameter Description

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is available as input for this tool.

Region These settings contain parameters to define the position and size of the fitting and

Region 2 measurement regions.

Measurement Region

(for region definition)

Fitting Method Determines how the tool fits the line to the data. One of the following:

Simple

Uses a less accurate but faster line-fitting method. Use this setting to cause the tool to behave
like Profile Line.

Robust

An iterative line-fitting method that removes points and attempts to fit a line until only one-third
of the original profile data points is left. More accurate but takes longer.

Outlier Percentile Indicates the number of outlier points to be removed overall during line fitting. Adjust this value
based on how much noise is present in the profile.

Only displayed when Method is set to Robust.

Measurement The specified percentage of points around the best-fitted line that the Percentile measurement
Percentage uses.

(Percentile measurement
only)

Filters The filters that are applied to measurement values before they are output. For more information,
see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the measurement tool
sends a pass or fail decision to the output. For more information, see Decisions on page 213.

Anchoring
Anchor Description

X or Z Lets you choose the X or Z measurement of another tool to

use as a positional anchor for this tool.

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 A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Panel
The Panel tool provides Gap and Flush measurements.

The Panel tool uses a complex feature-locating algorithm to find the gap or calculate flushness and
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.

You must make sure that there are enough data points to define the edge in the profile, by
properly settng up exposure, etc. If not, the algorithm will not function.

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

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Measurements
Measurement Illustration

Gap

Measures the distance between two surfaces. The surface

edges can be curved or sharp.

Flush

Measures the flushness between two surfaces. The surface

edges can be curved or sharp.

Left Gap X

Returns the X position of the edge feature on the left side

used to measure the gap.

Left Gap Z

Returns the Z position of the edge feature on the left side

used to measure the gap.

Left Flush X

Returns the X position of the feature on the left side used

to measure flushness.

Left Flush Z

Returns the Z position of the feature on the left side used

to measure flushness.

Left Surface Angle

The angle of the left side surface relative to the X axis.

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Measurement Illustration

Right Gap X

Returns the X position of the edge feature on the right side

used to measure the gap.

Right Gap Z

Returns the Z position of the edge feature on the right side

used to measure the gap.

Right Flush X

Returns the X position of the feature on the right side used

to measure flushness.

Right Flush Z

Returns the Z position of the feature on the right side used

to measure flushness.

Right Surface Angle

The angle of the right side surface relative to the X axis.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For
more information, see Source on page 205.

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is available as input for this
tool.

Reference SideDirection Defines the side used to calculate the measurement axis (see below) rounded corner.

Max Gap Width The maximum width of the gap. Allows the tool to filter gaps greater than the expected
width. This can be used to single out the correct gap when there are multiple gaps in the
field of view.

Measurement Axis Defines the direction that the gap is calculated, in relation to the reference side (see

Gap measurement only above).

Surface: In the direction of the fitted surface line of the reference surface.

Edge: In the direction perpendicular to the edge of the reference surface.

Distance: The Cartesian distance between the two feature locations.

Absolute When enabled, returns an absolute value rather than a signed value.

Flush measurement only

Filters The filters that are applied to measurement values before they are output. For more
information, see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the measurement
tool sends a pass or fail decision to the output. For more information, see Decisions on
page 213.

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Left/Right SideEdge Parameters
Parameter Description

Max Void Width The maximum allowed width of missing data caused by occlusion or data dropout.

Min Depth Defines the minimum depth before an opening could be considered to have a potential
edge. The depth is the perpendicular distance from the fitted surface line.

Surface Width The width of the surface area in which data is used to form the fitted surface line. This
value should be as large as the surface allows.

Surface Offset The distance between the edge region and the surface region.

Setting a small value allows the edge within a tighter region to be detected. However, the
measurement repeatability could be affected if the data from the edge are considered as
part of the surface region (or vice versa). A rule of thumb is to set Surface Offset equal to
Nominal Radius.

Nominal Radius The radius of the curve edge that the tool uses to locate the edge region.

Edge Angle A point on the best fit circle to be used to calculate the feature point. The selected point
is on the circumference at the specified angle from the start of the edge region.

The angle is measured from the axis perpendicular to the fitted surface line.

Edge Type Defines the type of feature point to use for the edge (Corner or Tangent).

A tangent edge point is the point selected based on the defined Edge Angle. A corner
edge point is the intersect point between the fitted surface line and a edge line formed
by interpolating the points at and after the tangent within the edge region.

Region The region to which the tool's measurements will apply. For more information, see Regions
on page 206.

Anchoring
Anchor Description

X or Z Lets you choose the X or Z measurement of another tool to

use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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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).

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements, Features, and Settings

Measurements
Measurement Illustration

Finds the position of a feature on the X axis.

Finds the position of a feature on the Z axis.

Features
Type Description

Point The returned position.

For more information on geometric features, see Geometric Features on page 212.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is

available as input for this tool.

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Parameter Description

Feature The feature the tool uses for its measurements. One of the
following:
l Max Z
l Min Z
l Max X
l Min X
l Corner
l Average
l Rising Edge
l Falling Edge
l Any Edge
l Top Corner
l Bottom Corner
l Left Corner
l Right Corner
l Median

To set the region of a feature, adjust it graphically in the

data viewer, or expand the feature using the expand
button ( ) and enter the values in the fields. For more
information on regions, see Regions on page 206.

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

Anchoring
Anchor Description

X or Z Lets you choose the X or Z measurement of another tool to

use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Round Corner
The Round Corner tool measures corners with a radius, returning the position of the edge of the corner
and the angle of adjacent surface with respect to the X axis.

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

The Round Corner tool uses a complex feature-locating algorithm to find the edge and 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.

You must make sure that there are enough data points to define the edge (proper exposure,
etc.). If not, the algorithm will not function.

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Measurements
Measurement Illustration

Measures the X position of the location where the tangent

touches the edge, or intersect of the tangent and the line
fitted to the surface used by the measurement (see
Reference Side, below).

Measures the Z position of the location where the tangent

touches the edge, or intersect of the tangent and the line
fitted to the surface used by the measurement (see
Reference Side, below).

Angle

Measures the angle of the line fitted to the surface next to

the corner (see Reference Side, below), with respect to the
x-axis. Left edge angles are from -90 to 90. Right edge
angles are from 90 to 270.

Features
Type Description

Edge Point The position of the edge.

Radius Center Point The center of the radius.

For more information on geometric features, see Geometric Features on page 212.

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Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For
more information, see Source on page 205.

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is available as input for this
tool.

Reference Direction Defines the side used to calculate the rounded corner.

Max Gap Width The maximum width of the gap. Allows the tool to filter gaps greater than the expected
width. This can be used to single out the correct gap when there are multiple gaps in the
field of view.

Filters The filters that are applied to measurement values before they are output. For more
information, see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the measurement
tool sends a pass or fail decision to the output. For more information, see Decisions on
page 213.

Edge Parameters
Parameter Description

Max Void Width The maximum allowed width of missing data caused by occlusion or data dropout.

Min Depth Defines the minimum depth before an opening could be considered to have a potential
edge. The depth is the perpendicular distance from the fitted surface line.

Surface Width The width of the surface area in which data is used to form the fitted surface line. This
value should be as large as the surface allows.

Surface Offset The distance between the edge region and the surface region.

Setting a small value allows the edge within a tighter region to be detected. However, the
measurement repeatability could be affected if the data from the edge are considered as
part of the surface region (or vice versa). A rule of thumb is to set Surface Offset equal to
Nominal Radius.

Nominal Radius The radius of the curve edge that the tool uses to locate the edge region.

Edge Angle A point on the best fit circle to be used to calculate the feature point. The selected point
is on the circumference at the specified angle from the start of the edge region.

The angle is measured from the axis perpendicular to the fitted surface line.

Edge Type Defines the type of feature point to use for the edge (Corner or Tangent).

A tangent edge point is the point selected based on the defined Edge Angle. A corner
edge point is the intersect point between the fitted surface line and a edge line formed
by interpolating the points at and after the tangent within the edge region.

Region The region to which the tool's measurements will apply. For more information, see Regions
on page 206.

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Anchoring
Anchor Description

X or Z Lets you choose the X or Z measurement of another tool to

use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Strip
The Strip tool measures the width of a strip.

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.

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

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Measurements
Measurement Illustration

Width

Measures the width of a strip.

Height

Measures the height of a strip.

Measures the X position of a strip.

Measures the Z position of a strip.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more
information, see Source on page 205.

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is available as input for this tool.

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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.

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.

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Parameter Description

Tilt Enabled Enables/disables tilt correction.

The strip may be tilted with respect to the sensor's coordinate X axis. This can 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.

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.

Min Width Specifies the minimum width for a strip to be considered valid.

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.

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 151 for information.

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Parameter Description

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.

For more information, see Regions on page 206.

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 Right - Right edge of the strip.
only)
Center - Center of the strip.

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.

Filters The filters that are applied to measurement values before they are output. For more
information, see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the measurement tool
sends a pass or fail decision to the output. For more information, see Decisions on page 213.

Anchoring
Anchor Description

X or Z Lets you choose the X or Z measurement of another tool to

use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Template Matching
This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. However, it is
supported on any accelerated sensors (PC or GoMax), including these models, and will appear
in emulator scenarios created using these sensors.

The Profile Template Matching tool lets you align a profile to a "master" template profile you create in
the tool (a "golden template"), compensating for movement of the target from frame to frame. As a
result, you can perform measurements over on a "stabilized" profile.

The tool returns measurements that represent differences between the profile and the master, letting
you perform simple defect detection and location from within the tool.

The tool also outputs an aligned profile that other Profile measurement tools can use as input (via their
Stream parameter). Finally, the tool produces a "difference" profile on which you can similarly perform
measurements.

The sensor compares the measurement value with the values in Min and Max to yield a decision. For
more information on decisions, see Decisions on page 213.

In the data viewer, the profiles are rendered using different colors:

The master profile is rendered in white. The aligned profile is rendered in blue. The current profile is rendered in red.

Note that in the image above, the tool is performing only a rough alignment to ensure that the different
profiles are clearly visible. Typically, the blue aligned profile will be on top of the white master profile.

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For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements, Features, and Settings

Note that if no profile alignment is performed (both Coarse Align and Fine Align are disabled), for
example, if the targets are sufficiently fixed from profile to profile, the following measurements return
0.000:

l Transform X
l Transform Z
l Transform Y Angle
Master Compare must be enabled for the following measurements; otherwise, they return Invalid
values:

l Max Height Difference

l Max Difference Position X
l Max Difference Position Z
l Standard Deviation
l Difference Average
l Difference Sum
l Variance
l Matching Score
Also, for these “master compare” measurements, if the profile has been aligned to the master (either
Coarse Align or Fine Align is enabled), the measurement compares the aligned profile and the master.
If the profile has not been aligned (both alignment parameters are disabled), the measurement
compares the original (unaligned) profile and the master.

Measurements
Measurement

Transform X

Transform Z

The distance the profile has shifted on the X and Z axis after alignment to the master, respectively.

Transform Y Angle

The rotation of the profile around the Y axis after alignment.

Max Height Difference

The maximum height difference between the profile and the master.

Max Difference Position X

Max Difference Position Z

The X and Z positions of the maximum height difference between the profile and the master.

Standard Deviation

The standard deviation between the profile and the master.

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Measurement

Difference Average

The average difference on the Z axis between the profile and the master.

Difference Sum

The sum of the differences on the Z axis between the profile and the master.

Variance

Returns the variance of a difference profile calculated by subtracting the current profile from the master.

Matching Score

Returns a value between 0 and 1 that is the is the percentile of standard deviation of a difference profile (calculated by
subtracting the current profile from the master) from the tolerance.

Data
Type Description

Aligned Profile The profile aligned to the master.

Difference Profile A profile representing the differences between the profile

and the master.

Z values in the difference profile above 0 represent data

points higher in the profile than in the master.

Z values in the difference profile below 0 represent data

points lower in the profile than in the master.

Z values in the difference profile at 0 represent data points

that are the same in the profile and the master.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more
information, see Source on page 205.

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is available as input for this tool.

File A list of templates available to the tool. The template containing the profile the tool uses as a
master profile for alignment and comparisons. Use the Operation parameter to add and remove
templates to this list.

Operation Provides operations related to profile template files (masters). One of the following:

Save – Saves the current profile to a template file in the local file system and adds it to the list in
File. Multiple templates can be available. Files are persistent.

Delete – Deletes the template file selected in File.

(This parameter switches to “Normal” after the tool performs one of the file operations.)

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Parameter Description

Use Region Indicates whether the tool uses a user-defined region to perform matching. (The tool uses only the
data profile and master data in this region to perform matching.)

If this option is not checked, the tool performs matching using data from the entire active area.

Match Region Size and position of the region in which the matching (alignment) is performed..

Master comparison measurements however are applied to the entire profile (current profile and
master). For example, in the following image, the tool limits matching to the data in the match
region. But the measurement (Max Height Difference in this case) is calculated on the data
outside the region.

(The dashed lines are added to illustrate the hidden aligned profile and master.)

Coarse Align When enabled, shows the X Shift Window parameter. Use this setting by itself if you expect
targets will only move along the X and Z axes (that is, you don’t expect rotation). Otherwise, when
combined with Fine Align, it provides a good initial start position for fine alignment.

X Shift Window The maximum distance on the X axis the tool can move the current profile in order to align it.
Should be set to the maximum amount the part is expected to shift left or right. (Enabled using
the Coarse Align parameter.)

Fine Align When enabled, lets you set the Max Iteration and Match Window parameters for fine alignment.
This alignment method is more accurate than coarse alignment but takes more time to run.

Max Iteration The maximum number of iterations the tool uses to perform fine alignment of the profile to the
master.

Match Window The region in which points are evaluated for a match. It there’s a larger difference between the
current profile and the master than the match window size, it would ignore the point.

Master Compare Causes the tool to compare the current profile to the master profile and return results in some of
the tool’s measurements. (See list above.)

When disabled, the measurements that compare the profile to the master return invalid values.

Difference Profile Defines the size of the window the tool uses to smooth out noise in the Difference Profile data
Median Size output.

Tolerance The difference tolerance for the master comparison.

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Parameter Description

Display Master Displays the Master template (white profile).

Display Aligned Profile Displays the aligned (blue profile).

Filters The filters that are applied to measurement values before they are output. For more information,
see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the measurement tool
sends a pass or fail decision to the output. For more information, see Decisions on page 213.

Anchoring
Anchor Description

X or Z Lets you choose the X or Z measurement of another tool to

use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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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 Scripts on page 504 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.

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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 profile3D point cloud data is not. (The script engine is not powerful enough to
process the data itself.) Only one script can be created.

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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.

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 (Part Detection on page 158). 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.

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Arithmetic
This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. However, it is
supported on any accelerated sensors (PC or GoMax), including these models, and will appear
in emulator scenarios created using these sensors.

The Surface Arithmetic tool lets you perform various operations on a pair of surfaces. For example, you
can use the tool to perform dynamic masking from frame to frame. The tool performs bitwise
operations (AND or OR) on the corresponding data points in the source surfaces, and also combines
height and intensity data with add, subtract, average, and mask operations.

2D View

Tool Setup

Settings

Parameters
Parameter Description

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is available as input for this tool.

If you switch from one type of data to another (for example, from section profile data to
surface data), currently set input features will become invalid, and you will need to choose
features of the correct data type.

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Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For
more information, see Source on page 205.

Can only accept Surface scan data (that is, cannot accept data from other tools).

Secondary Source The data output of another tool, for example, of a Surface Filter tool.

Use Region Indicates whether the tool uses a user-defined region.

If this option is not checked, the tool uses data from the entire active area.

Region The region to which the tool's measurements will apply. For more information, see Regions
on page 206.

Use Intensity If enabled, the tool uses intensity data instead of heightmap data. Only available if Acquire
Intensity is enabled on the Scan page during the scan; for more information, see .

Operator One of the following:

Add – Adds the height values of the corresponding data points in the two sources.

Subtract – Subtracts the height values of the corresponding data points in the two sources.

Average – Averages the height values of the corresponding data points in the two sources.

Mask – Uses the secondary source as a mask.

Logic Performs bitwise-operations on the source and secondary source surface data. One of the
following: And or Or. When Operator is set to Average, this parameter is unavailable.

Data
Type Description

Surface The processed surface data.

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Ball Bar
This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. However, it is
supported on any accelerated sensors (PC or GoMax), including these models, and will appear
in emulator scenarios created using these sensors.

The Surface Ball Bar tool returns measurements useful for calibrating systems using a ball bar,
particularly systems that include a robot.

2D View 3D View

Measurement Panel

Measurements
Measurement

Distance 3D

The direct distance between the centers of the spheres fitted to the balls.

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Measurement

Position X1 / Y1 / Z1

Position X2 / Y2 / Z2

These measurements return the X, Y, and Z positions of the centers of the spheres fitted to the balls.

Normal X / Y / Z

These measurements return the X, Y, and Z components of the normal vector of the surface surrounding the calibration
target.

Ix / Iy / Iz

Jx / Jy / Jz

Kx / Ky / Kz

These measurements return the X, Y, and Z components of the I, J, and K unit vectors defining the coordinate system
orientation.

Tx / Ty / Tz

These measurements return the X, Y, and Z components of the translation vector defining the coordinate system origin
location.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

Origin Ball Determines which ball is used as the origin. The Bottom of
View option selects the ball at the bottom of the data
viewer in the Gocator web interface.

Use Nominal Distance When enabled, displays Nominal Distance and Distance
Tolerance settings. Set these to reflect the distance
between the balls of the ball bar (refer to the specifications
of the ball bar) and the tolerance you need. This can be
useful to ensure invalid results due to false or inaccurate
detection are rejected.

Use Nominal Radius When enabled, displays Nominal Radius settings. Set these
to reflect the radius of the balls of the ball bar (refer to the
specifications of the ball bar) and the tolerance you need.
This can be useful to ensure invalid results due to false or
inaccurate detection are rejected.

Zero Plane Parameters Enables advanced zero plane settings. For UR integration,
you should leave the settings at their default. These
parameters allow ensuring the plane detection is accurate
and robust to variations.

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Parameter Description

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

Barcode
This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. However, it is
supported on any accelerated sensors (PC or GoMax), including these models, and will appear
in emulator scenarios created using these sensors.

The Barcode tool lets you decode data encoded in 1D (linear) and 2D barcodes from surface data
(intensity data or heightmap data) without the need for 2D vision cameras or barcode readers. The tool
also supports dot-peened types (Datamatrix and QR code). For a complete list of the types the tool
supports, see "Type" in Parameters on page 308.

When configuring the tool, make sure you switch the data viewer to the appropriate type of
visualization for the barcode: for intensity-based barcodes (such as printed barcodes), switch
the data viewer to intensity mode using the Intensity button ( ); for height-based barcodes
(such as dot peen codes), switch the data viewer to heightmap mode using the Heightmap
button ( ).

The tool returns whether it has found the barcode and whether it is valid, as well as the X, Y, and Z
position of the barcode's lower left corner.

You can use the String Encoding tool to extract the string and pass it as output to a PLC; for more
information, see String Encoding on page 441. The extracted string is also available via the SDK; for
information on the SDK, see GoSDK on page 813 and the SDK reference documentation.

2D View 3D View

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 Measurement Panel

The decoded data is also displayed in the log; for more information on the log, see Log on page 96.

The tool provides two "learn" functions that can speed up the process of determining appropriate
settings. (For more information, see Mode below.)

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

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Measurements, Features, and Settings

Measurements
Measurement Illustration

Found

Returns 1.000 if the tool detects the configured barcode;

otherwise, 0. Places a red rectangle around detected QR
codes and Datamatrix codes.

These measurements return the X, Y, and Z position of the

code, respectively.

Valid Determines whether the barcode is valid by comparing the

string in the Validation parameter with the decoded string.

Data
Type Description

Output String Data output containing the decoded string.

Location Image The image the tool uses to find the a dot-peen barcode.
(When Type is set to a printed barcode, that is, a type other
than a dot-peen code, this image is the same as the decode
image.)

Decode Image The image the tool uses as part of the dot peen decode
algorithm.  Use this to adjust the image (for example, using
one of the filter tools) and to diagnose issues.

Dot peen decode Image A binarized image the tool runs the dot peen decode
algorithm on. The points of the code should appear clearly
in the image to ensure proper decoding. Use this to adjust
the image (for example, using one of the filter tools) and to
diagnose issues.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

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Parameter Description

Use Region Indicates whether the tool uses a user-defined region.

If this option is not checked, the tool uses data from the
entire active area.

Region The region to which the tool's measurements will apply. For
more information, see Regions on page 206.

Data The data the tool uses to detect a bar code. One of the
following:
l Intensity
l Heightmap

Type The type of barcode the tool expects. One of the following:
l Any: Detects any type of barcode.
l 1D Barcode (All): Detects any type of 1D (linear) barcode.
l EAN-8
l EAN-13
l ISBN-10
l ISBN-13
l UPC-A
l UPC-E
l Code-39
l Code-128
l Interleave 2 of 5
l PDF417
l Data Matrix
l Data Matrix dot peened
l QR Code
l QR Code dot peened

Mirrored Reverses the scan. Use this if the scan is mirrored. Only
useful with 2D barcodes.

Light on dark / Raised If you are scanning light-on-dark barcodes or raised barcodes,
enable this option.

Use Threshold Enables the Threshold setting (see below).

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Parameter Description

Threshold Mode Sets the threshold mode the tool uses. Any data points
below the threshold are ignored and considered part of the
"background"; data points not excluded are considered part
of the barcode. Useful for cases where the surrounding
surface is similar to the intensity or height of the barcode
itself.

One of the following:

l None: No thresholding is performed.
l Fixed: A global thresholding method. Set Threshold to
a value between 0 and 255. When Data is set to
Intensity, the value in Threshold is simply the intensity
cut-off. When Data is set to Heightmap, the value is a
percentile of the height values, converted to the 0-255
range.
l Otsu: A global thresholding method. Illumination of the
target should be relatively uniform and tilt should be
removed (for example, using the Surface Transform
tool; see Transform on page 464).
l Adaptive: A local thresholding method that can help
deal with local variation (intensity or height) in the
target.

Threshold The threshold of intensity or height values the tool uses to

distinguish between the code and the surrounding surface.
The parameter accepts a value between 0 and 255, whether
Data is set to Heightmap or Intensity. This setting is only
displayed when Threshold Mode is set to Fixed.

Subsampling ratio Downsamples the image. Can make the tool run faster. (A
value of at least 2 is usually necessary.)

Use validation Enables validation of the decoded string, using the string in
Validation for the comparison.

Validation The case-sensitive string the tool compares to the decoded

string. The parameter does not support wild cards or
truncated values. If the comparison is valid, the Valid
measurement returns 1.000.

Timeout The maximum time the tool is allowed to take.

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

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Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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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.).

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 158 for more information.

2D View 3D View

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 Measurement Panel

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements, Features, and Settings

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.

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Measurement Illustration

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.

Height

Determines the height of the bounding box that contains

the part.

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Measurement Illustration

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.

In order to use this measurement for angle anchoring, you

must enable Rotation; for more information on anchoring,
see Measurement Anchoring on page 216.

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 158.

Features
Type Description

Center Point The center point of the bounding box.

Box Axis Line The axis of the bounding box.

For more information on geometric features, see Geometric Features on page 212.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

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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.

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.

Region The region to which the tool's measurements will apply. For
more information, see Regions on page 206.

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

Z angle Lets you choose the Z Angle measurement of another tool to

use as an angle anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Circular Edge
The Circular Edge tool fits a circle to a circular edge in the scan data, using either height map or intensity
data. The edge can be the outer edge of a disc-like feature or the inner edge of a hole. The tool can
optionally work with partial data, as little as 1/4 of a circle, letting it work with rounded corners.

The tool lets you measure the position and radius of the circular feature and determine its roundness
error. The feature is expected to be relatively round and not, for example, ovoid. In the following images,
the outer edge of a circular feature is measured. The same tool could just as easily measure the
characteristics of one of the holes at the top.

2D View 3D View

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 Measurement Panel

The tool uses one of four standard methods to calculate roundness. The choice of method affects the
other measurements.

l Least Square Circle (LSC)

l Minimum Zone Circle (MZC)
l Maximum Inscribed Circle (MIC)
l Minimum Circumscribed Circle (MCC)
The tool can also generate circle and center point geometric features that Feature tools can take as input
for measurement. For more information on Feature tools, see Feature Measurement on page 484.

Some of the tool parameters are hidden unless Show Advanced Parameters is checked.

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For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Calipers, Extracted Paths, and Edge Points

To fit a circle to the scan data, the Surface Circular Edge tool starts by overlaying evenly spaced calipers
along a circular path constrained by the region of interest.

Rectangular calipers (dark blue) placed along circular path (dark blue), constrained by the region

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The circular path can optionally be partial, and starts at a defined orientation around the Z axis. The
circular path can be as short as 1/4 of a circle, letting it work with rounded corners. Calipers extend
vertically to fill the entire region of interest.

Internally, the tool extracts profiles from the data within each caliper, running from the end of the caliper
closest to the center of the tool's region of interest to the end farthest from the center. The tool then
searches for steps in each profile that meet the criteria set by the tool’s settings, such as minimum
height, direction (whether it is rising or falling), and so on.

The tool places an edge point on each selected step. The tool then uses the edge points in all the calipers
to fit a circle: the various characteristics of the fitted circle are then returned as measurements.

Measurements, Features, and Settings

Measurements
Measurement Illustration

Returns the X and Y position of the center of the fitted

circle, respectively.

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Measurement Illustration

Radius

Returns the radius of the fitted circle.

Roundness

Returns the roundness or circularity of the edge points with

respect to the reference circle of the selected roundness
error method set in Fit Type.

Features
Type Description

Center The center of the fitted circle.

Circle The fitted circle.

For more information on geometric features, see Geometric Features on page 212.

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Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more
information, see Source on page 205.

Region The region to which the tool's measurements will apply. For more information, see Regions on
page 206. The region also constrains the circular path along which the tool places the calipers.

Caliper Count The number of calipers the tool places along the circular path. Using a higher number of calipers
increases the amount of data available to the tool, but also increases the amount of time the tool
takes to run.

Choose a balance between the runtime of the tool and the number of calipers needed to get
enough edge points to properly fit the circle to the scan data.

Caliper Length Caliper Length is the length of the calipers (extending perpendicular to a tangent on the circular

Caliper Width caliper path, centered on the path). The length of the calipers determines the length of the
extracted profiles the tool examines for steps. Longer calipers increase the amount of data the tool
must analyze and therefore the time the tool takes to run; longer calipers can also include
unwanted steps when the tool searches for the edge.

Caliper Width is the width of the calipers (extending parallel to a tangent on the circular path).
A wider caliper increases the time the tool takes to run. It does however increase the number of
edge points, which may help the tool fit the circle.

Edge Source Specifies the type of data the tool uses. Either Height or Intensity.

Use intensity data as the edge source when contrast differences on a flat area of a target, which
would not be detected using height map data, are distinct, letting the tool use the detected edge to
fit the circle.

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Parameter Description

Step Direction Determines whether the expected step in the data rises or falls, or moves from valid to null or null to
valid. Note that this setting depends on the Edge Search Direction setting for its interpretation of
what "rises" and "falls." One of the following:

Rising & Falling: Searches for edge points on rising or falling edges.

Rising: Searches for edge points only on rising edges.

Falling: Searches for edge points only on falling edges.

Edge Search Specifies the search direction along the calipers. Either Inward (toward the center of the region of
Direction interest) or Outward.

Edge Selection Type Determines which step the tool uses on each of the profiles internally extracted from the calipers
when there are multiple steps. An edge point is placed on each chosen step, and is used to fit the
circle. Steps must pass the criteria of the tool's settings, such as threshold and outlier exclusion.

Best: Selects the greatest step in the search direction on each profile.

First: Selects the first step in the search direction on each profile.

Last: Selects the last step in the search direction on each profile.

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Parameter Description

Outlier Fraction The percentage of outlier points to exclude. Setting this to a small value can help the tool fit the
circle better to the edge.

Outlier Fraction set to a low value: rejected outlier edge points are red.

Show Advanced When enabled, displays advanced settings. Note that most of these settings are applied even when
Parameters they are hidden. For information on these settings, see Advanced Parameters on the next page.

Show Detail When disabled, hides the calipers and caliper path, as well as the edge points.

Filters The filters that are applied to measurement values before they are output. For more information,
see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the measurement tool sends a
pass or fail decision to the output. For more information, see Decisions on page 213.

The following parameters are hidden when Show Advanced Parameters is unchecked. All
advanced parameters, except Reference Plane, are applied when they are hidden. Mask
regions are not rendered, even though they are applied.

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Advanced Parameters
Parameter Description

Angle Start Angle Start is the starting angle, around the Z axis on the XY plane, for the circular path along

Angle Span which calipers are placed. Setting this to 0 aligns the start angle with the positive direction of the X
axis.

Angle Span is the length of the circular path along which calipers are placed.

You can use these settings together to set a partial path and exclude part of the data. In the
following image, the dark blue path starts to the right of the notch and ends to the left of it.

Path Spacing Sets the spacing between paths in the calipers used to extract the profiles that determine the edge.
A higher number of paths results in a higher number of edge points, which makes the fitting of the
edge line more accurate. However, a higher number of edge points results in a greater tool
execution time.

When Path Spacing is set to 0, the resolution of the scan data is used as the basis for spacing.

Path Width The size of the windows perpendicular to the path used to calculate an average for each data point
on a path profile. Useful to average out noise along the path caused by reflections, and so on.

If Path Width is set to 0, no averaging is performed (only the data point under the path is used).

For averaging along the path, use Step Smoothing (see below).

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Parameter Description

Absolute Threshold When Use Intensity is disabled, the setting specifies the minimum height difference between points
on a path profile for that step to be considered for an edge point.

The setting can be used to exclude smaller steps on a part that should not be considered for an
edge, or to exclude height differences caused by noise. When used in conjunction with Relative
Threshold, Absolute Threshold is typically set to a small value, greater than the general surface
roughness.

When Use Intensity is enabled, the setting specifies the minimum difference in intensity. (Acquire
Intensity must enabled in the Scan Mode panel.)

Use Relative When this option is enabled, the Relative Threshold field is displayed.
Threshold

Relative Threshold The value for the relative threshold.

The tool calculates a relative threshold by scaling the greatest height or intensity difference found
on the path profiles by the percentage in Relative Threshold. This lets you configure the tool
without knowing the actual step height in advance, and is useful for edges with varying step height.

For a height or intensity difference to be considered a valid step, both Absolute Threshold and
Relative Threshold must pass.

Step Smoothing The size of the windows along the path used to calculate an average for each data point on a path
profile. The setting is useful for averaging out noise.

If Step Smoothing is set to 0, no averaging is performed (only the data point under the path is
used).

For averaging perpendicular to the path, use Path Width (see above).

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Parameter Description

Step Width The distance, along a path profile, separating the points used to find steps on a path profile.

The setting is useful when you must detect a slope as an edge, rather than a sharply defined edge:
setting Step Width to a value greater than the width of the edge ensures that the tool measures the
height difference between the flat regions on either side of the edge. As a result, the height of the
step is accurately measured, and the edge is correctly located.

Setting Step Width wider than necessary can reduce the precision of edge
location.

Max Gap Fills in regions of missing data caused by an occlusion near the desired edge. Use this setting when
continuity on the target is expected. When Max Gap is set to a non-zero value, the tool holds and
extends the last data point on the low side next to an edge across a gap of null points, up to the
distance specified in Max Gap.

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Parameter Description

Include Null Edges Indicates whether null points (points where no height or intensity value is available, due to dropouts
or regions outside of the measurement range) are filled with the value in Null Fill Value as a general
“background level.” If Use Intensity (see above) is enabled, the intensity value in Intensity Null Fill
Value is also used.

A typical example is a discrete part produced by part detection of an object sitting on a flat
background. The background is not visible in the part, so the tool assumes that any null region are
at the background level.

To find edges along a region of null points, you must use either this option and an
appropriate value in Null Fill Value (and Intensity Null Fill Value if Use Intensity
is enabled) or Max Gap. Otherwise, only edges within areas of contiguous data will
be detected.

Null Fill Value The height value (in mm) used to replace null points not filled by Max Gap when Include Null Edges
is enabled.

Intensity Null Fill The intensity value (0-255) used to replace null points when Include Null Edges and Use Intensity
Value are enabled.

Mask Regions Lets you enable up to five regions that you can use to mask data you want the tool to ignore.

You can resize and reposition the mask regions using the mouse in the data viewer, or by
configuring values manually in the Mask Region sections the tool displays in the tool settings for
each region. You can only set the rotation of the mask regions manually by modifying the region's Z
angle parameter.

By default, when you add multiple mask regions, they are initially placed in the same position, one
on top of the other.

Reference Plane Uses the output of a Surface Plane tool as a reference plane. Useful to correct the scan data if the
target is slightly tilted.

When Show Advanced Parameters is unchecked and Reference Plane is set to a plane, the plane is
ignored.

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Parameter Description

Fit Type The method the tool uses to calculate the roundness of the feature. One of the following:

Least Square Circle (LSC)

Minimum Zone Circle (MZC): If you choose this method, set the circle the tool uses with the Which
Circle parameter.

Maximum Inscribed Circle (MIC): Typically used to measure the inner edge of a circular feature,
such as a hole.

Minimum Circumscribed Circle (MCC): Typically used to measure the outer edge of a circular
feature.

If you load a job that contains an instance of the Circular Edge tool created using an earlier firmware
version, an additional parameter (LSC FIt Method) is displayed. It provides two options:

Least Square Method: This algorithm provides more accurate fit results than Iterative
Approximation on partial circle data. The execution time is also better on average, so this method
should be chosen in general.

Iterative Approximation: Legacy algorithm for compatibility with 5.2 SR2 and earlier.

Which Circle Tells the tool which circle (Inner or Outer) to use when Minimum Zone Circle is the fit method in Fit
Type.

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

Z angle Lets you choose the Z Angle measurement of another tool to

use as an angle anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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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 tool also supports
measuring holes drilled at an angle relative to the surrounding surface.

The tool does not search for or detect the

feature. The tool expects that the feature,
conforming reasonably well to the defined
parameters, is present and that it is on a
sufficiently uniform background.

2D View 3D View

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Gocator Line Profile Sensors: User Manual Gocator Web Interface • 331
 Measurement Panel

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements, Features, and Settings

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.

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Measurement Illustration

Outer Radius

Determines the outer radius of the countersunk hole.

When a hole is cut at an angle relative to the surrounding surface,

the outer radius is calculated as if the hole were not cut at an angle.

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

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Measurement Illustration

X Angle

Determines the angle the hole relative to the X axis.

Cone

Y Angle

Determines the angle of the hole relative to the Y axis.

Counterbore

Counterbore Depth
Determines the depth of a counterbore.

Axis Tilt
Measures the tilt of the axis of the hole relative to the surface
surrounding the hole.

This measurement is not supported when

Shape is set to Counterbore.

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Measurement Illustration

Axis Orientation
Measures the angle of the axis of the hole around the normal of the
surface surrounding the hole, relative to the X axis.

This measurement is not supported when Shape is

set to Counterbore.

Features
Type Description

Center Point The center point of the countersunk hole. The Z position of
the center point is at the Z position of the surrounding
surface.

For more information on geometric features, see Geometric Features on page 212.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's
measurements. For more information, see Source on page 205.

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.

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.

Plane Fit Range Excludes data beyond the specified distance from the plane surrounding the
hole. You can use this setting to exclude surfaces close to the countersunk hole
that step down from the plane surrounding the hole that could make
measurement of the hole less reliable.

Region The region to which the tool's measurements will apply. For more information,
see Regions on page 206.

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Parameter Description

Curved Surface Whether the surface that the countersunk hole is on is curved. When this
setting is enabled, specify the orientation of the curvature in degrees in
the Curve Orientation setting.
Curve Orientation The orientation of the curvature in degrees. Only visible when Curved Surface is
enabled.

Reference Regions The tool uses the reference regions to calculate the Z 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, you must manually
specify one or two reference regions. The location of the reference region is
relative to the detected center of the hole and positioned on the nominal
surface plane.

When Reference Region 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.

Autoset: The tool automatically detects the tilt. The measurement region to

cover more areas on the surface plane than other planes.

Custom: You must enter the X and Y angles manually in the X Angle and Y Angle
parameters (see below).

X Angle The X and Y angles you must specify when Tilt Correction is set to Custom.

Y Angle You can use the Surface Plane tool's X Angle and Y Angle measurements to get
the angle of the surrounding surface, and then copy those measurement's
values to the X Angle and Y Angle parameters of this tool.

Filters The filters that are applied to measurement values before they are output. For
more information, see Filters on page 215.

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Parameter Description

Decision The Max and Min settings define the range that determines whether the
measurement tool sends a pass or fail decision to the output. For more
information, see Decisions on page 213.

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

Curvature
This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. However, it is
supported on any accelerated sensors (PC or GoMax), including these models, and will appear
in emulator scenarios created using these sensors.

The Surface Curvature tool removes curvature from curved surfaces while preserving surface features or
defects, using a configurable polynomial order (the tool performs a 2D polynomial fit on X and Y to
process surfaces). You can then use the tool's output apply measurements to the "flattened" surface.

The tool does not support rotational scans (that is, polar "unwrapping").

In the following images, a curved surface (top) is flattened out (bottom), preserving the surface detail.

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 The original, curved scan of a target.

The "flattened" surface data (the tool's Difference Surface data output).

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In the following image, a Surface Dimension tool's height measurement runs on the "flattened" output
(the Surface Curvature tool's Difference Surface output) to determine the height of one of the raised
areas:

Height of a raised feature relative to the previously curved surrounding surface.

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements and Settings

Measurements
Measurement

Processing Time

The amount of time the tool takes to process.

Data
Type Description

Fit Surface The fitted polynomial the tool uses to flatten the original
surface.

Difference Surface The “flattened” surface: this is the original surface with the
fitted polynomial removed.

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Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is

available as input for this tool.

If you switch from one type of data to another (for example,

from section profile data to surface data), currently set
input features will become invalid, and you will need to
choose features of the correct data type.

Polynomial Order Selects the order (or degree) of the polynomial to be fit to
the surface. A higher order results in a better fit but
increases processing time.

Show Advanced Parameters Enables a set of advanced parameters. (See Advanced

Parameters below.)

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

Advanced Parameters
Parameter Description

Sampling Step The step in data points in both directions with which the surface is sampled. Choosing a
higher sampling step reduces the processing time the tool requires, but reduces fit accuracy.
Useful if the surface being processed has a large number of data points.

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Parameter Description

Exclude Features Lets you exclude features or surface details from the polynomial fit. This can allow you to get a
better fit on the surrounding surface.

Checking this option enables the Negative area, Positive area, and Iterative Steps
parameters. (See below.)

For example, in the following scan data, we would like to accurately measure the circular divots
and the small hole near the center of the data on the curved surface.

If the large feature to the left is not excluded for the polynomial fit, the fitted surface will and
therefore the measurements on the smaller features will be inaccurate. In the following
"flattened" scan data, without excluding the larger feature, the smaller features would be
difficult to accurately measure:

When the larger feature is excluded from the polynomial fitting, the surrounding surface and
the smaller features are more properly "flattened."

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Parameter Description

Iterative Steps The number of times the tool repeats the feature exclusion calculation (see Exclude Features,
above).

Negative area These settings exclude the specified percentage of a histogram of the height values of the

Positive area scan data from the botom up (Negative area) and from the top down (Positive area),
respectively.

Number of Regions Lets you specify and configure one or more regions that the tool will process. Use this
parameter to limit the tool to specific areas on the target.

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Dimension
The Dimension tool returns various dimensional measurements of a part. You must specify two feature
types (see below).

2D View 3D View

Measurement Panel

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

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Measurements
Measurement Illustration

Width

Determines the distance between the selected features

along the X axis.

Length

Determines the distance between the selected features

along the Y axis.

Height

Determines the distance between the selected features

along the Z axis.

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Measurement Illustration

Distance

Determines the direct, Euclidean distance between the

selected features.

Plane Distance

Determines the distance between the selected features.

The position of the lowest feature point is projected onto
the XY plane of the highest feature point.

Center X

Determines the X position of the center point between the

selected features.

Center Y

Determines the Y position of the center point between the

selected features.

Center Z

Determines the Z position of the center point between the

selected features.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

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Parameter Description

Feature 1 The Feature 1 and Feature 2 settings represent the two

Feature 2 features the tool uses to perform measurements. For each,

one of the following:
l Average
l Median
l Centroid
l Max X
l Min X
l Max Y
l Min Y
l Max Z
l Min Z

To set the region of a feature, adjust it graphically in the

data viewer, or expand the feature using the expand
button ( ) and enter the values in the fields. For more
information on regions, see Regions on page 206.

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

Z angle Lets you choose the Z Angle measurement of another tool to

use as an angle anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

Direction Filter
This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. However, it is
supported on any accelerated sensors (PC or GoMax), including these models, and will appear
in emulator scenarios created using these sensors.

The Surface Direction Filter helps exclude unwanted data points based on their “orientation” (relative to
surrounding data points) in 3D space, for example, data points resulting from reflections. The tool can

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provide better results than median or height based filters. The tool lets you define up to 16 regions, and
for each region, configure the characteristics of the data points to exclude.

For example, in the following scan data, noise (in pink) appears to the right of three surface mount
components on a PCB. In this case, the "direction" (specifically, the polar angle) of the noise is roughly 75
to 85 degrees, relative to Z.

Surface before direction filtering.

In the following scan data, the tool has removed the noise.

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 Surface after direction filtering.

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 Measurement Panel

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements and Settings

Measurements
Measurement

Processing Time

The amount of time the tool takes to process.

Data
Type Description

Filtered Surface The surface after filtering.

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Parameters
Parameter Description

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is

available as input for this tool.

If you switch from one type of data to another (for example, from
section profile data to surface data), currently set input features will
become invalid, and you will need to choose features of the correct
data type.

Source The sensor, or combination of sensors, that provides data for the
tool's measurements. For more information, see Source on page 205.

Region Count The number of regions the tool applies filtering to.

Region {n} Lets you configure the size and position of region {n}.

For the region-specific parameters, see Region Filtering Parameters on

the next page.

Filters The filters that are applied to measurement values before they are
output. For more information, see Filters on page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision to the
output. For more information, see Decisions on page 213.

The following illustrates the angle parameters that control which data points are excluded in scan data
(see Region Filtering Parameters on the next page):

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 The number of neighboring points shown above is for illustrative purposes only.

Region Filtering Parameters

Region {n} Min Z Angle The minimum and maximum acceptable angles around the Z axis of

Region {n} Max Z Angle the XY projection of the normal of the surface surrounding a data
point, where 0 degrees is defined as positive X and positive rotation
is clockwise around the Z axis.

Region {n} Min Polar Angle The minimum and maximum acceptable angles of the normal of the

Region {n} Max Polar Angle surface surrounding a data point with respect to the Z axis.

Region {n} Smooth Size A mean filter applied to the surface data before calculating the
normals in order to avoid abrupt normal changes due to noise.

Region {n} Noise Removal Eliminates noise that can be introduced by the tool's normal
calculation.

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

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 For more information on anchoring, see Measurement Anchoring on page 216.

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Edge
The Edge tool fits a line to a straight edge in the scan data, using either height map or intensity data. The
tool's settings help fit the line when multiple potential edges are in the region of interest. After the tool
locates an edge, the position (X, Y, and Z) of the center of the edge line in the region of interest. The tool
also returns its angle around the Z axis, the step height between the upper and lower surfaces adjacent
to the edge, minimum and maximum error points to either side of the line, and a point count.

You can use the Z Angle measurement of the edge line with some tools to perform angle anchoring,
compensating for minor part rotations around the Z axis, greatly increasing repeatability between part
scans; for more information see Measurement Anchoring on page 216.

The minimum and maximum errors are useful for calculating a straightness value (using a script tool, for
example; for more information, see Script on page 483).

The tool can also generate edge line and center point geometric features that Feature tools can take as
input for measurement. For more information on Feature tools, see Feature Measurement on page 484.

2D View 3D View

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 Measurement Panel

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

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Paths and Path Profiles
To fit an edge line to the scan data, the Surface Edge tool overlays evenly spaced, parallel paths (light
blue lines in the interface; see below) in the defined region of interest.

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For each path, a profile is generated internally from the height map’s data points that fall under or,
optionally, near the path. The tool then examines each path profile for steps (changes in height) that
meet the criteria set by the tool’s settings, such as minimum height, direction (whether it is rising or
falling), and so on.

For the step on each path profile that matches the settings, the tool places an edge point between the
upper and lower area (light blue diamonds in the interface). The tool then fits a line to those edge points
(yellow line in the interface). You can choose the orientation of the paths around the Z axis to
accommodate different edge orientations.

Measurements, Features, and Settings

Measurements
Measurement Illustration

Returns the X position of the center point of the fitted edge

line.

Returns the Y position of the center point of the fitted edge

line.

Returns the Z position of the center point of the fitted edge

line.

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Measurement Illustration

Z Angle

Returns the rotation, around the Z axis, of the fitted edge

line. Rotating the measurement region has no impact on
the angle that is returned unless a different edge is
detected.

Useful for using minor variations in the rotation of an edge

on target as an anchor for other measurements. For more
information, see Measurement Anchoring on page 216.

Step Height

Returns the height of the step, calculated by averaging the

step heights of all of the path profiles.

(When Use Intensity is enabled, the value returned is the

difference in intensity.)

Min Error

Max Error

These measurements return the distances of the point

furthest before the line (Min Error) and the point furthest
after the line (Max Error), based on the search direction
specified in the tool.

The measurements ignore points excluded using the

Point Count

The number of points used to fit the line. Useful for

determining if the number of points is above an acceptable
minimum.

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Features
Type Description

Edge line The fitted edge line.

Center Point The intersection point of the fitted edge line and a line
through the center of the region at the path angle.

For more information on geometric features, see Geometric Features on page 212.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more
information, see Source on page 205.

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Parameter Description

Use Intensity (This setting is only available when Acquire Intensity is enabled in the Scan Mode panel; for
more information, see Scan Modes on page 122.)

Uses intensity data rather than height data to find an edge. Useful when color differences on a
flat area of a target, which would not be detected using height map data, are distinct, letting you
use the detected "line" as an anchor source or perform geometric feature measurements.

Use Intensity enabled (intensity view): Surface Edge tool finds the edge using intensity data.

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Parameter Description

Use Intensity disabled (heightmap view of the same area): Surface Edge tool unable to find edge using
height data.

Number of Regions The number of regions the tool will use to fit the line. You must configure each region (see Region
{n} below).

Using multiple regions allows you to fit a line to an edge that is not straight along its entire
length or that is not continuous.

Region {n} The region or regions the tool uses to fit a line. For more information, see Regions on page 206.
The Search Direction setting applies to all of the regions.

You can configure the Z Angle of each region independently to accommodate the particularities
of the feature or target (for example, to exclude unwanted scan data next to one of the regions
in the fitting of the line to the edge).

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Parameter Description

Search Direction The search direction for steps, specified as an orientation around the Z axis, relative to the
X axis. Can be 0, 90, 180, or 270 degrees. Choose a value that is roughly perpendicular to the
edge on the target.

The direction is indicated by a light blue arrow in the data viewer.

Fixed Angle When this option is enabled, the value in Fixed Angle Value replaces the value the Z Angle
measurement returns.

Useful when the angle of the feature is known and noise in the scan data could otherwise cause
the measurement to return an incorrect angle.

Fixed Angle Value The value the tool uses to locate the edge and returns for the Z Angle measurement. You must
enable Fixed Angle to set this value.

Path Spacing Sets the spacing between paths in the measurement region used to extract the profiles that
determine the edge. A higher number of paths results in a higher number of edge points, which
makes the fitting of the edge line more accurate. However, a higher number of edge points
results in a greater tool execution time.

When Path Spacing is set to 0, the resolution of the scan data is used as the basis for spacing.
No paths are displayed in the data viewer in this case.

Path Width The size of the windows perpendicular to the path used to calculate an average for each data
point on a path profile. Useful to average out noise along the path caused by reflections, and so
on.

If Path Width is set to 0, no averaging is performed (only the data point under the path is used).

For averaging along the path, use Step Smoothing (see below).

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Parameter Description

Outlier Fraction The percentage of outlier points to exclude. Setting this to a small value can help the tool fit the
line better to the edge.

Outlier Fraction set to a low value: rejected outlier edge points are dark blue.

Selection Type Determines which step the tool uses on each path profile when there are multiple steps in the
profile. An edge point is placed on each chosen step. Steps must pass the criteria of the tool's
Absolute Threshold, Step Direction, and Relative Threshold settings.

Best: Selects the greatest step on each path profile.

First: Selects the first step on each path profile.

Last: Selects the last step on each path profile.

Step Direction Determines whether the expected step rises or falls along the path. Either Rising, Falling, or
Rising or Falling.

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Parameter Description

Absolute Threshold When Use Intensity is disabled, the setting specifies the minimum height difference between
points on a path profile for that step to be considered for an edge point.

The setting can be used to exclude smaller steps on a part that should not be considered for an
edge, or to exclude height differences caused by noise. When used in conjunction with Relative
Threshold, Absolute Threshold is typically set to a small value, greater than the general surface
roughness.

In the image below, when Absolute Threshold is left at the default of 0, all steps are included as
possible candidates for an edge, and will be used to fit an edge line. The resulting edge line is
angled upward to the left.

When Absolute Threshold is set to 3 with the same data (see image below), steps going from the
yellow to pink regions (roughly 1.37 mm) and from the blue to yellow regions (roughly 2 mm) are

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Parameter Description

excluded. Only steps from the blue to pink regions (roughly 3 mm) are included.

When Use Intensity is enabled, the setting specifies the minimum difference in intensity.
(Acquire Intensity must enabled in the Scan Mode panel.)

Use Relative Threshold When this option is enabled, the Relative Threshold field is displayed.

Relative Threshold The value for the relative threshold.

The tool calculates a relative threshold by scaling the greatest height or intensity difference
found on the path profiles by the percentage in Relative Threshold. This lets you configure the
tool without knowing the actual step height in advance, and is useful for edges with varying step
height.

For a height or intensity difference to be considered a valid step, both Absolute Threshold and
Relative Threshold must pass.

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Parameter Description

Step Smoothing The size of the windows along the path used to calculate an average for each data point on a
path profile. The setting is useful for averaging out noise.

If Step Smoothing is set to 0, no averaging is performed (only the data point under the path is
used).

For averaging perpendicular to the path, use Path Width (see above).

Step Width The distance, along a path profile, separating the points used to find steps on a path profile.

The setting is useful when you must detect a slope as an edge, rather than a sharply defined
edge: setting Step Width to a value greater than the width of the edge ensures that the tool
measures the height difference between the flat regions on either side of the edge. As a result,
the height of the step is accurately measured, and the edge is correctly located.

Setting Step Width wider than necessary can reduce the precision of edge
location.

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Parameter Description

Max Gap Fills in regions of missing data caused by an occlusion near the desired edge. Use this setting
when continuity on the target is expected. When Max Gap is set to a non-zero value, the tool
holds and extends the last data point on the low side next to an edge across a gap of null
points, up to the distance specified in Max Gap.

Include Null Edges Indicates whether null points (points where no height or intensity value is available, due to
dropouts or regions outside of the measurement range) are filled with the value in Null Fill Value
as a general “background level.” If Use Intensity (see above) is enabled, the intensity value in
Intensity Null Fill Value is also used.

A typical example is a discrete part produced by part detection of an object sitting on a flat
background. The background is not visible in the part, so the tool assumes that any null region
are at the background level.

To find edges along a region of null points, you must use either this option
and an appropriate value in Null Fill Value (and Intensity Null Fill Value if Use
Intensity is enabled) or Max Gap. Otherwise, only edges within areas of
contiguous data will be detected.

Null Fill Value The height value (in mm) used to replace null points not filled by Max Gap when Include Null
Edges is enabled.

Intensity Null Fill Value The intensity value (0-255) used to replace null points when Include Null Edges and Use
Intensity are enabled.

Show Detail When disabled, hides the light blue path lines and edge points.

Filters The filters that are applied to measurement values before they are output. For more information,
see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the measurement tool
sends a pass or fail decision to the output. For more information, see Decisions on page 213.

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Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

Z angle Lets you choose the Z Angle measurement of another tool to

use as an angle anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Ellipse
The Ellipse tool provides measurements for the major and minor axis lengths of an ellipse roughly
aligned 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 tool is typically used to find the general orientation of a part,
for example, potatoes on a conveyor that are longer in one dimension than the other.

Note that the ellipse fit is not the minimum area ellipse around the data. (Technically, it is the ellipse with
matching moments as the data.) For surfaces with no holes, this results in an ellipse approximately the
same size and orientation of the part. But for surfaces with holes, the resulting ellipse can be larger than
the part.

3D View
2D View

Measurement Panel

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For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements, Features, and Settings

Measurements
Measurement Illustration

Major

Determines the major axis length of an ellipse fitted to the

part's area in the XY plane.

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.

Features
Type Description

Center Point The center point of the fitted ellipse.

Major Axis A line representing the major axis of the fitted ellipse.
Minor Axis A line representing the minor axis of the fitted ellipse.

For more information on geometric features, see Geometric Features on page 212.

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Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

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

Region The region to which the tool's measurements will apply. For
more information, see Regions on page 206.

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

Z angle Lets you choose the Z Angle measurement of another tool to

use as an angle anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Extend
This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. However, it is
supported on any accelerated sensors (PC or GoMax), including these models, and will appear
in emulator scenarios created using these sensors.

The Extend tool creates a new surface by appending part of the previous frame's data to the current
frame's data. The tool outputs the new surface data, which can be used as input by other tools. The tool
is especially useful when scans are performed using fixed length surface generation, where parts might
be split between two frames. (For more information on surface generation, see Surface Generation on
page 154.)

The following shows how the tool combines data:

Data is only appended in one direction. Partial objects in the resulting surface output from the tool must
be filtered out using downstream tools, for example, excluding them based on the expected area.

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 Measurement Panel

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Data and Settings

Data
Type Description

Extended Surface Data containing an extended surface, available for use as input in the Stream drop-down in
other tools.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For
more information, see Source on page 205.

Direction Determines whether the previous frame's data is appended above or below the current
frame's data.

One of the following. Note that these settings depend on whether the trigger source has been
set to Encoder (see Trigger Settings on page 127).
l Auto: Choose this when Encoder is selected as the trigger source, in which case the tool
will know the direction of travel relative to encoder increase / decrease.

l Forward: Choose this when the trigger source is not set to Encoder and the direction of
motion is the same as the increase of the encoder.

l Backward: Choose this option when the trigger source is not set to Encoder and the
direction of motion is the opposite of the increase of the encoder.

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Parameter Description

Overlap Length The amount, in millimeters, of the previous frame's data to append to the current frame's
data. The combination will be output as tool data. Choose the overlap length to accommodate
the size of your scan targets.

Mode Determines the mode of the tool. One of the following:

l Normal:  The tool automatically chooses this operation after you have chosen another
operation.

l Lock: Lets you lock the current processing and outputs of the tool. Useful when you need
to add another tool that will use this tool's output (for example, a Surface Section tool). If
you do not lock the tool, as soon as you add the other tool, the output is cleared, which
means you must re-execute the combined output again to configure the additional tool.
Be sure to unlock the tool after you have configured any other tools.

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Filter
This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. However, it is
supported on any accelerated sensors (PC or GoMax), including these models, and will appear
in emulator scenarios created using these sensors.

The Filter tool provides several common vision processing filters that you can apply to surface data, as
well as a two "cropping" filters that output a subset of the surface data, letting you pre-process scan data
to get more repeatable measurements. You can enable up to seven of the filters at once, in any order.
Filters in the tool are chained together. Any Surface or Feature tool can use the resulting filtered surface
data as input, via the tool's Stream drop-down.

For a list of the filters, see Filters on the next page.

The Filter tool provides no measurements or decisions, as its only purpose is to output processed
surface data.

3D View (Sobel Magnitude)

2D View (Sobel Magnitude)

Tool Setup

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

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Settings and Available Filters

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For
more information, see Source on page 205.

Can only accept Surface scan data (that is, cannot accept data from other tools).

Use Region When enabled, lets you set a region.

Region The region whose data the tool will apply filters to. Only data within the region is output to
other tools.

Use Intensity If enabled, the tool uses intensity data instead of heightmap data. Only available if Acquire
Intensity is enabled on the Scan page during the scan; for more information, see Scan
Modes on page 122.

Kernel Units Specifies whether filters use data points (pts) or millimeters (mm).

Number of Filters Specifies the number of filters you want to chain together. You can specify up to seven
filters.

Filter Type For each filter, specifies the type of filter. For more information on the available filters, see
Filters below.

Level The kernel size used by the Median filter. High is a 5x5 square kernel. Low is a 3x3 square
kernel.

Threshold The threshold that the filter uses. (Not available on all filters.)

Symmetry One of the following: Symmetrical, Horizontal, or Vertical. (Not available on all filters.)

Kernel Size The kernel size that the filter uses. (Not available on all filters.)

The following filters are available in the Filter tool.

Filters
Name Description

Median A median filter.

Gaussian A Gaussian filter.

Open Erosion followed by dilation.

Close Dilation followed by erosion.

Erode Applies an erosion filter. Lets you specify the direction of the erosion; one of the following:
l Horizontal
l Vertical
l Symmetrical

Dilation Applies a dilation filter. Lets you specify the direction of the dilation; one of the following:
l Horizontal
l Vertical
l Symmetrical

Morph Gradient Applies a morphological gradient. The difference between dilation and erosion.

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Name Description

Sobel Magnitude Applies a Sobel magnitude filter.

Lets you specify the direction of the filter; one of the following:
l Horizontal
l Vertical
l Symmetrical

Laplacian Applies a Laplacian filter. Useful for detecting areas of distinct edges. Uses the following
kernel:

Negative Inverts the height or intensity values in the scan data.

Equalize Normalizes the norm or value range of an array.

Binarize Sets height values to a fixed value for each point that is present in the data. Can be used
with a region Z offset to threshold points above/below a Z value.

With intensity data, sets any point over

Percentile Limits the scan data to points between the values you set in High Percentile and Low
Percentile, which are displayed when you choose this option.

Relative Threshold Crops scan data based on user-specified minimum and a maximum heights. Use Reference
Region to set the heights relative to a reference region.

Crop only Crops the scan data to the user-defined region.

Mask With Input Uses the surface input into the tool as a mask on the data. Any points in the filtered data
will be set to null if the input surface is null at the same location.

For example, the Gaussian filter can extend data along the edges, adding data in areas
that contain null values. This filter would remove data that the Gaussian filter introduces,
preserving the null values.

This filter should follow any filter that introduces this kind of unwanted data.

Data
Type Description

Filtered Surface The filtered data, available for use as input in the Stream
drop-down in other tools.

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

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 For more information on anchoring, see Measurement Anchoring on page 216.

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Flatness
This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. However, it is
supported on any accelerated sensors (PC or GoMax), including these models, and will appear
in emulator scenarios created using these sensors.

The Flatness tool returns various measurements related to the flatness of one or more regions on the
surface of your target. The tool is ideal for general fit and finish inspection.

The tool lets you set a grid over a specific region, or more flexibly with multiple individual regions
manually. In each case, "local" minimum and maximum heights, as well as flatness indicators (maximum -
minimum), are returned (for grid cells or individual regions, depending on the tool's settings). In addition,
"global" minimum, maximum, and flatness measurements, that combine data from all flatness
measurement areas, can also be returned. The tool measures the maximum and minimum distances
from a different best-fit plane for each local measurement, and from another plane fit to all data for the
"global" measurements.

You can control how many data points the tool uses in its calculations to account for noise or smooth
data, or otherwise exclude unwanted data.

When you configure the tool to use a grid that contains more than 15 cells, only the first 15 local
measurements (which correspond to the first 15 cells of the grid) are displayed in the web
interface. Flatness results for cells beyond 15 are however available in the tool data.

2D View 3D View

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 Measurement Panel

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements, Data, and Settings

Measurements
Measurement

Global Max

Global Min

Global Flatness

The maximum distance, minimum distance, and flatness (maximum - minimum) calculated using the valid data from all
the cells in the grid (when Region Mode is set to Grid Pattern), or all the individual regions (when Region Mode is set to
Flexible).

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Measurement

Local Max {n}

Local Min {n}

Local Flatness {n}

The maximum distance, minimum distance, and flatness (maximum - minimum) calculated using the valid data points
from a specific grid cell (when Region Mode is set to Grid Pattern), or an individual regions (when Region Mode is set to
Flexible).

Clicking a local measurement in the list of measurements selects corresponding the cell or region in the data viewer.

When a local measurement is selected, changing the value of Grid Cell to Display has no effect.

Data
Type Description

Output Measurement Data containing the measurement results.

The web interface only displays up to 15 local

measurements. However, if you define the grid and cell size
so that you have more than 15 flatness measurement areas,
these are included in the tool data.

A sample included in the SDK package shows how you can

use this output data in an application.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more
information, see Source on page 205.

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Parameter Description

Region Mode Determines how flatness measurement areas are set up on the target. One of the following:

Grid Pattern: The tool determines flatness in a grid you define on the target. This option enables
settings that let you set a region that will contain the grid, as well as the width and length of the
grid cells.

Flexible: The tool determines flatness in one or more (up to 15) regions that you define
individually on the target.

Grid Region Determines the size of the grid region.

(used with Grid Pattern

region mode)

Cell Width (X) These settings determine the size of the cells in the grid.

Cell Length (Y)

(used with Grid Pattern

region mode)

Region {n} When Region Mode is set to Flexible, for each region, the tool displays a region definition.

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Parameter Description

Global Flatness Mode Chooses which points the tool uses to calculate global flatness. One of the following:

All Points: The tool uses all points in the measurement area (all flexible regions or the grid
pattern in the region).

Single Average Point: The tool uses an average of the points in the measurement area. When you
choose this option, the global measurements require at least four data points to calculate the
plane and statistics. This means that if you set Region Mode to Flexible, you must choose a
minimum of four regions; if you set Region Mode to Grid Pattern, the size of the grid and the cells
must result in at least four cells.

Data Filtering Lets you filter scan data before the tool performs its calculations.

Percentile - Limits the data to points between the values you set in High Percentile and Low
Percentile, which are displayed when you choose this option.

None - The tool performs no filtering.

Display Points in Displays the data points used to calculate flatness.

Region

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Parameter Description

Grid Cell to Display When the Global Flatness measurement is selected, displays data points in the specified cell.

(used with Grid Pattern Display Points in Region must be enabled for this to work. (When a local measurement is

region mode) selected, changing this value has no effect.)

Unit Lets you choose which units the tool uses for measurement results. One of the following:
l um (micrometers)
l mm (millimeters)

Filters The filters that are applied to measurement values before they are output. For more information,
see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the measurement tool
sends a pass or fail decision to the output. For more information, see Decisions on page 213.

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

Z angle Lets you choose the Z Angle measurement of another tool to

use as an angle anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Hole
The Hole tool measures a circular opening within a region
of interest on the surface and returns its position and
radius.
The tool does not search for or detect the
feature. The tool expects that the feature,
conforming reasonably well to the defined
parameters, is present and that it is on a
sufficiently uniform background.

The hole can be on a surface at an angle to the sensor.

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.

3D View

2D View

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 Measurement Panel

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

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Measurements, Features, and Settings

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.

Features
Type Description

Center Point The center point of the hole. The Z position of the center
point is at the Z position of the surrounding surface.

For more information on geometric features, see Geometric Features on page 212.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more
information, see Source on page 205.

Nominal Radius Expected radius of the hole.

Radius Tolerance The maximum variation from the nominal radius (+/- from the nominal radius).

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Parameter Description

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.

Region The region to which the tool's measurements will apply. For more information, see Regions on
page 206.

Reference Region The tool uses the reference regions to calculate the Z 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, you must manually specify one or two reference regions.
The location of the reference region is relative to the detected center of the hole and positioned
on the nominal surface plane.

When Reference Region 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.

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Parameter Description

Tilt Correction Tilt of the target with respect to the alignment plane.

Autoset: The tool automatically detects the tilt. The measurement region to cover more areas on
the surface plane than other planes.

Custom: You must enter the X and Y angles manually in the X Angle and Y Angle parameters (see
below).

X Angle The X and Y angles you must specify when Tilt Correction is set to Custom.

Y Angle You can use the Surface Plane tool's X Angle and Y Angle measurements to get the angle of the
surrounding surface, and then copy those measurement's values to the X Angle and Y Angle
parameters of this tool. For more information, see Plane.

Filters The filters that are applied to measurement values before they are output. For more information,
see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the measurement tool
sends a pass or fail decision to the output. For more information, see Decisions on page 213.

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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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Mask
The Surface Mask tool lets you extract up to 16 regions of data from a surface. Each region’s size,
position, and shape (circular, elliptical, polygonal, and rectangular) can be individually configured, and
regions can overlap. The tool can also exclude inner data of circular and elliptical regions, letting you
extract rings of surface data.

The resulting surface can then be further processed or measured by other tools.

For example, given the following scan data:

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 A circle region box containing a partial ring (cyan)

The image below shows the extracted data. The extracted surface data can then be further processed by
other tools, or measurements can be applied to the surface data.

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 Measurement Panel

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Working with Circular and Elliptical Regions

When you set a region's type to Circle or Ellipse, the tool displays several additional settings that work
together to define the region. Sector Start Angle and Sector Angle Range work together to define
the start and end of a partial circular/elliptical region (solid or annular). A region will be annular if Inner

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Circle Diameter is non-zero. Note that the "length" of the partial region extends from the start angle. In
the following illustration, the start angle (θ) is 135 degrees relative to positive X, and the region extends
270 degrees (δ) clockwise around Z.

Sector Start Angle starts at the 0-degree point around Z.

Note that the angles defining a partial circular/elliptical region are relative to the region, and not the
sensor's coordinate system. So a region rotated 30 degrees rotates the start angle and angle range by 30
degrees.

When you set a region type to Ellipse, instead of the inner circle diameter, you must set the major and
minor axes of the inner ellipse.

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Measurements and Settings

Measurements
Measurement

Processing Time

The amount of time the tool takes to process.

Data
Type Description

Extracted Region The surface containing the extracted region or regions.

Parameters
Parameter Description

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is available as input for this tool.

If you switch from one type of data to another (for example, from section profile data to
surface data), currently set input features will become invalid, and you will need to choose
features of the correct data type.

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For
more information, see Source on page 205.

Number of Regions The number of regions the tool uses to extract surface data. You can define up to 16 regions.

When you specify more than one region, the regions are initially stacked on top of one
another, in the same location.

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Parameter Description

Region Type {n} For each region, the type. Regions can overlap. One of the following. (For more information on
the settings you use with the Circle and Ellipse types, see Working with Circular and Elliptical
Regions on page 392.

Circle

Extracts a circular region from the surface data, constrained by a square region.

Set the region's inner circle (inner cyan circle below) using the Inner Circle Diameter
parameter to extract annular data.

Use the Sector Start Angle and Sector Angle Range settings to extract a partial circular or
elliptical region.

Ellipse

Extracts an elliptical region from the surface data, constrained by a square or rectangular
region.

Set the region's inner ellipse (inner cyan ellipse below) using the Inner Ellipse Major Axis and
Inner Ellipse Minor Axis parameters to extract annular data.

Use the Sector Start Angle and Sector Angle Range settings to extract a partial circular or
elliptical region.

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Parameter Description

Polygon

Extracts a polygonal region with the number of vertices specified in Vertex Count. You can
define the shape of the polygon using a mouse in the data viewer, dragging and dropping the
vertex points.

Note that you can't adjust the height of a polygon region: it occupies the entire vertical space
available:

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Parameter Description

Rectangle

Extracts a rectangular region from the surface data.

Inner Circle Diameter Defines the diameter of the inner circle when Region Type {n} is set to Circle.

Set this parameter to a value greater than 0 to extract a ring of data. Set this parameter to 0 to
extract a circle of data.

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Parameter Description

Inner Ellipse Major Axis Defines the major and minor axes of the inner ellipse, respectively, when Region Type {n} is

Inner Ellipse Minor Axis set to Ellipse.

Set this parameter to a value greater than 0 to extract a ring of data. Set this parameter to 0 to
extract an elliptical disk of data.

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Parameter Description

Sector Start Angle Use these parameters together to extract a partial ring of data. Sector Start Angle controls

Sector Angle Range the starting angle of the data, whereas Sector Angle Range controls the length of the arc.

Note that the angles and ranges in these parameters are measured clockwise around Z, where
0 degrees is along the positive X axis.

These settings are only displayed when a region's type is set to Circle or Ellipse.

For example, in the first image below, Sector Start Angle is set to 135, and Sector Angle
Range is set to 270. The resulting extracted partial ring (or annular data) is shown below that.

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Parameter Description

For more information on how these settings work together, see .

Filters The filters that are applied to measurement values before they are output. For more
information, see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the measurement tool
sends a pass or fail decision to the output. For more information, see Decisions on page 213.

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

OCR
This tool requires a GoMax-accelerated sensor.
For more information on GoMax, see the GoMax user manual.

The Surface OCR (optical character recognition) tool lets you extract a string of text from surfaces, using
either heightmap or intensity scan data. The tool is font-independent and already trained. The tool
therefore lets you implement OCR without the need for a separate 2D camera system.

You can use the String Encoding tool to extract the string and pass it as output to a PLC; for more
information, see String Encoding on page 441. The extracted string is also available via the SDK; for
information on the SDK, see GoSDK on page 813 and the SDK reference documentation.

The tool does not support multi-line character recognition, and the text must be rotated so that it is
human-readable from left to right along the X axis.

When configuring the tool, use the Diagnostic Image data output, on the Output tab, to help set
the thresholding parameters correctly.

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 2D View 3D View

Measurement Panel

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements and Settings

Measurements
Measurement

Time

The amount of time the tool takes to process.

Found

Whether the extracted text is identical to the text in Expected Text.

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Data
Type Description

Diagnostic Image The data the tool uses to perform optical character
recognition.

Output String A string containing the recognized text. (This data is not
currently visualized in the data viewer.)

Parameters
Parameter Description

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is available as input for this tool.

If you switch from one type of data to another (for example, from section profile data to
surface data), currently set input features will become invalid, and you will need to choose
features of the correct data type.

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For
more information, see Source on page 205.

Data Type The type of data the tool uses (Heightmap or Intensity).

Use Region Indicates whether the tool uses a user-defined region.

If this option is not checked, the tool uses data from the entire active area.

Region The region in which the tool performs OCR. For more information, see Regions on page 206.

Threshold Mode Determines the threshold the tool uses to identify characters relative to the background
data. One of the following:

Default – The default used by tesseract with OTSU adaptive thresholding method. Use this
mode if the scan data has been pre-processed to remove any tilt of the surface on which you
want to perform OCR, for example using Surface Transform; for more information, see
Transform on page 464.

Local Threshold – The tool varies the threshold for each pixel based on the minimum and
maximum values within a moving window over the region, using the specified window size
and multiplier (see below). This method can compensate for intensity and height gradients.

Manual Threshold – The tool uses a single, fixed threshold for the entire region (see Manual
Threshold below).

Local Threshold Window The window size the tool uses for local thresholding. The window size should generally be
Size larger than the size of the characters being detected.

Displayed when Threshold Mode is set to Local Threshold.

Threshold Multiplier The multiplier the tool uses for local thresholding. Typically set to a value close to 1.

Displayed when Threshold Mode is set to Local Threshold.

Manual Threshold The manual threshold the tool uses, expressed as a percentage, converted to a 0-255 range,
relative to minimum and maximum values within the region.

Displayed when Threshold Mode is set to Manual Threshold.

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Parameter Description

Mode Limits the characters the tool will recognize. Choose the mode based on the expected types
of characters in the target. One of the following:

Alphanumeric – Only attempts to recognize alphanumeric characters.

Numeric – Only attempts to recognize numeric characters.

Whitelist – Only attempts to recognize the characters in the Whitelist parameter that this
option displays.

Blacklist – Will not attempt to recognize characters in the Blacklist parameter that this
option displays.

Whitelist The whitelist or blacklist of characters that the tool will attempt to recognize or ignore,

Blacklist respectively. These parameters are case sensitive. The list of characters is a simple string of
characters.

One of these parameters is displayed when Mode is set to Whitelist or Blacklist.

Invert Swaps intensity values in the data the tool uses to perform OCR. Use this if you need to
perform OCR on light text on a dark background. (The OCR library the tool uses expects dark
text on a light background.)

For heightmap data, the tool swaps the "high" and "low" values. For example, in the second
image below, the height values used for the text and the surrounding surface (the highest
and lowest values in the heightmap legend to the right) are swapped when compared to the
first, non-inverted data.

This parameter is not available when Threshold Mode is set to Default.

Enable String Comparison Enables string comparison.

Expected Text The string the tool compares the extracted text to. The parameter is case-sensitive and does
not support wild cards or truncation.

Filters The filters that are applied to measurement values before they are output. For more
information, see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the measurement tool
sends a pass or fail decision to the output. For more information, see Decisions on page 213.

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Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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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 tool does not search for or
detect the feature. The tool expects
that the feature, conforming
reasonably well to the defined
parameters, is present and that it is
on a sufficiently uniform
background.

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 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.

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 3D View

2D View

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Gocator Line Profile Sensors: User Manual Gocator Web Interface • 407
 Measurement Panel

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements, Features, and Settings

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.

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Measurement Illustration

Length

Determines the length of the opening.

Angle

Determines the angle (rotation) around the normal of the

alignment plane.

Features
Type Description

Center Point The center point of the opening. The Z position of the
center point is at the Z position of the surrounding surface.

For more information on geometric features, see Geometric Features on page 212.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more
information, see Source on page 205.

Type Rounded Slot, Rectangle.

Nominal Width Nominal width of the opening.

Nominal Length Nominal length of the opening.

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Parameter Description

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.

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.

Region The region to which the tool's measurements will apply. For more information, see Regions on
page 206.

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Parameter Description

Reference Regions The tool uses the 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.

With one or more reference regions, the algorithm calculates the Z positions as the average values
of the data within the regions.

When you place the reference region manually, all of the data is used, whether the data is inside
or outside the opening. You should place the reference region carefully.

Tilt Correction Tilt of the target with respect to the alignment plane.

Autoset: The tool automatically detects the tilt. The measurement region to cover more areas on
the surface plane than other planes.

Custom: You must enter the X and Y angles manually in the X Angle and Y Angle parameters (see
below).

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Parameter Description

X Angle The X and Y angles you must specify when Tilt Correction is set to Custom.

Y Angle You can use the Surface Plane tool's X Angle and Y Angle measurements to get the angle of the
surrounding surface, and then copy those measurement's values to the X Angle and Y Angle
parameters of this tool. For more information, see Plane.

Filters The filters that are applied to measurement values before they are output. For more information,
see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the measurement tool sends
a pass or fail decision to the output. For more information, see Decisions on page 213.

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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.

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Plane
The Plane tool provides measurements that report a plane's position and orientation (X Angle, Y Angle, Z
Offset, Normal, Distance), as well as the maximum and average deviations from the plane.

The Z offset reported is the Z position at zero position on the X axis and the Y axis.

The results of the Angle X and Angle Y measurements can be used to manually customize the tilt angle in
the Hole, Opening, and Stud tools.

3D View

2D View

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 Measurement Panel

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

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Measurements, Features, and Settings

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 value of intersection of the plane and the

Z axis.

Standard Deviation

Measures the standard deviation of the points of the

surface from the detected plane within the specified region
or regions.

Min Error

Measures the minimum error from the detected plane (the

maximum distance below the plane, perpendicular to the
plane) within the specified region or regions.

Max Error

Measures the maximum error from the detected plane (the

maximum distance above the plane, perpendicular to the
plane) within the specified region or regions.

X Normal

Returns the X component of the surface normal vector.

Y Normal

Returns the Y component of the surface normal vector.

Z Normal

Returns the Z component of the surface normal vector.

Distance

Distance from the origin to the plane.

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Features
Type Description

Plane The fitted plane.

For more information on geometric features, see Geometric Features on page 212.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

Regions The region to which the tool's measurements will apply. For
more information, see Regions on page 206.

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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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.

2D View 3D View

Measurement Panel

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

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Measurements, Features, and Settingss

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.

Features
Type Description

Center Point The returned position.

For more information on geometric features, see Geometric Features on page 212.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

Feature The feature the tool uses for its measurements. One of the
following:
l Average
l Median
l Centroid
l Max X
l Min X
l Max Y
l Min Y
l Max Z
l Min Z

To set the region of a feature, adjust it graphically in the

data viewer, or expand the feature using the expand
button ( ) and enter the values in the fields. For more
information on regions, see Regions on page 206.

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

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Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

Z angle Lets you choose the Z Angle measurement of another tool to

use as an angle anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

Section
The Surface Section tool lets you define a line on a surface (a "section") from which the tool extracts a
profile. You can apply any Profile tool to the resulting profile (see Profile Measurement on page 225).
Note that a section can have any XY orientation on the surface, but its profile is parallel to the Z axis.

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 A section over a row of components

The resulting profile

Note that profiles extracted from surfaces start at the point defined as the X/Y Start of the section.
Profiles are always displayed horizontally, with X increasing to the right. The origin of extracted profiles is
the beginning of the section, and not relative to the surface from which they are extracted.

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The Surface Section tool provides functionality similar to sections you can define on the Models page
(see Models on page 181). However, the Surface Section tool has a few advantages.

One advantage of the Surface Section tool is that you can anchor the tool to some other easily
identifiable feature on the scan target, which "shifts" the section in relation to that feature: this increases
repeatability.

Another advantage is that unlike sectioning generated from the Model page, the Surface Section can
take any surface as input, such as a combined surface (using Surface Extend or Stitch), a transformed
surface (using Surface Transformation), a filtered / corrected (Surface Filter and Surface Vibration
Correction), and so on.

Finally, the Surface Section tool provides measurements useful for calculating the global X/Y coordinates
of the resulting profile, using a Script tool Script (page 483). Even if you don't use anchors or the
measurements, LMI recommends using the Surface Section tool over model-based sections.

2D View 3D View

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 Measurement Panel

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements, Data, and Settings

Measurements
Measurement

X Start
Y Start

These measurements return the X and Y position of the start of the section, respectively.

X End
Y End

These measurements return the X and Y position of the end of the section, respectively.

Z Angle

Returns the rotation of the section around the Z axis.

Data
Type Description

Profile The profile the tool extracts from the surface. Available to
profile tools for profile measurement.

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Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements.
For more information, see Source on page 205.

Section Contains the coordinates of the two points that define the section.

Point

The point to configure (1 or 2).

X, Y, Z

The coordinates of the point selected in Point.

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Parameter Description

Averaging Width The width, in millimeters, of a window in which averaging of data points occurs. Use
this to compensate for noise around the section.

In the following, Averaging Width is set to 1.

When set to 0, only data points directly under that section are used in the profile.

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Parameter Description

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Parameter Description

Show Detail Determines whether data points (in red) are displayed under the section in the data
viewer. If this setting is disabled (as shown below), only the yellow line representing
the defined section is displayed.

Filters The filters that are applied to measurement values before they are output. For more
information, see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the
measurement tool sends a pass or fail decision to the output. For more information,
see Decisions on page 213.

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

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Anchor Description

Z angle Lets you choose the Z Angle measurement of another tool to

use as an angle anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Segmentation
This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. However, it is
supported on any accelerated sensors (PC or GoMax), including these models, and will appear
in emulator scenarios created using these sensors.

The Segmentation tool separates surface data into "segments," based on the tool's parameters.
Segments can be touching and overlapping to a certain degree. The Segmentation tool is especially
useful in the food industry, for example to identify food items that are too small or too big, or items that
are damaged.

The tool displays the area of each segment in the data view, but does not output them as
measurements.

The Segmentation tool can also be used as a second stage of processing after part detection. For
example, part detection could be used to detect a tray (containing parts), and the Segmentation tool
could then separate the parts within the tray.

The Segmentation tool cannot handle large overlaps.

The Segmentation tool does not perform template matching.

To reduce processing time, consider using the decimation filter. For more information on this
filter, see Filters on page 151.

2D View 3D View

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 Measurement Panel

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Gocator Line Profile Sensors: User Manual Gocator Web Interface • 429
Measurements, Data, and Settings

Measurements
Measurement

Count

Returns the number of found segments identified, based on the tool's parameters.

Min Dimension

Max Dimension

The minimum and maximum dimensions among all of the identified segments.

Mean Width

Mean Length

The mean width and length of the segments, respectively.

Min Area

Max Area

The minimum and maximum area among all of the identified segments.

Sum Area

The sum of the areas of the segments.

Mean Area

The mean area of the segments.

Min Height

Max Height

The minimum and maximum heights among all of the identified segments.

Mean Height

The mean height of the segments.

X Center {n}

Y Center {n}

The X and Y positions of the center of a part segmented from the surface.

The Number of Part Outputs setting determines the number of measurements listed in the Measurements tab.

Length {n}

Width {n}

The length and width of a part segmented from the surface. These are always the major and minor axis of a part,
respectively.

The Number of Part Outputs setting determines the number of measurements listed in the Measurements tab.

Features
Type Description

Center Point {n} The point representing the center of a segmented part.

The Number of Part Outputs setting determines the

number of point geometric features listed in the Features
tab.

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Data
Type Description

Segments Array An array containing the segments. For an example of how to

access this data from an SDK application or a GDK tool, see
the appropriate sample in the SDK samples; for more
information, see Setup and Locations on page 814.

Diagnostics Surface Surface data you can use to evaluate the impact of the tool's
kern size and iteration settings, which the tool uses to
separate potential segments.

Surface {n} Surface data corresponding to each segmented part.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For
more information, see Source on page 205.

Use region Indicates whether the tool uses the user-defined region.

If this option is not checked, the tool uses data from the entire active area.

Part Area Min The minimum and maximum areas in square millimeters for a part of the scan data to be

Part Area Max identified as a segment.

Part Aspect Min The minimum and maximum aspect ratios (minimum axis length in mm) / (maximum axis

Part Aspect Max length in mm) of the best fit ellipse to the segment contour points for a segment to qualify
to be added to the list of found segments.

Background Filter Kern Size These settings perform background cleanup. The greater each of these values is, the more

Background Filter Iterations the background surface for the segment search will be adjusted. You must find a balance
that removes noise adequately without degrading the segment find quality.

Part Edge Filter Kern Size Use this value to clean up overlapping edges and find segments when noise is present in
the scan data.

Part Edge Filter Threshold Controls the separation of the parts, increasing the gap between the parts so that they can
be detected more easily.

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Parameter Description

Use Margins When enabled, discards parts that are too close to the edge of the scanning area or the
region, based on the left, right, top, and bottom values.

The tool filters the parts using the center point.

In the following, a part is close to the edge of the XY scan area; the right margin is set to 0, so
the part is not discarded. (Total part count is 9.)

In the following, the right margin has been set to 10 mm. Because the center point of the
part is now within the margin, the tool discards the part. (Total part count is reduced to 8.)

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Parameter Description

Ordering Orders the measurements, features, and surface data of the individual parts output by the
tool. Choose one of the following:
l Area - Large to small
l Area - Small to large
l Position - X increasing
l Position - X decreasing
l Position - Y increasing
l Position - Y decreasing
l Position - Z increasing
l Position - Z decreasing

Show Details Toggles whether the tool displays the index and area of each individual part.

Number of Part Outputs Determines the number of parts the tool outputs as measurements, features (center points
of parts), and surface data. Currently limited to 200 parts.

Filters The filters that are applied to measurement values before they are output. For more
information, see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the measurement tool
sends a pass or fail decision to the output. For more information, see Decisions on page 213.

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

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Anchor Description

Z angle Lets you choose the Z Angle measurement of another tool to

use as an angle anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Sphere
The Sphere tool lets you compute characteristics of a scanned sphere by specifying a region to inspect.
For example, you can use the tool to align a robot-mounted sensor to a ball-bar as shown in the images
below.

For the tool to work properly, the tool's region typically must be enabled and set, and properly
placed. For more information, see the table of parameters below.

2D View 3D View

Measurement Panel

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

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Measurements, Features, and Settings

Measurements
Measurement Illustration

Center X

Determines the X position of the center of the sphere.

Center Y

Determines the Y position of the center of the sphere.

Center Z

Determines the Z position of the center of the sphere.

Radius

Determines the radius of the sphere.

StandardDeviation

Determines the error of the points compared to the

computed sphere. It is defined as the square root of the
variance of the distance of every point to the computed
sphere.

Features
Type Description

Center The center of the circle encompassing the widest part of the
fitted sphere.

Circle The circle encompassing the widest part of the fitted

sphere.

For more information on geometric features, see Geometric Features on page 212.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more
information, see Source on page 205.

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Parameter Description

Region The region to which the tool's measurements will apply. For more information, see Regions on
page 206.

In order for the tool to correctly fit a sphere to the scan data, you must set the region so that it only
contains data from the sphere on the target.

Filters The filters that are applied to measurement values before they are output. For more information,
see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the measurement tool sends a
pass or fail decision to the output. For more information, see Decisions on page 213.

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Stitch
This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. However, it is
supported on any accelerated sensors (PC or GoMax), including these models, and will appear
in emulator scenarios created using these sensors.

The Stitch tool lets you combine up to 6 frames of scans into a single Surface scan. This lets you get a
much larger scan volume with fewer sensors (either in a single sensor system or a multi-sensor system).
For each scan, you can specify not only X, Y, and Z offsets (translations), but also X, Y, and Z angles
(rotations), defining its relationship with the others. This means that when the sensor system is mounted
to a robot, or if you are using, for example, an X-Y table, you can get a complete scan with fewer sensors.
The resulting combined scan can then be used as input by any other Surface or Feature tool from its
Stream drop-down.

The tool performs rotation first, and then translation.

You cannot define sections on the combined scan; for more information on sections, see Sections on
page 195.

The tool combines data simply by overwriting in sequence: it performs no averaging or

blending. The tool also performs no fitting.

Results are only as accurate as the motion system.

Seams are often seen in combined data in stitching performed in anything other than along the
Y axis.

The tool returns one measurement, which simply indicates the number of scans successfully added to
the combined scan data.

The following shows three individual frames:

In the following, the tool has combined the frames into a single surface.

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 Measurement Panel

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements, Data, and Settings

Measurements
Measurement

Captured

Indicates the number of scans successfully added to the combined surface scan.

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 Only one of the following data types will contain data, depending on whether Uniform Spacing
is enabled. For more information, see Scan Modes on page 122.

Data
Type Description

Stitched Surface The stitched surface scan, available for use as input in the
Stream drop-down in other tools. Contains uniform data
only and is empty if Uniform Spacing is disabled.

Stitched Raw Surface The stitched surface scan, available for use as input in the
Stream drop-down in other tools. Contains point cloud data
only and is empty if Uniform Spacing is enabled.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

Surface Count The number of scans to combine into a single surface. For
each, a "Surface Parameters" section is added. The tool
accepts setting the number of scans to one: in this case it,
behaves like a transform tool.

Enforce Frame Order Restricts the stitching for specific frame indexes, starting at
the frame indicated in Start Frame Index. If unchecked, an
Operation drop-down is displayed (see below).

This setting is disabled if you attempt to stitch data from

individual scans acquired using the Snapshot button (that
is, all frame indexes are at 1).

Operation If Enforce Frame Order is disabled, the Operation drop-

down is displayed. One of the following:
l Normal:  The tool automatically chooses this operation
after you have chosen another operation.

l Reset buffers: Resets the buffers used to stitch frames.

l Lock: Lets you lock the current processing and outputs

of the tool. Useful when you need to add another tool
that will use this tool's output (for example, a Surface
Section tool). If you do not lock the tool, as soon as you
add the other tool, the output is cleared, which means
you must re-execute the combined output again to
configure the additional tool. Be sure to unlock the tool
after you have configured any other tools.

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Parameter Description

Reset On Start Clears buffers for the stitched surface when the sensor is
started. Useful for situations where the sensor is started
and stopped frequently (to capture a small number of
frames), rather than starting the sensor and letting it run
for a long period. Enable this parameter to prevent data
from a previous capture session being stitched with data
from the current capture session.

Bilinear Interpolation Evaluates the height of each transformed point (through

translation or rotation) based on its neighbors. More
precise, but has an impact on performance.

Surface Parameters {n} For each scan to be added to the combined surface scan, a
Surface Parameters checkbox is added. To configure the
parameters of the individual surfaces, check the box and
configure the settings. Unchecking the checkbox does not
disable the scan or its settings. The following settings are
available:
l Data Source
l X, Y, and Z Offset
l X, Y, and Z Angle

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

Z angle Lets you choose the Z Angle measurement of another tool to

use as an angle anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

String Encoding
This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. However, it is
supported on any accelerated sensors (PC or GoMax), including these models, and will appear
in emulator scenarios created using these sensors.

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 The String Encoding tool is only available from the drop-down in the Tools panel after a tool
capable of providing compatible input, such as Surface Barcode or Surface OCR, has been
added.

The String Encoding tool takes the string output from a Surface Barcode or Surface OCR tool and
converts the characters to measurements that can be sent to PLCs. Measurements contain either a
single value for each character, or a four-character string. You can set the endianness of the four-
character string, letting you use the tool with any PLC.

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements and Settings

Measurements
Measurement

Measurement {n}

A decimal representation of either a single character or a four-character string, depending on the value of the Encoding
parameter. In both cases, values are displayed with a decimal point, and three places after the decimal point. The
number of measurements is set by the Number of Measurements parameter.

The last character is always a null terminator (\0). If the string passed to the tool is longer than the number of
measurements will accommodate, the last character is truncated and replaced with \0.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

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Parameter Description

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is

available as input for this tool.

If you switch from one type of data to another (for example,

from section profile data to surface data), currently set
input features will become invalid, and you will need to
choose features of the correct data type.

Number of Measurements The number of measurements the tool adds.

Encoding One of the following:

4 characters: Each measurement contains a four-character

string, encoded using the byte order chosen in the Byte
Order parameter.

1 character: Each measurement contains a single character.

Byte Order Selects the byte order the tool uses to encode strings in the
measurements. One of the following: Big Endian or Little
Endian.

Selection Measurement selection functions. One of the following:

Enable All: Enables all of the measurements.

Disable All: Disables all of the measurements.

(This parameter defaults to “Custom” before and after

performing a selection.)

The filters that are applied to measurement values before

Filters they are output. For more information, see Filters on

page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

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Stud
The Stud tool measures the location and radius of a
stud.
The tool does not search for or detect the
feature. The tool expects that the feature,
conforming reasonably well to the defined
parameters, is present and that it is on a
sufficiently uniform background.

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 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.

3D View

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 2D View

Measurement Panel

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For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements, Features, and Settings

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.

Features
Type Description

Tip Point The center point of the tip of the stud.

Base Point The center point of the base of the stud.

For more information on geometric features, see Geometric Features on page 212.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's measurements. For
more information, see Source on page 205.

Stud Radius Expected radius of the stud.

Stud Height Expected height/length of the stud.

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Parameter Description

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.

Region The region to which the tool's measurements will apply. For more information, see Regions
on page 206.

Reference Regions The tool uses the 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.

Autoset: The tool automatically detects the tilt. The measurement region to cover more
areas on the surface plane than other planes.

Custom: You must enter the X and Y angles manually in the X Angle and Y Angle
parameters (see below).

X Angle The X and Y angles you must specify when Tilt Correction is set to Custom.

Y Angle You can use the Surface Plane tool's X Angle and Y Angle measurements to get the angle of
the surrounding surface, and then copy those measurement's values to the X Angle and Y
Angle parameters of this tool. For more information, see Plane.

Radius Offset The distance from the tip of the stud from which the radius is measured.

(Radius measurement only)

Filters The filters that are applied to measurement values before they are output. For more
information, see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the measurement tool
sends a pass or fail decision to the output. For more information, see Decisions on page 213.

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

Measurement Region
The tip and the side of the stud must be within the measurement region.

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Track
This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. However, it is
supported on any accelerated sensors (PC or GoMax), including these models, and will appear
in emulator scenarios created using these sensors.

The Track tool lets you perform quality control and inspection along a path you define on representative
scan data. The Track tool is especially useful for inspecting materials such as glue / sealant beads. The
tool returns width and height measurements of the material, as well as OK and NG ("no good") counts,
which let you monitor material overflow and breaks. A major advantage of the tool is that it removes the
need to configure individual tools for each location along the path. You can use point and line geometric
features to anchor the tool (for more information on geometric features, see Geometric Features on
page 212).

Gocator sensors have a limited amount of space for storing path files. For this reason, when
working with large datasets, we recommend that you run the Track tool on a PC through the
Gocator accelerator. For more information on the accelerator, see Gocator Acceleration on
page 527.

2D View 3D View

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 Measurement Panel

You define the path along which the tool performs its internal measurements using a separate, PC-based
utility (the "track editor"). The following shows the relationship between the Track tool and the track
editor.

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For more information on the track editor, see Using the Track Editor on page 461

All instances of the Track tool share the same path file set in File (ending in .user). For this
reason, you must be careful when editing or removing path files shared by another instance of
the tool.

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Key Concepts
The following are important concepts for using both the track editor (see Using the Track Editor on
page 461) and the Track tool itself:

Track: The material being measured, for example glue or sealant. The material can sit on a flat area on
the target, or sit in a groove where the material touches one or both sides.

Path: The ideal centerline of the track. You define the path in the track editor. You can define more than
one path for use on scanned targets, but the Track tool returns the combined results for all paths. For
more information on the track editor, see Using the Track Editor on page 461.

Ruler: A ruler is one of the areas perpendicular to the path you define. You define the size and spacing
of the rulers in the track editor. The Track tool extracts a profile from the surface data beneath a ruler
and performs internal measurements based on the values you choose in the Track tool's parameters.

Ruler profiles: The profiles extracted from the surface data under a ruler. The tool's internal
measurements, which are configured using the tool's settings, are applied to these profiles.

Segment: One portion of the path, between points created by clicking on an image of scan data in the
track editor. You can choose to configure rulers in segments independently, or choose to configure them
in a batch mode.

The following shows a track with rulers and measurement results:

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 Track tool in data viewer, showing a track (lighter grey), path (dark blue line), rulers running
perpendicular to the track (white lines centered on light blue dots).
Dots of other colors provide additional information (see below).

When you enable Show Measurement Results, the Track tool displays dots on the rulers to provide
the following information (see also the images below):

l Light blue dots: The data points in the ruler profile. When you enable Show Path and Rulers, the
tool displays a white line centered on these dots to indicate the location of the ruler.

l Dark blue dotes: The detected sides of the track. These represent the width of the track under that
ruler.

l Green dots: Center points on rulers that pass the criteria set in the tool. These count toward the "OK
Count" measurement.

l Red dots: Center points on rulers that fail at least one of the criteria set in the tool. These count
toward the "NG Count" measurement.

l Orange dots: The peak (highest) point on the ruler. If the center point (green or red) is the same as
the peak point, the tool only shows the center point.

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 Three "OK" rulers, indicated by green center points. In the bottom two, the peak point (orange) 
is slightly to the left of the center point (green).

A "NG" ruler, indicated by the red center point.

Track Location
The tool attempts to locate the track using the profile data it extracts under each ruler, and does this by
first locating the "peak" (the highest point on the ruler profile, based on certain criteria) and then locating
the side points representing the "sides" of the track.

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Peak Detection
The tool determines the peak point on a ruler profile by moving two windows—one to each side of the
point being examined—and comparing the average height in those windows with the height of the point
being examined. (The size of these windows is specified in Center Window Size.) If the height of the
point being examined is greater than both the left and right average height by the value specified in
Center Threshold, that point is considered a candidate peak point. The tool uses the candidate point
with the highest average height over both windows as the peak point.

Side Detection
After the tool has located the peak point, it locates the sides of the track starting from the peak point.
You can choose between two methods for side detection: Maximum Gradient and Height Threshold.

Maximum Gradient:

Use this side detection method when the slope of the two sides show a clear drop-off. The following
settings define the area in which the tool searches for a maximum gradient, which will determine the
edge of the track.

Maximum Gradient Side Detection Parameters

Side Window Size The size of the two adjacent windows the tool uses to determine the maximum
slope on the left and right side of the track. Set this to roughly 3 to 5 times the
smaller of the X and Y resolution of the sensor.

Max Track Width The maximum width of the track over the ruler profile the tool searches for edge
points. The tool uses this value to limit where the edge of the track might be
detected. Set this to slightly larger than Side Window Size.

Height Threshold:

Use this side detection method when the slope of two sides is very gradual. The tool finds the left and
right edges by averaging the height of small fixed-size windows moving away from the peak point. Edge
points are the left-most and right-most window locations where the average height is below a minimum
height threshold.

Height Threshold Side Detection Parameters

Side Height Threshold The minimum height that the average calculated in the fixed-width height
threshold windows must be below.

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Center Point Detection
The Track tool calculates the center point as the mid point between the left and right side points. This
means that the center point may be different from the peak point.

Configuring the Track Tool

To configure the tool, you must first acquire scan data of a representative target; preferably, the material
on the target will fall within the expected tolerances. Next, you save the scan data from within the Track
tool, and then load the scan data into the track editor. Then, after adding a path or paths, and
configuring rulers to the data, you load the track data back into the Track tool. Finally, you configure the
tool. For more information on key concepts you need to understand to configure the Track tool, see Key
Concepts on page 450.

To configure the Track tool:

1. Scan a representative target, or load previously scanned data.
For more information on loading previously scanned data, see Recording, Playback, and Measurement
Simulation on page 88.

2. Add a Surface Track tool.

Gocator adds a Surface Track tool and creates a "C:\LMI\SurfaceTrack" folder if it doesn't exist.
For more information on adding a tool, see Adding and Configuring a Measurement Tool on page 203.

3. In the Surface Track tool, choose Create from the Operation drop-down.
The tool creates a file (for example, SurfaceTrack-0000.user) containing scan data in "C:/LMI/Surface
Track". You will use the track editor to add path data to this file.

4. Launch the track editor and configure the path or paths.

For information on using the track editor, see Using the Track Editor on page 461.

5. After you have finished editing the track data in the track editor, in the Surface Track tool, choose Load in
the Operation drop-down to load the path data you just created.

6. Configure the Track tool as required.

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 For information on the tool's measurements and settings, see the below.

Measurements, Data, and Settings

Measurements
Measurement Illustration

OK Count

Returns the number of rulers along the path that pass all of
the criteria set in the tool's parameters.

NG Count

Returns the number of rulers along the track path that fail
the criteria set in the tool's parameters. (They are "no good.")

Width Min

Width Max

Width Avg

These measurements return the minimum, maximum, and

average width of the track.

Width measurements on a ruler

profile. The Track tool's settings determine
the locations of the "sides" of the track.

Height Min

Height Max

Height Avg

These measurements return the minimum, maximum, and

Height measurements on a ruler
average height of the track at the center point. profile with Height Mode set to
When Height Mode is set to Absolute Height, the height Absolute Height.
returned is the global height. When it is set to Step Height,
the height is relative to the surface next to the track.

Height measurements on a ruler

profile with Height Mode set to
Step Height.

Area Min

Area Max

Area Avg

These measurements return the minimum, maximum, and

Area measurements under a
average area under the rulers. ruler profile.

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Data
Type Description

Output Measurement Data containing the results from each ruler, namely:
l track ID
l segment ID
l track width
l track height
l track offset
l X position of the center point
l Y position of the center point

A sample included in the SDK package shows how you can use this
output data in an application.

Profiles List A list of the profiles extracted from the tracks.

Profiles List Diagnostics Surface Surface data created by combining the extracted profiles. Use for
diagnostics.

Main Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's
measurements. For more information, see Source on page 205.

Point Feature Point and line geometric features (produced by another tool) that you can select as

Line Feature anchors for translation and rotation transformations, respectively. Currently, you must
select both in order for anchoring to work. For more information on geometric
features, see Geometric Features on page 212.

File The CSV file that contains scan and path data. You add path data to the file using the
track editor. For more information on the track editor, see Using the Track Editor on
page 461.

Operation Provides operations related to the CSV scan / path data file. One of the following:
l Normal: Selected by the tool after you perform another file operation.

l Create: Creates a new CSV file for use with the track editor.

l Load: Loads the path file selected in File.

l Save: Saves changes made in the scan data, as well as the geometric features
used as anchors in the Point Feature and Line Feature settings, to the file
selected in File.

l Delete: Deletes the path file selected in File.

l Refresh File List: Refreshes the list of files.

Interpolation Enables linear interpolation on the profile extracted from the rulers to achieve sub-
pixel accuracy in the width and height measurements.

Height Filter When Height Filter is enabled, use the Threshold Low and Threshold High settings

Threshold High to set a range to filter out noise or exclude other undesired data along the ruler
profiles.
Threshold Low

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Parameter Description

Median Filter When Median Filter is enabled, specify the window the tool will use to smooth the

Window Size height values of the points in the ruler profiles in the Window Size setting.

Center Window Size The size of the left and right windows the tool moves along the ruler profile to detect
whether the point centered between the two is the highest point along a ruler (the
center point).

Set this to roughly 50% of the typical width of the track as a starting point.

Center Threshold The center point is determined by moving two side-by-side windows (left and right,
Center Window Size setting) over each ruler profile. At each point, the height value
between the two windows is compared to the average height of the left and right
windows.

If the center point height is greater, by the amount set in Center Threshold, than the
average height in both the left and right windows, that point is considered a
candidate center point. The candidate center point with the highest average height
over both windows is used as the center point.

It may be necessary to use a negative number in some cases. It may be necessary to

use a negative value under some circumstances. For example, when the top point
slightly dips below its surroundings.

Side Detection Method The method the tool uses to detect the two sides of the track. One of the following:
Maximum Gradient or Height Threshold. For more information on side detection
method settings, see Track on page 448.

Height Mode Determines how height values are interpreted in the tool's Nominal Height setting
and what the returned height measurements represent. One of the following:

Absolute Height - Height values are interpreted globally (the entire scan data).

Step Height - Height values are relative to the surrounding area of the track.

Show Path and Rulers Displays the path and rulers (as defined in the track editor) on the scan data.

Show Measurement Result Shows dots on each ruler representing the results of the internal measurements on
the profile extracted from the surface data under the ruler. For more information, see
Key Concepts on page 450.

Nominal Width The expected width of the track.

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Parameter Description

Width Tolerance The tolerance applied to the nominal width.

In the following, the distance between the blue dots indicating the width of the track
under the ruler to the right (white vertical line) is greater than the width tolerance;
this is indicated by the red center point dot, and counts as a NG measurement. The
widths of the track under the two rulers to the left are within tolerance; this is
indicated by green center points, and count as OK measurements. The track is lighter
grey than the surrounding surface.

Nominal Height The expected height of the track. The expected height is the absolute height in the
scan data, not relative to the surrounding area. This setting applies to the peak point,
not the center point.

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Parameter Description

Height Tolerance The tolerance applied to the nominal height. This setting applies to the peak point,
not the center point.

In the following, the red center points indicate that the height at that point is outside
of the height tolerance. Green points indicate heights within tolerance. The track is
lighter grey than the surrounding surface.

Nominal Area The expected cross-sectional area under the rulers on the track.

Area Tolerance The tolerance applied to the nominal area.

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Parameter Description

Offset Tolerance The maximum allowed distance between the center (highest) point on a ruler and the
path. This setting applies to the center point.

In the following, the top and bottom center points (green) are at an acceptable
distance from the blue path. The red center points fail because they are too far from
the path. The track is lighter grey than the surrounding surface.

Filters The filters that are applied to measurement values before they are output. For more
information, see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the
measurement tool sends a pass or fail decision to the output. For more information,
see Decisions on page 213.

Anchoring

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

Z angle Lets you choose the Z Angle measurement of another tool to

use as an angle anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Using the Track Editor
You use the track editor to configure "path" and "ruler" information on a frame of scan data from a
sensor. The Track tool uses this information to inspect targets along the defined path.

The track editor

In the track editor, you can define one or more paths, and configure rulers along these paths.

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 Closeup of the track editor window, showing a track of material on a surface (yellow on green),
a path (blue segments; red segment for the currently selected segment),
path points (green dots), and rulers (white rectangles).

The following assumes that you have already scanned a representative target and created a
CSV file from within the Track tool. For more information, see the first steps of To configure the
Track tool: on page 454.

Loading and working with scan/track data:

1. In the track editor, in the Source drop-down, choose one of the following:

l PC: Choose this option if you are using the Track tool through the accelerator. The track editor will
retrieve the path data file from local (PC) storage and save changes there. (Choose the same if you
are using the emulator).

l Sensor: Choose this option if you are not using the accelerator. The track editor will retrieve the path
data file from the sensor at the IP address specified in the IP field. Because sensors have a limited
amount of space to store path data, only use this option for simple paths.
2. Click Load Tracks, navigate to "C:\LMI\SurfaceTrack" (if you have chosen PC as the source), and choose the
.user file you created using the Surface Track tool.

The track editor loads the data. If paths have been previously defined, they are also loaded.

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3. Do one or more of the following:

l Move the slider to the left or right to zoom in or out in the editor's viewer.

l Move the data in the track editor's window using the scrollbars or the mouse wheel.

l Set MinH and MaxH and then reload the track data to assign a narrower height range to the height
map colors. This may help make the track clearer in the editor.
After you have loaded the data, you must add a path and configure its rulers.

To add a path:
1. In the track editor, click on the middle of the track somewhere in the scan data, move the mouse pointer to
another location and click again.
A red segment between the first two green path points appears in the editor window.

You can move path points using the mouse at any time to adjust the path. You can also delete the last point
by clicking Delete Last. To delete all path points, click Delete All.

2. Continue clicking along the track to add more path points, building up the path.
When adding points on corners, add more points to follow the track more precisely.

3. Continue clicking until you complete the path along the track.
You cannot close the path: simply click close to the starting path point when you have finished.

4. Click Save Tracks to save the path information to the data.

5. (Optional) You can add other paths if necessary by clicking somewhere in the scan data after you have
saved the track data.
After you have finished adding a path, you must configure the rulers on the path (the dimensions and
the spacing of the rulers). You can choose to apply dimensions/spacing to all rulers in all segments at the

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same time by checking Batch Setting. The settings also apply to all paths if you have defined more than
one path.

Otherwise, you must move through the individual path segments by clicking the spinner control in the
Segment field and set the ruler dimensions for each segment. If you have defined multiple paths, you
will have to click through the paths too, using the Track spinner.

The following table lists the ruler settings available in the track editor:

Track editor: ruler settings

Setting Description

Length The dimension of the ruler perpendicular to the path. Be sure to use a value
large enough to cover the track from one side to another and to include enough
surface on each side of the track (the surface to which the material is applied) for
the Track tool to properly detect the track.

Width The dimension of the ruler along the path.

Space The space between rulers on the path. Because you will typically place path
points closer together around corners, you may need to use smaller spacing
around corners.

Transform
The Surface Transform tool generates a new surface based on the coordinate system of geometric
features the tool uses as input. The tool can take a zero-plane, line, and origin point to define this new
coordinate system. You can then apply the built-in measurement tools or GDK tools to this new surface
data. This could let you, for example, get the height of a feature relative to a slightly tilted or warped
adjacent or surrounding reference surface, rather than the absolute height in the original scan volume
relative to the sensor. The result is increased repeatability of your measurements.

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 2D View 3D View

Measurement Panel

In Combinations of geometric feature inputs and results on page 467, the following geometric features
are used by a Surface Transform tool in various combinations (a plane, a line, and a point).

A Surface Plane tool, with the region set to a small left-facing angled surface

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 A Surface Edge tool, with the region set to the left edge of a raised surface (upper left of data viewer).

A Surface Position tool (maximum Z), with the region set to the raised point near the top of the data viewer.

Furthermore, in the sections below, two types of data are shown: the original (input) scan data and the
transformed data. When the tool displays the original data, it overlays indicators of the new,
transformed coordinate system on the data.

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 A Surface Transform tool using all three types of geometric feature inputs.
The data viewer is set to display the input surface data with an overlay of the transformed coordinate system.

In the data viewer, the following is displayed:

X, Y, and Z axes

The transformed axes are represented above by the red, green, and blue lines intersecting on the surface
data above. Note how these are rotated with respect to the original coordinate system (the background
grid, axes, and values along the axes).

Origin

The new origin is represented by the dark blue dot at the intersection of the transformed axes.

Plane

The new plane is represented by the cyan rectangle.

Bounding box containing the transformed surface

The bounding box that indicates where the transformed data is in relation to the original coordinate
system.

To switch between the original and transformed data, choose Surface or Tool in the first drop-
down above the data viewer, respectively.

Combinations of geometric feature inputs and results

The Surface Transform tool accepts all combinations of input geometric features (plane, line, and point).
For details and examples of each, see the following sections.

Plane

New Z=0 XY Plane New X Axis New Origin

Matches the input plane. Parallel to the old X axis. Old origin projected to plane.

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Original data with overlay

Transformed data

Line

New Z=0 XY Plane New X Axis New Origin

The new plane contains the line. The intersection of the new Matches the line. Old origin projected onto the
plane and the old plane is perpendicular to the input line. line.

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Original data with overlay

Transformed data

The direction of the X axis depends on the tool generating the line that Surface Transform takes as input.
You may need to adjust the direction using the Add Fixed Transform settings.

Point

New Z=0 XY Plane New X Axis New Origin

Through the input point, parallel to old Z=0 plane. Parallel to the old axis. The input point.

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Original data with overlay

Transformed data

Plane + Line

New Z=0 XY Plane New X Axis New Origin

Matches the input plane. Line projected onto the plane. Old origin projected onto the projected line.

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Original data with overlay

Transformed data

Plane + Point

New Z=0 XY Plane New X Axis New Origin

Matches the input plane. Parallel to the old X axis. At the input point, projected onto the plane.

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Original data with overlay

Transformed data

Line + Point

New Z=0 XY Plane New X Axis New Origin

The new plane contains the line. The intersection of the Matches the line. The input point projected onto
new plane and the old plane is perpendicular to the input the line.
line.

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Original data with overlay

Transformed data

Plane + Line + Point

New Z=0 XY Plane New X Axis New Origin

Matches the input plane. The input line projected onto the plane. The input point projected onto the input
line.

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Original data with overlay

Transformed data

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Scaling Modes
Line profile sensors have independent X and Y resolution settings: the former is set using the Spacing
setting (for more information, see Spacing on page 138), whereas the Y resolution is set using the

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Spacing Interval setting in the Trigger panel (for more information, see Trigger Settings on page 127).
In many applications, the X resolution can be as much as 3-5 times higher than the Y resolution. Rotating
scan data around Z greater than 45 degrees (for example, with the Transform tool) when there is a large
difference between X and Y resolutions can result in significant data quality reduction. To avoid data
quality reduction, choose one of the scaling modes that the tool offers (see below).

Measurements, Data, and Settings

Measurements
Measurement

Running Time (ms)

The amount of time required for tool execution. Used for diagnostic purposes.

Data
Type Description

Transformed Surface The transformed surface. Available via the Stream drop-
down in other tools.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data for the tool's
measurements. For more information, see Source on page 205.

Input Plane The plane the tool uses to transform the surface scan data.

Input Line The line the tool uses to transform the surface scan data.

Input Point The point the tool uses to transform the surface scan data.

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Parameter Description

Scaling Mode Determines whether the tool scales the X or Y resolution so that they are the
same (a 1:1 ratio), or leaves the X and Y resolutions as the original. One of the
following.
l Optimal (uniform)

Brings the X/Y resolution ratio to 1:1 while preserving the pixel area. Best for
random rotation around Z. Provides a balance between the highest and
lowest possible resolutions, requiring an average amount of memory and
processing time compared to the High Oriented (uniform) or Low Oriented
(uniform) options.
l High Oriented (uniform)

Interpolates the lower resolution to match the higher resolution (between

X and Y) in the input. Choose this option when increased resolution is
preferred over speed and low memory usage. (This can result in a very high
resolution output, creating a lot of data for subsequent tools to process. This
can in turn result in slower processing.)
l Low Oriented (uniform)

Decimates the higher resolution to match the lower resolution (between X

and Y) in the input. Choose this option when speed and low memory usage
is preferred over resolution. (It can result in significant data quality reduction
with large Z rotations if the X and Y resolutions of the input are very
different.)
l Original Resolution

Keeps the original X and Y resolution of the scan. Use this option only when
you expect little or no Z rotation. Otherwise, with X/Y resolution ratios that
are not 1:1, large rotation around Z results in severe data quality reduction

For more information, see Scaling Modes on page 474.

Add Fixed Transform When enabled, displays X, Y, and Z offset and angle fields you can use to set
additional transformations, which are applied after any transformations supplied
by the input geometric features.

Setting a fixed transformation can be useful if the geometric features the tool
uses results in data rotated to an unusual orientation; you could, for example,
rotate the data 90 or 180 degrees so that it is in the "expected" orientation, or
shift it so that it's easier to work with.

Use Region When this setting is enabled, the tool only outputs the surface contained in the
defined region.

Filters The filters that are applied to measurement values before they are output. For
more information, see Filters on page 215.

Decision The Max and Min settings define the range that determines whether the
measurement tool sends a pass or fail decision to the output. For more
information, see Decisions on page 213.

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Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Vibration Correction
This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. However, it is
supported on any accelerated sensors (PC or GoMax), including these models, and will appear
in emulator scenarios created using these sensors.

The Vibration Correction tool analyzes variation in surface data to remove high frequency noise in the
data. The tool is useful for improving repeatability and accuracy of measurements when subtle
vibrations in your transport system introduce height variations. The tool's intended use is to send
corrected surface data to other tools.

The Vibration Correction tool requires at least 64 lines of data in the surface data it receives as
input to be able to output corrected surface data.

Uncorrected surface data Corrected surface data: a better

representation of the actual target

Measurement Panel

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

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Data and Settings

Data
Type Description

Corrected Surface Surface data corrected for vibration, available for use as
input in the Stream drop-down in other tools.

Difference Surface Diagnostic Surface data showing the difference

between the corrected surface and the original.
Available for use as input in the Stream drop-down in
other tools

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

Correct region only If enabled, only the area under the region is corrected for
vibration in the output surface data. This setting can be
useful if vibration regularly occurs in a specific area of the
scan data.

This option is only displayed if Use Region is enabled.

Use Region When enabled, lets you set a region and optionally choose
to apply vibration correction only to that region (using
Correct region only).

Region The region whose data the tool will use to calculate the
vibration correction.

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

Z angle Lets you choose the Z Angle measurement of another tool to

use as an angle anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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Volume
The Volume tool determines the volume, area, and thickness of a part.

2D View 3D View

Measurement Panel

For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

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Measurements
Measurement Illustration

Volume

Measures volume in XYZ space.

Area
Measures area in the XY plane.

Thickness
Measures thickness (height) of a part.

Parameters
Parameter Description

Source The sensor, or combination of sensors, that provides data

for the tool's measurements. For more information, see
Source on page 205.

Region The region to which the tool's measurements will apply. For
more information, see Regions on page 206.

Location One of the following:

(Thickness measurement only) l Max

l Min
l Average
l Median
l 2D Centroid (height of the centroid in the XY plane)
l 3D Centroid (height of the centroid in the XYZ space).

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

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Parameter Description

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

Anchoring
Anchor Description

X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool

to use as a positional anchor for this tool.

Z angle Lets you choose the Z Angle measurement of another tool to

use as an angle anchor for this tool.

A measurement must be enabled in the other tool for it to be available as an anchor. The anchor
measurement should also be properly configured before using it as an anchor.

For more information on anchoring, see Measurement Anchoring on page 216.

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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 Scripts on page 504 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 3D point cloud data is not. (The script engine is not powerful enough to
process the data itself.) Only one script can be created.

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Feature Measurement
The following sections describe Gocator's Feature tools.

Feature tools produce measurements based on more complex geometry, letting you implement
applications more quickly by reducing dependence on writing scripts to accomplish these kinds of
measurements. Feature tools take geometric features generated by other tools as input and perform
measurements on those features.

Feature tools are available in either Profile or Surface mode.

The Circle geometric feature currently cannot be used by any of the built-in Feature tools.

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Create
The Feature Create tool lets you generate geometric features from other geometric features (ones
generated by other tools). For example, you can create a line from two points, or create a plane from a
point and a line. The tool can generate points, lines, circles, or planes. You can also extract measurement
values from the geometric features generated by other tools; you can use these values as decisions or
use them as anchors in other tools. The advantage of the Feature Create tool is that it means you need
to rely less on Script tools or SDK/GDK applications to perform complex geometric operations.

For example, in the following, a Feature Create tool takes the hole geometric features output by two
Surface Hole tools to generate a line geometric feature (near-vertical yellow line between the cyan hole
center points).

You could perform measurements on the resulting line (X, Y, and Z positional measurements on the line's
center point, and, more importantly, angle measurements on the line). You could also use the line's
Z angle as an anchor in other tool's in order to increase repeatability.

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 Measurement Panel

The following sections describe the output types available in the Output drop-down, the inputs required
by each output, and the resulting output.

Line from Two Points

The Line from two points type of output takes two point geometric features as input.

The resulting output is a line geometric feature connecting the two points.

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 A line between the center point of a hole and the corner of the chip.
(The corner is the intersect point resulting from the Feature Intersect tool,
taking the left vertical and lower horizontal line edges of the chip as input.)

The X, Y, and Z measurements return the midpoint of the line. The X, Y, and Z Angle measurements
return the angle of the line.

Perpendicular or Parallel Line from Point and Line

These types of output take a point and a line geometric feature as input to create another line.

For both of these types of line output, the X, Y, and Z measurements return the position of the point.

For perpendicular line output, the X, Y, and Z angle measurements return the angles of the line.

For parallel line output, the Z angle measurement returns the angle of the line; the X and Y angle
measurements both return 180.000.

In the following, the tool generates a roughly vertical line (yellow) perpendicular to the input line (cyan
line along the left edge of the large integrated circuit), passing through the input point (cyan dot at the
center of the hole).

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In the following, the tool generates a roughly horizontal line (yellow) parallel to the input line (cyan line
along the bottom edge of the large integrated circuit), passing through the input point (cyan dot at the
center of the hole).

Perpendicular Line from Point to Plane

Creates a perpendicular line from a point up to a plane.

Projected Point on Plane

Creates a point projected onto a plane.

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Projected Line on Plane
Creates a line projected onto a plane.

Circle from Points

The Circle from points output type takes three point geometric features and fits a circle to those
points. The circle is always on the XY plane.

The X, Y, and Z measurements return the center of the circle. The X, Y, and Z Angle measurements return
a 0.000 value.

Circle generated from the center points of the two holes and the corner of the chip (cyan points).
(The corner is the intersect point resulting from the Feature Intersect tool,
taking the left vertical and lower horizontal line edges of the chip as input.)

Plane from Point and Normal

Creates a plane from a point and a normal.

Plane from Three Points

Creates a plane from three points.

Line from Two Planes

The Line from two planes output type takes two plane geometric features as input and creates a line
at their intersection.

The X, Y, and Z measurements return the midpoint. The X, Y, and Z Angle measurements return the angle
of the line.

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 A line generated at the intersection of two planes. The Z angle is indicated.

Point from Three Planes

The Point from three planes output type takes three plane geometric features as input and creates a
point at their intersection.

The X, Y, and Z measurements return the position of the intersect point. The X, Y, and Z Angle
measurements return 0.000 values.

A point generated at the intersection of two planes. The Y position is indicated here.

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Point from Line and Circle
Creates a point from a line and a circle (their intersection).

Point or Line
The Point and Line types of output take a point or a line geometric feature as input, respectively.

These outputs are useful if the tool takes features generated by another Feature Create tool as input, on
which you want to perform measurements in the second Feature Create tool. Also, this can be useful if
you have developed GDK tools that only generate geometric features (no measurements): you can use
this tool to extract those measurements.

For point output, the X, Y, and Z measurements return the X, Y, and Z position of the point; the angle
measurements all produce 0.000 as values.

Positional measurements of a point

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For line output, the X, Y, and Z measurements return the midpoint of the line. The Z Angle measurement
returns the angle of the line around the Z axis. The X angle is always 0.000, and the Y angle is always
180.000.

See Adding and Configuring a Measurement Tool on page 203 for instructions on how to add
measurement tools.

Measurements
Measurement Illustration

X, Y, Z

The X, Y, and Z positions of some aspect of the geometric

feature. For more information, see the sections above.

X Angle, Y Angle, Z Angle

The X, Y, and Z angles of some aspect of the geometric

feature. For more information, see the sections above.

Note that even when enabled on the Features tab, not all features are generated. (For example, with
Line selected as the output type, only a line geometric feature can be generated: point, circle, and plane
features are not generated.)

Features
Type Description

Point The generated point geometric feature.

Line The generated line geometric feature.

Circle The generated circle geometric feature.

Plane The generated plane geometric feature.

Parameters
Parameter Description

Output The type of output the tool generates. Switching between

the options changes the input types displayed in the tool.

Show Detail Toggles the display of the input geometric features in the
data viewer.

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

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Dimension
The Feature Dimension tool provides dimensional measurements from a point geometric feature to a
reference point, line, or plane geometric feature.

Some examples:

l Measuring the distance between the center of a hole and an edge.

l Measuring the distance between the centers of two holes.

l Measuring the distance between a point and a plane.

l Obtaining the length of a stud by measuring the distance between its tip and base.
The sensor compares the measurement value with the values in Min and Max to yield a decision. For
more information on decisions, see Decisions on page 213.

See Adding and Configuring a Measurement Tool on page 203 for instructions on how to add
measurement tools.

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 2D View 3D View

Measurement Panel

In the following measurement descriptions, the first geometric feature is set in the Point drop-
down. The second geometric feature is set in the Reference Feature drop-down.

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Measurements
Measurement Illustration

Width

Point-point: The difference on the X axis between the points.

Point-line: The difference on the X axis between the point

and a point on the line. For profiles, the point on the line is
at the same Z position as the first point. For surface data,
the point on the line is at the same Y position.

Point-plane: The difference on the X axis between a point

and a point on the plane with the same Y and Z coordinates
as the first point (or the intersection of the plane and a line
from the first point, parallel to the X axis).

Length

Point-point: The difference on the Y axis between the points.

Point-line: The difference on the Y axis between the point

and, for profiles, the nearest point on the line; currently,
always zero. For surface data, the point on the line is at the
same X position as the first point.

Point-plane: The difference on the Y axis between the point

and a point on the plane with the same X and Z coordinates
as the first point (or the intersection of the plane and a line
from the first point, parallel to the Y axis).

Height

Point-point: The difference on the Z axis between the points.

Point-line: The difference on the Z axis between the point

and, for profiles, a point on the line at the same X position
as the first point. For surface data, the point on the line is
the one nearest to the first point.

Point-plane: The difference on the Z axis between the point

and a point on the plane with the same X and Y coordinates
as the first point (or the intersection of the plane and a line
from the first point, parallel to the Z axis).

Distance

Point-point: The direct, Euclidean distance between two

point geometric features.

Point-line: The direct, Euclidean distance between a point

and the nearest point on the line.

Point-plane: The direct, Euclidean distance between a point

and the nearest point on the plane.

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Measurement Illustration

Plane Distance

Point-point: The distance between two point geometric

features. For profile data, the points are projected onto the
XZ plane (always the same as the Distance measurement).
For surface data, the points are projected onto the XY plane.

Point-line: The distance between a point and a line. For

profile data, projected onto the XZ plane (always the same
as the Distance measurement). For surface data, the
distance is projected onto the XY plane.

Point-plane: The distance between a point and a plane. For

profiles, the distance is projected onto the XZ plane (always
the same as the Distance measurement). For surface data,
the distance is projected onto the XY plane.

Parameters
Parameter Description

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is

available as input for this tool.

If you switch from one type of data to another (for example,

from section profile data to surface data), currently set
input features will become invalid, and you will need to
choose features of the correct data type.

Point A point geometric feature generated by another tool.

Reference Feature A point or line geometric feature generated by another tool.

Dimensional measurements are calculated from the
reference feature to the point in the Point setting.

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

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Intersect
The Feature Intersect tool returns the intersection of a line geometric features and a reference line or
plane geometric feature. For line-line intersections, the lines are projected onto the Z = reference Z line
plane for features extracted from a surface, and the intersection of the lines projected onto the Y = 0
plane for features extracted from a profile. The angle measurement between the two lines is also
returned. The lines the tool takes as input are generated by other tools, such as Surface Edge or Surface
Ellipse.

The Feature Intersect tool saves you from having to write complicated calculations in script tools to find
intersect point between lines. Previously, calculating the intercept point of two lines was difficult and
prone to bugs, involving finding lines in indirect ways.

The Feature Intersect tool's positional measurements are particularly useful as anchor sources. For
example, you can easily find a corner point on a part from two edges (produced by two Surface Edge
tools) and using the X and Y positions as anchor sources.

When you use these positional anchors in combination with a Z Angle anchor from tools such as Surface
Edge, you can achieve extremely robust, repeatable measurements.

This tool's Angle measurement cannot be used as an angle anchor source. Only Z Angle
measurements can be used as angle anchor sources.

For more information on anchoring, see Measurement Anchoring on page 216.

The Feature Intersect tool can also generate a point geometric feature representing the point of
intersection of the lines that the Feature Dimension tool can use in measurements.

The sensor compares the measurement value with the values in Min and Max to yield a decision. For
more information on decisions, see Decisions on page 213.

See Adding and Configuring a Measurement Tool on page 203 for instructions on how to add
measurement tools.

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 2D View 3D View

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 Measurement Panel

Measurements
Measurement Illustration

Line-Line: The X position of the intersect point between the

lines.

Line-Plane: The X position of the intersect point between the

line and the plane.

Line-Line: The Y position of the intersect point between the

lines.

Line-Plane: The Y position of the intersect point between the

line and the plane.

Line-Line: The Z position of the intersect point between the

lines.

Line-Plane: The Z position of the intersect point between the

line and the plane.

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Measurement Illustration

Angle

Line-Line: The angle between the lines, as measured from

the line selected in Reference Feature to the line selected
in Line. Line-line angles can range over 360 degrees,
expressed either as an angle from -180 to 180 or as an angle
from 0 to 360 degrees.

Line-Plane:The angle between the line and the

perpendicular projection of the line onto the plane, as
measured from the plane geometric feature selected in
Reference Feature to the line selected in Line. Line-plane
angles are expressed as an angle from 90 to -90 degrees,
which can be expressed as an absolute value.

In both cases, use the Angle Range setting to determine

how angles are expressed.

Features
Type Description

Intersect Point The intersect point of the two edge lines.

Parameters
Parameter Description

Stream The data that the tool will apply measurements to.

This setting is only displayed when data from another tool is

available as input for this tool.

If you switch from one type of data to another (for example,

from section profile data to surface data), currently set
input features will become invalid, and you will need to
choose features of the correct data type.

Line A line geometric feature generated by another tool.

Reference Feature A line or plane geometric feature generated by another tool.

For the Angle measurement, the angle is measured from the
reference feature.

Angle Range Determines the angle range.

(Angle measurement only)

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

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Robot Pose
This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. However, it is
supported on any accelerated sensors (PC or GoMax), including these models, and will appear
in emulator scenarios created using these sensors.

The Feature Robot Pose tool takes geometric features as input and outputs positional and rotational
values. You can use these values in a robot system to control the robot.

In the following images, the Robot Pose tool has returned positional (X, Y, and Z) and rotational (roll,
pitch, and yaw) information on a part.

2D View 3D View

Measurement Panel

At a minimum, the Robot Pose tool needs the following input:

l A Point geometric feature to determine XYZ information

l A Plane geometric feature to determine roll and pitch (rotation around the X and Y axes)

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Including a Line geometric feature lets the tool also return yaw (Z rotational information). For example,
to get pose information for the part shown below, you could first configure a Surface Bounding Box tool
and a Surface Plane tool.

Bounding Box tool. The tool is configured to rotate to accommodate the orientation of the part.

Surface Plane tool on flat area of part.

With both tools, you must enable the required feature outputs on the Feature tabs:

Enabled geometric features in Features tabs of Bounding Box and Plane tools, respectively.

Then select the features as input (the first three parameters) in the Robot Pose tool:

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For information on adding, managing, and removing tools and measurements, as well as detailed
descriptions of settings common to most tools, see Tools Panel on page 203.

Measurements and Settings

Measurements
Measurement Illustration

X, Y, Z

The X, Y, and Z positions of the Point geometric feature.

Roll, Pitch, Yaw

The rotational angles of the Plane and Line geometric

feature.

Data
Type Description

Matrix Data containing a matrix representing the same pose as the tool's measurements. It can be
deserialized into a GoRobotMatrix structure using the GoRobot library.

Parameters
Parameter Description

Point The Point geometric feature the tool extracts the X, Y, and Z
measurements from. This input is required.

Plane The Plane geometric feature the tool extracts the Roll and
Pitch measurements from. This input is required.

Z Angle Line The Line geometric feature the tool extracts the Yaw
measurement from.

This input is optional. If you omit it, the X and Y axes will be
parallel to the sensor's X and Y axes.

Show Details Toggles the display of additional visualizations in the data

viewer.

Filters The filters that are applied to measurement values before

they are output. For more information, see Filters on
page 215.

Decision The Max and Min settings define the range that determines
whether the measurement tool sends a pass or fail decision
to the output. For more information, see Decisions on
page 213.

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Scripts
Scripts use outputs from other measurement tools to produce custom measurements.

Similar to other measurement tools, a script measurement can output multiple measurement values and
decisions. Scripts are added, configured, and removed much like other measurement tools; for more
information on this, see Script under Profile Measurement on page 225 or Surface Measurement on
page 301.

Scripts must be less than 27,000 characters long.

Scripts use a simplified C-based syntax. 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 Script Functions

The script engine provides the following types of functions:

l Measurement
l Output
l Memory
l Runtime variable
l Stamp
l Math

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
Returns

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Function Description

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 decision) Sets the output value and decision on Output index 0. Only the last
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))
Parameters:

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Function Description

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:
id - ID of the value

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Function Description

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

Runtime Variable Functions

Function Description

int RuntimeVariable_Count() Returns the number of runtime variables that can be accessed.
Returns:
The count of runtime variables.

int RuntimeVariable_Get32s(int id) Returns the value of the runtime variable at the given index.
Parameters:
Id – ID of the runtime variable
Returns:
Runtime variable value

Stamp Functions
Function Description

long long Stamp_Frame() Gets the frame number of the last frame.

long long Stamp_Time() Gets the time stamp of the last frame.

long long Stamp_Encoder() Gets the encoder position of the last frame when the image data was
scanned/taken.

long long Stamp_EncoderZ() Gets the encoder position at the time of the last index pulse of the last
frame.

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Function Description

unsigned int Stamp_Inputs() Gets the digital input state of the last frame. Returns a bit field
representing digital input states.

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

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;

int id = 1;

long long boxArea = Measurement_Value(id);

long long Volume = Memory_Get64s(0) + boxArea;

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 data
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 514.

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 514.

4 Analog Panel Used to convert a measurement value or decision into an analog output signal.
See Analog Output on page 517.

5 Serial Panel Used to select the measurements that will be transmitted via RS-485 serial
output. See Serial Output on page 520.

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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, PROFINET, or
EtherNet/IP protocol. See Protocols on page 647 for the specification of these protocols.

The specific protocols used with Ethernet output are selected and configured within the panel.

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.

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 option, 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 is read (Sample State Assembly on
page 723).

5. Check the Implicit Messaging option, if needed.

Implicit messaging uses UDP and is faster than explicit messaging, so it is intended for time-critical
applications. However, implicit messaging is layered on top of UDP. UDP is connectionless and data
delivery is not guaranteed. For this reason, implicit messaging is only suitable for applications where
occasional data loss is acceptable.
For more information on setting up implicit messaging, see
http://lmi3d.com/sites/default/files/APPNOTE_Implicit_Messaging_with_Allen-Bradley_PLCs.pdf.

6. Choose the byte order in the Byte Order dropdown.

7. Click the Download EDS File button to download an EDS file for use with your IDE.

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 PROFINET is not supported on A and B revision Gocator 2100 and 2300 sensors.

To receive commands and send results using PROFINET messages:

1. Go to the Output page.

2. Click on Ethernet in the Output panel.
3. Select PROFINET in the Protocol option.
4. Click the Download GSD File button to download a GSD file for use with your IDE.

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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 781 for an explanation of the operation modes.

5. Select the data format from the Data Format drop-down.

Standard: 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 789 for an explanation of
the standard result mode.
Standard with Stamp: Select the measurement to send by placing a check in the corresponding
checkbox. See Standard Result Format on page 789 for an explanation of the standard result mode.
Custom: Enables the custom format editor. Use the replacement patterns listed in Replacement
Patterns to create a custom format in the editor. C language printf-style formatting is also supported:
for example, %sprintf[%09d, %value[0]]. This allows fixed length formatting for easier input parsing in
PLC and robot controller logic.

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
ejectors.

Digital outputs cannot be used when taking scans using the Snapshot button, which takes a
single scan and is typically used to test measurement tool settings. Digital outputs can only be
used when a sensor is running, taking a continuous series of scans.

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 895 for
information on wiring digital outputs to external devices.

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Trigger conditions and pulse width are then configured within the panel.

To output measurement decisions:

1. Go to the Output page.

2. Click 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.

6. Specify a pulse width using the slider.

The pulse width is the duration of the digital output pulse, in microseconds.

7. Check the Scheduled option if the output needs to be scheduled; otherwise, leave it unchecked for
immediate output.
A scheduled output becomes active after the 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.

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 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. If you checked Scheduled, specify a delay and a delay domain.

The Delay specifies the time or encoder distance 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.

9. If you want to invert the output signal, check Invert Output Signal.

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 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.

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 be scheduled. A continuous signal always becomes
active immediately.
Immediate output becomes active as soon as a scheduled digital output (Schedule Digital Output on
page 674) is received.

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 Scheduled output becomes active at a specific target time or position, given by the Scheduled Digital
Output command. Commands that schedule an 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 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 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.

To respond to exposure begin/end:

1. Go to the Output page.

2. Click Digital 1 or Digital 2 in the Output panel.

3. Set Trigger Event to Exposure Begin or Exposure End.

Analog Output
Gocator sensors can convert a measurement result or software request to an analog output.Each sensor
supports one analog output channel.

Gocator 2500 series sensors do not support analog output.

See Analog Output on page 902 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

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 activates after the Gocator finishes processing the data. As a result, the time between the start of
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 123 for details.

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
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 123 for details.

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 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 Schedule Analog Output on page 675) 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
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.

Gocator 2500 series sensors do not support the 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 780.

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 791.

For information on wiring serial output to an external device, see Serial Output on page 901.

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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 789 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 790 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 791 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.

The scheduled delay must be longer than the processing latency to prevent drops.

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Dashboard
The following sections describe the Dashboard page.

Dashboard Page Overview

The Dashboard page summarizes sensor health information and provides measurement statistics. It
also provides tool performance statistics. Use this information to troubleshoot your system.

Element Description

1 System Displays sensor state and health information. See State and Health Information
below.

2 Tool Stats Displays measurement and tool performance statistics. See Statistics on
page 525.

State and Health Information

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 (Conflict, Ready, or Running).

Application Version Sensor firmware version.

Laser Safety Whether Laser Safety is enabled. With laser-based sensors, laser safety must be
enabled in order to scan.

Uptime Length of time since the sensor was power-cycled or reset.

CPU Usage Sensor CPU utilization.

Current Speed* Current speed of the sensor.

Encoder Value Current encoder value (ticks).

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Name Description

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).

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 start to when the results are ready for output.

Processing Latency Peak Peak delay from camera exposure start to when the results are ready for output.

Alignment State Whether the sensor or sensor system has been aligned.

Over Temperature State Whether the internal temperature of the sensor is over a predetermined level.

Over Temperature Duration The amount of time that the internal temperature of the sensor has been over a
predetermined level. (Some models only.)

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.

Processing Drop** Count of frame drops due to excessive CPU utilization.

Ethernet Output Drop** Count of frame drops due to slow Ethernet link.

Analog Output Drop** Count of analog output drops because last output has not been completed.

Serial Output Drop** Count of serial output drops because last output has not been completed.

Digital Output 1 Drop** Count of digital output drops because last output has not been completed.

Digital Output 2 Drop** Count of digital output drops because last output has not been completed.

Digital Output 1 High Count Count of high states on digital output.

Digital Output 2 High Count Count of high states on digital output.

Digital Output 1 Low Count Count of low states on digital output.

Digital Output 2 Low Count Count of low states on digital output.

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 frames where laser tracking is lost. Only applicable when tracking
window is enabled.

* When the sensor is accelerated, the indicator's value is reported from the accelerating PC.

** When the sensor is accelerated, the indicator's value is the sum of the values reported from the
sensor and the accelerating PC.

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Statistics
In the Tool Stats pane, you can examine measurement and tool statistics in two tabs: Measurements
and Performance.

To reset statistics in both tabs, use the Reset Stats button.

Measurements
The Measurements tab displays statistics for each measurement enabled in the Measure page,
grouped by the tool that contains the measurement.

For each measurement, Gocator displays the following information:

Measurement Statistics
Name Description

ID The measurement ID as set in the measurement's ID field on the Measure page.

Value The most recent measurement value.

Min The minimum measurement value that has been observed.

Max The maximum measurement value that has been observed.

Avg The average of all measurement values collected since the sensor was started.

Range The difference between Max and Min.

Std The standard deviation of all measurement values collected since the sensor was
started.

Pass The number of pass decisions the measurement has generated.

Fail The number of fail decisions the measurement has generated.

Invalid The number of frames that returned no valid measurement value.

Overflow The number of frames that returned an overflow.

Performance
The Performance tab displays performance statistics (execution time) for each tool added in the
Measure page.

For each tool, Gocator displays the following information:

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Performance Statistics
Name Description

Last (ms) The last execution time of the tool.

Min (ms) The minimum execution time of the tool.

Max (ms) The maximum execution time of the tool.

Avg (ms) The average execution time of the tool.

Avg (%) The average percentage the CPU the tool uses.

Tools are sorted by the Avg (%) column in descending order.

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Gocator Acceleration

Gocator sensors are all-in-one devices, combining scanning, measurement, and control capabilities in a
single housing. However, to achieve higher scan rates and measurement performance in very high
density data scenarios, you may wish to use one of two acceleration methods.

For information on the ports acceleration uses (for example, in order to ensure ports are not blocked
over your network), see Required Ports on page 56.

Acceleration improves a sensor system's processing capability by transferring the processing to a

dedicated processing device in the system. The accelerator can accelerate one or more standalone
sensors or multi-sensor systems. LMI provides two acceleration solutions:

l A hardware Smart Vision Accelerator called GoMax

l PC-based acceleration software (available either as a standalone utility or via the SDK)
For estimated performance and scan rates, see Estimated Performance on page 532.

The Gocator emulator and accelerator do not support the PROFINET protocol.

The web interface of an accelerated sensor is identical to the interface of an unaccelerated sensor. The
Ethernet-based output protocols (Gocator, EtherNet/IP, ASCII, and Modbus) are also identical to those
found on an unaccelerated sensor, and are fully supported.

Accelerators support digital, analog, and serial output from sensors. However, because output
must be passed to the accelerator and then back to the sensor, network latency will have an
impact on performance.

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When a sensor is accelerated, it sends data directly to the accelerating device. You access the web
interface using the IP address of the accelerating device, rather than the IP of the sensor. SDK
applications can interface to the accelerator in the same way as is possible with a physical sensor,
although the IP of the accelerating device must be used for the connection.

Benefits
Accelerated sensors provide several benefits.

Acceleration is completely transparent: because the output protocols of an accelerated sensor are
identical to those of an unaccelerated sensor, SDK and PLC applications require no changes whatsoever
for controlling accelerated sensors and receiving health information and data.

Measurement latency is reduced on accelerated sensors, which results in shorter cycle times. This means
a sensor can scan more targets in a given time period.

The memory of accelerated sensors is limited only by the memory of the accelerating device. Accelerated
sensors can therefore handle large 3D point clouds more effectively.

Dashboard and Health Indicators

After a sensor is accelerated, the values of some health indicators come from the accelerating PC instead
of the sensor. Others come from a combination of the accelerated sensor and the accelerating PC.

l For information on which indicators are affected in the Dashboard in the web interface, see State and
Health Information on page 523.

l For information on which indicators accessed through the Gocator protocol are affected, see Health
Results on page 704.

Hardware Acceleration: GoMax
The GoMax Smart Vision Accelerator is a dedicated, small form factor device that can accelerate one or
more sensors. Using GoMax to accelerate a sensor system rather than a PC greatly simplifies
implementation and maintenance, providing a plug-and-play experience. And GoMax better handles
continuous 3D data streams over Ethernet. Finally, GoMax automatically recovers from temporary
power losses or system disconnects.

For more information on GoMax, see the product's user manual.

Software-Based Acceleration
You can implement acceleration capabilities in client applications that you create using the Gocator SDK.
You can also use the provided standalone utility (GoAccelerator.exe) that you can use to instantly
accelerate systems.

The firmware version of the sensor you want to accelerate must match the version of the
SDK used to build an accelerator-based application (or the version of the GoAccelerator utility).

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System Requirements and Recommendations
Minimum System Requirements
The following are the minimum system requirements for accelerating a single sensor with the accelerator
PC application:

PC

l Processor: Intel Core i3 or equivalent (32- or 64-bit)

l RAM: 4 GB
l Hard drive: 128 GB
l Operating system: Windows 7 or higher (32- or 64-bit)
To accelerate more sensors or run the system at higher speeds, use a computer with greater system
resources.

Graphics Card

The acceleration of line profile sensors does not currently make use of a computer's graphics card.

Recommendations
The following are general recommendations:

l Purchase a PC based on the hardware specifications described in Estimated Performance on

page 532.

l Run only the accelerator application on the PC: third-party applications can consume system
resources in unpredictable ways and at random times.

l Limit background Windows processes such as drive optimization (defragmentation) or virus scans, or
schedule them so that they don't interfere with scanning sessions.

l Ensure that sufficient overhead in the system's resources is available. You can review the PC's
resources with the Windows Task Manager and Resource Monitor applications. We recommend that
you leave at least 20% network bandwidth, CPU, memory and disk utilization at all times.

l To verify system stability and robustness, perform long-term testing over multiple days.

Installation
To get the necessary packages, go to http://lmi3d.com/support, choose your product from the Product
Downloads section, and download it from the Download Center.

l For the GoAccelerator utility, download the 14405-x.x.x.x_SOFTWARE_GO_Utilities.zip package.

l For the SDK libraries and DLL for integrating acceleration into a client application, download the
14400-X.X.X.X_SOFTWARE_GO_SDK.zip.

Gocator Accelerator Utility

The Accelerator utility accelerates the standalone sensors or multi-sensor systems you choose.

Gocator Line Profile Sensors: User Manual Gocator Acceleration • 529

To accelerate a sensor using the Accelerator utility:
1. Power up the sensor system you want to accelerate.

2. Launch the Accelerator utility.

3. If a Windows Security alert asks whether you want to allow GoAccelerator.exe to communicate on networks,
make sure Public and Private are checked, and then click Allow Access.

4. In the Sensors list, click the sensor you want to accelerate.

If you do not see the sensor, you may need to wait a few seconds and then click the Refresh button ( ).
In multi-sensor systems, only the Main sensor is listed.

5. (Optional) In the IP drop-down, choose an IP or choose Any to let the application choose.

6. (Optional) Set Web Port to a port for use with the accelerated sensor's URL.

If port 8080 is already in use, set Web Port to an unused port.

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7. (Optional) If you are accelerating multiple systems, click on another sensor in the Sensors list, and repeat
the steps above.
The application uses Base Port as an offset for several communication port numbers.
To avoid port conflicts, you should increment the base port number by at least 10 for each accelerated
sensor.
Port 3190 is the default base port number, allowing connections from SDK-based applications and the web
UI without manually specifying ports.

8. Click Start.
The sensor system is now accelerated. An icon appears next to the accelerated sensor in the Sensors list to
indicate this.

9. To open the accelerated sensor's web interface, in the Accelerator application, click the link next to URL.
When a sensor is accelerated, a "rocket" icon appears in the metrics area.

If you restart an accelerated sensor, the sensor will continue to be accelerated when it restarts.

To stop an accelerated sensor in the Accelerator application:

1. Select the sensor in the Sensors list.

2. Click Stop.

To exit the Accelerator application:

1. Right-click the icon Accelerator icon ( ) in the notification tray.
Clicking the X icon in the application only minimizes the application.

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2. Choose Exit.

SDK Application Integration

Sensor acceleration can be fully integrated into an SDK application. Users simply need to instantiate the
GoAccelerator object and connect it to a sensor object.

GoAccelerator accelerator = kNULL;

// obtain GoSensor object by sensor IP address

if ((status = GoSystem_FindSensorByIpAddress(system, &ipAddress, &sensor)) != kOK)
{
printf("Error: GoSystem_FindSensorByIpAddress:%d\n", status);
return;
}

// construct accelerator
if ((status = GoAccelerator_Construct(&accelerator, kNULL)) != kOK)
{
printf("Error: GoAccelerator_Construct:%d\n", status);
return;
}
// start accelerator
if ((status = GoAccelerator_Start(accelerator)) != kOK)
{
printf("Error: GoAccelerator_Start:%d\n", status);
return;
}
printf ("GoAccelerator_Start completed\n");
if ((status = GoAccelerator_Attach(accelerator, sensor)) != kOK)
{
printf("Error: GoAccelerator_Attach:%d\n", status);
return;
}

// create connection to GoSensor object

if ((status = GoSensor_Connect(sensor)) != kOK)
{
printf("Error: GoSensor_Connect:%d\n", status);
return;
}

After, the SDK application can control an accelerated sensor in the same way as an unaccelerated sensor.

Estimated Performance
The following table lists the running time of various measurement tools, with and without GoMax, as
well as the performance increase factor when running with GoMax.

Note that although sensor models and job file configurations will affect running times, the performance
increase factor for tools should be consistent across models and configurations.

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Gocator 2510 Performance Increase Factors
Running Time Running Time with GoMax
Measurement Tool Performance Increase Factor
on Sensor (ms) (ms)

Surface Hole 40 11 3.5

Surface Bounding Box 30 9 3.3

Surface Plane 2.3 0.4 6.0

Profile Dimension 0.054 0.037 1.5

Profile Intersect 0.075 0.028 2.7

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Gocator Emulator

The emulator is a stand-alone application that lets you run a "virtual" sensor, encapsulated in a
"scenario." When running a scenario, 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 scenario
to familiarize yourself with the overall interface if you are new to Gocator.

Emulator showing a part in recorded data.

A measurement is applied to the recorded data.

System Requirements
The following are the system requirements for the software:

PC

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 l Processor: Intel Core i3 or equivalent (64-bit)
l RAM: 4 GB
l Hard drive: 500 GB
l Operating system: Windows 7 or higher (64-bit)

Limitations
In most ways, a scenario 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:

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 a modified job by first saving it and then downloading it from the
Jobs list on the Manage page to a client computer. The job file 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 The emulator does not support the PROFINET protocol.

For information on saving and loading jobs in the emulator, see Creating, Saving, and Loading Jobs on
page 541.

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 546.

Downloading a Support File

The emulator provides several preinstalled scenarios.

You can also create scenarios yourself by downloading a support file from a physical sensor 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.

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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.

Downloading a support file stops the sensor.

Running the Emulator

The emulator is contained in the utilities package (14405-x.x.x.x_SOFTWARE_GO_Utilities.zip). To get the
package, go to http://lmi3d.com/support, choose your product from the Product Downloads section,
and download the package from the Download Center.

To run the emulator, unzip the package and double-click the GoEmulator link in the unzipped Emulator
and Accelerator subfolder.

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 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.

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 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.

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.

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To run a scenario:
1. If you want to filter the scenarios listed in Available Scenarios, do one or both of the following:
l Choose a model family in the Model drop-down.

l Choose Standalone or Buddy to limit the scenarios to single-sensor or dual-/multi-sensor scenarios,

respectively.

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.

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3. Click the button next to the scenario you want to remove.
The scenario is removed from the emulator.

Using Replay Protection

Making changes to certain settings on the Scan page causes the emulator to flush replay data. The
Replay Protection option protects replay data by preventing changes to settings that affect replay
data. Settings that do not affect replay data can be changed.

If you try to uncheck Replay Protection, you must confirm that you want to disable it.

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.

Running the Emulator in Default Browser

When you use the /browser command line parameter, the emulator application launches normally but
also launches in your default browser. This provides additional flexibility when using the emulator. For
example, you can resize the emulator running in a browser window.

To run the emulator in your default browser:

1. In Windows Explorer (Windows 7) or File Explorer (Windows 8 or 10), browse to the location of the emulator.
The emulator is under bin\win64, in the location in which you installed the emulator.

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2. Press and hold Shift, right-click the win64 folder containing the emulator, and choose Open command
window here (or Open PowerShell window here).

3. In the command prompt, type GoEmulator.exe /browser (or .\GoEmulator.exe /browser for
PowerShell).

After the emulator application starts, the emulator also launches in your default browser.

Working with Jobs and Data

The following topics describe how to work with jobs and replay data (data recorded from a physical
sensor) in a scenario running on 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 546.

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:

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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.

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.

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2. Use the Replay slider or the Step Forward, Step Back, or Play buttons to review data.
The Step Forward and Step Back buttons move the current replay location forward and backward by a
single frame, respectively.
The Play button advances the replay location continuously, animating the playback until the end of the
replay data.
The Stop button (replaces the Play button while playing) can be used to pause the replay at a particular
location.
The Replay slider (or Replay Position box) can be used to go to a specific replay frame.

To simulate measurements on replay data:

1. Toggle Replay mode on by setting the slider to the right in the Toolbar.
The slider's background turns blue.
To change the mode, Replay Protection must be unchecked.

2. Go to the Measure page.

Modify settings for existing measurements, add new measurement tools, or delete measurement tools
as desired. For information on adding and configuring measurements, see Measurement and Processing
on page 201.

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 523.

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.

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

To download replay data:

1. Click the Download button .

2. In the File Download dialog, click Save.
3. In the Save As... dialog, choose a location, optionally change the name, and click Save.

To upload replay data:

1. Click the Upload button .

The Upload menu appears.

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

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

l Upload and merge: Uploads the replay data and merges the data's associated job with the current
job. Specifically, the settings on the Scan page are overwritten, but all other settings of the current
job are preserved, including any measurements or models.

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

3. Do one of the following:

l Click Discard to discard any unsaved changes.

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

4. If you clicked Discard, navigate to the replay data to upload from the client computer and click OK.
The replay data is loaded, and a new unsaved, untitled job is created.

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

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

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To export replay data in the CSV format:

1. In the Scan Mode panel, switch to Profile or Surface.

2. Switch to Replay mode.

3. Click the Export button and select All Data as CSV.

In Profile mode, all data in the record buffer is exported. In Surface mode, only data at the current
replay location is exported.
Use the playback control buttons to move to a different replay location; for information on playback,
see To replay data in Playback and Measurement Simulation on page 542.

4. (Optional) Convert exported data to another format using the CSV Converter Tool. For information on
this tool, see CSV Converter Tool on page 837.

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 Switch to Replay mode and click the Export button and select Intensity data as BMP.

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

Use the playback control buttons to move to a different replay location; for information on playback,
see To replay data in Playback and Measurement Simulation on page 542.

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To export video data to a BMP file:

1. In the Scan Mode panel, switch to Video mode.

Use the playback control buttons to move to a different replay location; for information on playback,
see To replay data in Playback and Measurement Simulation on page 542.

2. Switch to Replay mode.

3. Click the Export button and select Video data as BMP.

Downloading and Uploading Jobs

The Jobs category on the Manage page lets you manage the jobs in the emulator.

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 button Deletes the job that is selected in the job list.

Set as Default Setting a different job as the default is not persistent in the emulator. The job set as default when the
button support file (used to create a virtual sensor) was downloaded is used as the default whenever the
emulator is started.

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

button

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Element Description

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.

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 540.

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 164), and
filters on the X axis (page 151). 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 181. For
information on adding and configuring measurement tools, see Measurement and Processing on
page 201.

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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 sensor. (See Active Area on page 129 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 134 for more information on exposure.)

To adjust active area in the emulator, Replay Protection must be turned off. See Using Replay
Protection on page 540 for more information.

Saving changes to active area causes replay data to be flushed.

Protocol Output
The emulator simulates output for all of Gocator's Ethernet-based protocols, with the exception of
PROFINET.

l Gocator
l ASCII
l Modbus
l EtherNet/IP
Clients (such as PLCs) can connect to the emulator to access the simulated output and use the protocols
as they would with a physical sensor.

The emulator allows connections to emulated sensors on localhost (127.0.0.1). You can also allow
connections to emulated sensors on your computer's network card; for more information, see Remote
Operation below.

Remote Operation
You can specify the IP address of one of your computer's network cards to allow clients to connect
remotely to an emulated sensor using the /ip command line parameter. When the /ip parameter is not
used, emulated sensors are only available on the local machine (that is, 127.0.0.1 or localhost).

Clients can only connect to emulated sensors, not to the emulator's launch page.

You may need to contact your network administrator to allow connections to the computer
running the emulated sensor.

To allow remote connections to an emulated sensor:

1. In Windows Explorer (Windows 7) or File Explorer (Windows 8 or 10), browse to the location of the emulator.
The emulator is under bin\win64, in the location in which you installed the emulator.

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2. Press and hold Shift, right-click the win64 folder containing the emulator, and choose Open command
window here (or Open PowerShell window here).

3. In the command prompt, type GoEmulator.exe /ip, followed by a valid IPV4 address on your network.

The emulator application starts.

The emulator does not check that the IP address is valid.

4. From the emulator launch page, start a scenario.

For more information, see Running a Scenario on page 538.

5. Provide the IP address you used with the /ip parameter, followed by port number 3191, to users who want
to connect to the emulated sensor, for example:
192.168.1.42:3191

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Sensor Device Files

This section describes the user-accessible device files stored on a sensor.

Live Files
Various "live" files stored on a 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 File Structure 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:
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.

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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

@idStart 64s Identifier of the first log.

@idEnd 64s Identifier of the final log.
List of (Info | Warning | List An ordered list of log entries. This list is empty if idEnd < idStart.
Error)

Log/Info | Log/Warning | Log/Error Elements

Element Type Description

@time 64u Log time, in uptime (µs).

@source 32u The serial number of the sensor the log was produced by.
@id 32u The Indentifier, or index, of the log
@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 File Structure

The following sections describe the structure of job files.

Job files, which are stored in a sensor'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:

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. For more

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Component Path Description

information, see Configuration below.

Transform transform.xml Transformation values. Present only if Alignment Reference is set to

Dynamic. For more information, see Transform on page 643.

Part model <name>.mdl One or more part model files. Part models are created using models
and part matching . For more information, see Part Models on
page 644.

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.

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 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".

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.

All sensors share a common job file structure and settings for all features are included in job files,
regardless of the model.

If a setting in a job file is not used by a sensor, the setting's used property is set to 0.

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Configuration Child Elements
Element Type Description

@version 32u Configuration version (101).

@versionMinor 32u Configuration minor version (9).

Setup Section For a description of the Setup elements, see Setup below.
Replay Section Contains settings related to recording filtering (see Replay on page 576).
Streams Section Read-only collection of available data streams (see Streams/Stream
(Read-only) on page 577).
ToolOptions Section List of available tool types and their information. See ToolOptions on
page 578 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 580.

Tools.options String (CSV) Deprecated. Replaced by ToolOptions.

Outputs Section For a description of the Output elements, see Output on page 636.

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. Only applies to certain
laser-based sensors.
TemperatureSafetyEnabled.used Bool Whether or not this property is used.
ScanMode 32s The default scan mode.
ScanMode options String (CSV) List of available scan modes.
OcclusionReductionEnabled Bool Enables occlusion reduction.
OcclusionReductionEnabled.used Bool Whether or not property is used.
OcclusionReductionEnabled.value Bool Actual value used if not configurable.
OcclusionReductionAlg 32s The Algorithim to use for occlusion reduction:
0 – Standard
1 – High Quality

OcclusionReductionAlg.used Bool Whether or not property is used

OcclusionReductionAlg.value Bool Actual value used if not configurable
UniformSpacingEnabled Bool Enables uniform spacing.
UniformSpacingEnabled.used Bool Whether or not property is used.
UniformSpacingEnabled.readonly Bool Whether or not property can be modified.
UniformSpacingEnabled.value Bool Actual value used if not configurable.
IntensityEnabled Bool Enables intensity data collection.

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Element Type Description

IntensityEnabled.used Bool Whether or not property is used.

IntensityEnabled.value Bool Actual value used if not configurable.
FlickerFreeModeEnabled Bool Enables flicker-free operation.
FlickerFreeModeEnabled.used Bool Whether flicker-free operation can be used on this sensor.
ExternalInputZPulseEnabled Bool Enables the External Input based encoder Z Pulse feature.
ExternalInputZPulseIndex 32u Input index to use for the input triggered z pulse feature.
ExternalInputZPulseEnabled.used Bool Whether the index can be set.

BackgroundSuppression Section See BackgroundSuppression below.

Filters Section See Filters below.

Trigger Section See Trigger on page 557.

Layout Section See Layout on page 559.

Alignment Section See Alignment on page 560.

Devices Collection A collection of two Device sections (with roles main and buddy). See
Devices / Device on page 562.
SurfaceGeneration Section See SurfaceGeneration on page 569.
SurfaceSections Section See SurfaceSections on page 570.

ProfileGeneration Section See ProfileGeneration on page 571. Used by Gocator displacement

sensors.

PartDetection Section See PartDetection on page 572.

PartMatching Section See PartMatching on page 574.

Custom Custom Used by specialized sensors.

BackgroundSuppression
The BackgroundSuppression element contains settings related to background suppression.

BackgroundSuppression Child Elements

Element Type Description

Enabled Bool Enables background suppression.

FrameRatio 64f Ratio of background frames to calibration frames

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

@used Bool Whether or not this field is used

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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

@used Bool Whether or not this field is used

Enabled Bool Enables filtering.

Window 64f Window size (mm).

Window.min 64f Minimum window size (mm).

Window.max 64f Maximum window size (mm).

XGapFilling

XGapFilling Child Elements

Element Type Description

@used Bool Whether or not this field is used

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

@used Bool Whether or not this field is used

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

@used Bool Whether or not this field is used

Enabled Bool Enables filtering.

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Element Type Description

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

@used Bool Whether or not this field is used

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

@used Bool Whether or not this field is used

Enabled Bool Enables filtering.

Window 64f Window size (mm).

Window.min 64f Minimum window size (mm).

Window.max 64f Maximum window size (mm).

YDecimation

YDecimation Child Elements

Element Type Description

@used Bool Whether or not this field is used

Enabled Bool Enables filtering.

Window 64f Window size (mm).

Window.min 64f Minimum window size (mm).

Window.max 64f Maximum window size (mm).

XSlope

This filter is only available on displacement sensors.

XSlope Child Elements

Element Type Description

@used Bool Whether or not this field is used

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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).

YSlope

This filter is only available on displacement sensors.

YSlope Child Elements

Element Type Description

@used Bool Whether or not this field is used

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.

ExternalInputIndex 32s Index of external input when Source (above) is set to 2 – Digital
Input and connected to a Master.
0 – first digital input
1 – second digital input
2 – third digital input
3 – fourth digital input

ExternalInputIndex.options 32s (CSV) List of available external input indices.

ExternalInputIndex.used Bool Whether the external input index used.
Units 32s Sensor triggering units when source is not clock or encoder:
0 – Time
1 – Encoder

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Element Type Description

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

TracheidRate 64f The frame rate of Tracheid data (Read Only)

TracheidRate.used Bool Whether the sensor has a Tracheid data rate.
FrameDataRate 64f The frame rate of normal (range/profile/surface) data (Read Only)
FrameDataRate.used Bool Whether the sensor has a separate FrameDataRate
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

EncoderSpacing.used Bool Whether or not this parameter is configurable.

EncoderTriggerMode 32s Encoder triggering mode:

0 – Tracking backward
1 – Bidirectional
2 – Ignore backward

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.
BurstEnabled Bool Enables burst triggering.
BurstEnabled.Used Bool Whether or not this parameter is configurable.
BurstCount 32u Number of scans to take during burst triggering.
BurstCount.used Bool Whether or not this parameter is configurable.
BurstCount.max 32u Maximum burst count.
ReversalDistanceAutoEnabled Bool Whether or not to use auto-calculated value.
ReversalDistanceAutoEnabled.used Bool Whether or not this parameter can be configured.
ReversalDistance 64f Encoder reversal threshold (for jitter handling)
ReversalDistance.used Bool Whether or not this parameter is used.
ReversalDistance.value 64f Actual value.

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Element Type Description

LaserSleepMode.used Bool Whether or not this feature can be configured.

LaserSleepMode/Enabled Bool Enables or disables the feature.
LaserSleepMode/IdleTime 64u Idle time before laser is turned off (µs).
LaserSleepMode/WakupEncoderTravel 64u Minimum amount of encoder movement before laser turns on
(mm).

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 – Normal (single-sensor system) / Wide (dual-sensor system)
1 – Opposite
2 – Reverse
3 – Grid

Grid Grid Grid representation of the multi-sensor layout.

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.
MultiplexSingleExposureDuration 64f Exposure duration in µs (currently rounded to integer when read by
the 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).

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Element Type Description

Z 64f Z start (mm).

Width 64f X extent (mm).

Length 64f Y extent (mm).

Height 64f Z extent (mm).

ZAngle 64f Z Angle start (degrees).

ZAngle.used Bool Whether or not this property is used.

Grid Elements
Element Type Description

ColumnCount 32u Column count.

ColumnCount.value 32u Column count value.

Alignment
The Alignment element contains settings related to alignment and encoder calibration.

Alignment Child Elements

Element Type Description

@used Bool Whether or not this field is used

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:
1 – Disk
2 – Bar

MovingTarget.options 32s (CSV) List of available moving alignment targets.

EncoderCalibrateEnabled Bool Enables encoder resolution calibration.

Disk Section See Disk on the next page.

Bar Section See Bar on the next page.

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Element Type Description

Plate Section See Plate below.

Polygon Section See Polygon on the next page.

Disk

Disk Child Elements

Element Type Description

Diameter 64f Disk diameter (mm).

Height 64f Disk height (mm).

Bar

Bar Child Elements

Element Type Description

Width 64f Bar width (mm).

Height 64f Bar height (mm).
HoleCount 32u Number of holes.
HoleCount.value 32u Actual number of holes expected by system.

HoleCount.used Bool Whether the hole count with be used in the bar alignment proceudure.

HoleDistance 64f Distance between holes (mm).

HoleDistance.used Bool Whether the hole distance will be used in the bar alignment procedure.
HoleDiameter 64f Diameter of holes (mm).
HoleDiameter.used Bool Whether the hold diameter will be used in the bar alignment
procedure.
DegreesOfFreedom 32s Degrees of freedom (DOF) to align:
42 – 3 DOF: x, z, y angle
58 – 4 DOF: x, y, z, y angle
59 – 5 DOF: x, y, z, y angle, z angle

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).

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Polygon

Polygon Child Elements

Element Type Description

Corners List Contains a list of Corners (described below).

Corners.minCount 32s Minimum number of corners.

Polygon/Corner

Corner Child Elements

Element Type Description

X 64f X Position
Y 64f Y Position
Devices List of 32u List of devices this corner is assigned to.
Devices.options List of 32u List of valid options for this field.

Devices / Device

Devices / Device Child Elements

Element Type Description

@index 32u Ordered index of devices in device list.

@role 32s Sensor role:
0 – Main
1 – Buddy

Layout Layout Multiplexing bank settings.

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
0 – Default

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Element Type Description

100 – Nine Lines

101 – Focus
102 – Standard Sequence

PatternSequenceType.options 32s List of available pattern sequence types.

PatternSequenceType.used Bool Whether or not this field is used.

PatternSequenceIndex 32u The index of the pattern sequence to display. Choose the pattern
that produces the best data.
The indices represent Phase Pattern Sequences, followed by Stripe
Pattern Sequences in reverse order. The lower indices are the higher
frequency phase code patterns, and the higher indices are the lower
frequency binary patterns.
Index 1 [Phase Pattern Sequence Image 5]: Highest frequency
sinusoid.
Index 2 [Phase Pattern Sequence Image 4]
[...]
Index 5 [Phase Pattern Sequence Image 1]: Lowest frequency
sinusoid.
Index 6 [Stripe Pattern Sequence Image 7]: Highest bar count.
Index 7 [Stripe Pattern Sequence Image 6]
[...]
Index 12 [Stripe Pattern Sequence Image 1]: Lowest bar count)
Index 13 [Reference Image 1]

PatternSequenceIndex.min 32u The minimum index (inclusive)

PatternSequenceIndex.max 32u The maximum index (inclusive)

PatternSequenceIndex.used Bool Whether or not the pattern sequence index should be displayed

PatternSequenceIndex 32u The index of the pattern sequence to display.

PatternSequenceIndex.min 32u The minimum index (inclusive).

PatternSequenceIndex.max 32u The maximum index (inclusive).

PatternSequenceIndex.used Bool Whether or not the pattern sequence index should be displayed.

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).

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Element Type Description

Exposure.min 64f Minimum exposure (µs).

Exposure.max 64f Maximum exposure (µs).

Exposure.used Bool Whether or not this field is used.

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.

IntensitySource 32s Intensity source:

0 – Both cameras
1 – Front camera
2 – Back camera

IntensitySource.options 32s (CSV) List of available intensity sources.

IntensityMode 32s Intensity Mode:
0 – Auto
1 - Preserve

IntensityMode.used Bool Whether intensity mode is used

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 this field is used.

Tracking Section See Tracking Child Elements on page 566.

Material Section See Material Child Elements on page 566.

Tracheid Section See Tracheid Child Elements on page 569.

IndependentExposures Section See IndependentExposures Child Elements on page 569

Custom Custom Used by specialized sensors.

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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).

ZAngle 64f Z Angle start (degrees).

ZAngle.used Bool Whether or not this property is used.

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).

Layout Child Elements

Element Type Description

Grid Grid Layout grid information.

MultiplexingBank 32u Multiplexing bank ID

MultiplexingBank.used 32u Whether or not this field can be specified
MultiplexingBank.value 32u Actual value used by system

Grid Child Elements

Element Type Description

@used Bool Whether or not this section is used.

Row 32s Device row position in grid layout.
Row.value 32s Value in use by the sensor, useful for determining value when used is
false.
Column 32s Device column position in grid layout.
Column.value 32s Value in use by the sensor, useful for determining value when used is
false.
Direction 32s Sensor orientation direction.
Direction.value 32s Value in use by the sensor, useful for determining value when used is
false.

Tracking is only available on Gocator 2300 and 2400 series sensors.

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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 Child Elements

Element Type Description

Type 32s Type of Material settings to use.

0 – Custom
1 – Diffuse
3 – Reflective

Type.used Bool Determines if the setting’s value is currently used.

Type.value 32s Value in use by the sensor, useful for determining value
when used is false.
Type.options 32u (CSV) List of available material types.
SpotThreshold 32s Spot detection threshold.

SpotThreshold.min 32s The minimum spot detection threshold possible.

SpotThreshold.max 32s The maximum spot detection threshold possible.

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.

SpotThreshold.readonly Bool Whether or not property can be modified. If set, the value
should be considered read-only by the client. Only has
meaning if “used” is also set.

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

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Element Type Description

3 – None. All spots are available. This option may not be

available in some configurations.
4 – Continuity. Picks the most continuous spot.

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 (CSV) List of available spot selection types.

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.
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.

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Element Type Description

GammaType 32s Gamma type.

GammaType used Bool Determines if the setting’s value is currently used.
GammaType value 32s Value in use by the sensor. Useful for determining value
when used is false.

SpotContinuitySorting Section See SpotContinuitySorting Child Elements below.

SurfaceEncoding 32s Surface encoding type:

0 – Standard
1 – Interreflection (advanced use only)

SurfaceEncoding.used Bool Determines if the setting’s value is currently used.

SurfaceEncoding.value Bool Value in use by the sensor, useful for determining value
when used is false.

SurfaceEncoding.readonly Bool Whether or not property can be modified. If set, the value
should be considered read-only by the client. Only has
meaning if “used” is also set.

SurfacePhaseFilter 32s Surface phase filter (correction type)

0 – None
1 – Reflective
2 - Translucent

SurfacePhaseFilter.used Bool Determines if the setting’s value is currently used.

SurfacePhaseFilter.value Bool Value in use by the sensor, useful for determining value
when used is false.

ContrastThreshold 32s Contrast detection threshold.

ContrastThreshold.min 32s The minimum contrast detection threshold possible.

ContrastThreshold.max 32s The maximum contrast detection threshold possible.

ContrastThreshold.used Bool Determines if the setting’s value is currently used.

ContrastThreshold.value 32s Value in use by the sensor, useful for determining value
when used is false.

ContrastThreshold.readonly Bool Whether or not property can be modified. If set, the value
should be considered read-only by the client. Only has
meaning if “used” is also set.

SpotContinuitySorting Child Elements

Element Type Description

MinimumSegmentSize 32u Smallest continuous segment considered in continuity sorting.

SearchWindow/X 32u X component of continuity sorting search window size.
SearchWindow/Y 32u Y component of continuity sorting search window size.

IndependentExposures settings are only supported by 3x00 series sensors.

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IndependentExposures Child Elements
Element Type Description

@used Bool Whether this field is used

Enabled Bool Whether to allow using separate exposure values for each
camera
FrontCameraExposure 64f The exposure value to use for the front camera
FrontCameraExposure.min 64f The minimum exposure value possible for front camera
FrontCameraExposure.max 64f The maximum exposure value possible for back camera
BackCameraExposure 64f The exposure value to use for the front camera
BackCameraExposure.min 64f The minimum exposure value possible for front camera
BackCameraExposure.max 64f The maximum exposure value possible for back camera

Tracheid settings are only supported by Gocator 200 series multi-point sensors.

Tracheid Child Elements

Element Type Description

@used Bool Whether this field is used

TracheidExposureEnabled Bool Whether to use a unique exposure for tracheid capture
TracheidExposure 64f The exposure value to use for tracheid measurements
TracheidExposure.min 64f The minimum exposure value possible tracheid
measurements
TracheidExposure.max 64f The maximum exposure value possible for tracheid
measurements
Camera0Threshold 32u The tracheid threshold for camera 0
Camera1Threshold 32u The tracheid threshold for camera 1

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

Type.options 32s (CSV) List of available generation types

Type.value 32s Value in use by the sensor
FixedLength Section See FixedLength on the next page.
VariableLength Section See VariableLength on the next page.
Rotational Section See Rotational on the next page.

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FixedLength

FixedLength Child Elements

Element Type Description

StartTrigger 32s Start trigger condition:

0 – Sequential
1 – Digital input
2 – Software triggered

ExternalInputIndex 32s Index of external input when Source (above) is set to 1 – Digital Input
and connected to a Master.
0 – first digital input
1 – second digital input
2 – third digital input
3 – fourth digital input

ExternalInputIndex.options 32s (CSV) List of available external input indices.

ExternalInputIndex.used Bool Is the external input index in use.
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

@used Bool Whether surface sectioning is enabled.

@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.

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Element Type Description

@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.
CustomSpacingIntervalEnabled Bool Indicates whether a user specified custom spacing interval is to be
used for the resulting section.
SpacingInterval 64f The user specified spacing interval.
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 laser displacement sensors.

ProfileGeneration Child Elements

Element Type Description

Type 32s Profile generation type:

0 – Continuous
1 – Fixed length
2 – Variable length
3 – Rotational

Type.options 32s (CSV) List of available generation types

Type.value 32s Value in use by the sensor
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:

0 – Sequential

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Element Type Description

1 – Digital input
2 – Software triggered

ExternalInputIndex 32s Index of external input when Source (above) is set to 1 – Digital Input
and connected to a Master.
0 – first digital input
1 – second digital input
2 – third digital input
3 – fourth digital input

ExternalInputIndex.options 32s (CSV) List of available external input indices.

ExternalInputIndex.used Bool Is the external input index in use.
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).

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.
MinArea 64f Minimum area (mm 2).
MinArea.min 64f Minimum value of minimum area.
MinArea.max 64f Maximum value of minimum area.

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Element Type Description

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).
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.
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

FrameOfReference 32s Part frame of reference:

0 – Sensor
1 – Scan
2 – Part

FrameOfReference.used Bool Whether or not this field is used.

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Element Type Description

FrameOfReference.value 32s Actual value.

IncludeSinglePointsEnabled Bool Enables preservation of single data points in Top+Bottom layout
IncludeSinglePointsEnabled.used Bool Whether or nto this field is available to be modified

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.
0 – Edge points
1 – Bounding Box
2 – Ellipse

Edge Section See Edge below.

BoundingBox Section See BoundingBox on the next page.

Ellipse Section See Ellipse on the next page.

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.

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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/Width/Tolerance 64f Width acceptance tolerance value
Acceptance/Width/Tolerance.deprecated Bool Whether this tolerance field is deprecated
Acceptance/Length/Min 64f Minimum length (mm).
Acceptance/Length/Max 64f Maximum length (mm).
Acceptance/Length/Tolerance 64f Length acceptance tolerance value
Acceptance/Length/Tolerance.deprecated Bool Whether this tolerance field is deprecated
X 64f X value
X.deprecated Bool Whether this X field is deprecated
Y 64f Y value
Y.deprecated Bool Whether this Y field is deprecated
Width 64f Width value
Width.deprecated Bool Whether this width field is deprecated
Length 64f Length value
Length.deprecated Bool Whether this length field is deprecated

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/Major/Tolerance 64f Major acceptance tolerance value
Acceptance/Major/Tolerance.deprecated Bool Whether this tolerance field is deprecated
Acceptance/Minor/Min 64f Minimum minor length (mm).
Acceptance/Minor/Max 64f Maximum minor length (mm).
Acceptance/Minor/Tolerance 64f Minor acceptance tolerance value
Acceptance/Minor/Tolerance.deprecated Bool Whether this tolerance field is deprecated
X 64f X value
X.deprecated Bool Whether this X field is deprecated
Y 64f Y value
Y.deprecated Bool Whether this Y field is deprecated
Width 64f Width value
Width.deprecated Bool Whether this width field is deprecated
Length 64f Length value
Length.deprecated Bool Whether this length field is deprecated

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

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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.

Conditions/Measurement

Conditions/Measurement Elements
Element Type Description

Enabled Bool Indicates whether the condition is enabled.

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

Ids 32s The ID of the measurement to filter.

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.

CadenceId 32u Represents a stage in the data processing pipeline. The greater the
number, the farther removed from the initial acquisition stage. One of
the following:
0 – Primary
1 – Auxiliary
10 - Diagnostic

DataType 32s The stream data type

0 – None
4 – Uniform Profile

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Element Type Description

16 – Uniform Surface

ColorEncoding 32s The color encoding type. Only appears for Video stream steps (1).
0 – None
1 – Bayer BGGR
2 – Bayer GBRG
3 – Bayer RGGB
4 – Bayer GRBG

IntensityEnabled Bool Whether the stream includes intensity data

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.

AdditionalRegions Collection Collection of additional regions (for example, for the second camera).
AdditionalRegions/Region Region3d Additional regions.

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.

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Element Type Description

@format 32s Format type of the tool:

0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

MeasurementOptions Collection See MeasurementOptions below

FeatureOptions Collection See FeatureOptions below.

StreamOptions Collection See StreamOptions on the next page.

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.

FeatureOptions

FeatureOptions Child Elements

Element Type Description

<Feature Names> Collection A collection of feature name elements. An element for each
measurement is present.

<Feature Name> Child Elements

Element Type Description

@displayName String Display name of the feature.

@minCount 32u Minimum number of instances in a tool.
@maxCount 32u Maximum number of instances in a tool.
@dataType String The data type of the feature. One of:
– PointFeature
– LineFeature
– CircleFeature
– PlaneFeature

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StreamOptions

StreamOptions 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.

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

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Element Type Description

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.

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.

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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 Max
3 – X Min
4 – Y Max
5 – Y Min
6 – Z Max
7 – Z Min
8 – Median

RegionEnabled Boolean Setting to enable/disable region:

0 – Disable
1 – Enable

Region Region3D Element for feature detection volume.

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).

Geometric Feature Types

The Geometric Feature type is used by various measurement tools.

Feature Child Elements

Element Type Description

@id 32s The identifier of the geometric feature. -1 if unassigned.

@dataType String The data type of the feature. One of:
– PointFeature
– LineFeature

@type String Type name of feature.

Name String The display name of the feature.
Enabled Bool Whether the given feature output is enabled.
Parameters Collection Collection of GdkParam elements.

Parameter Types
The following types are used by internal and custom (user-created) GDK-based tools.

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GDK Parameter Child Elements
Element Type Description

@label String Parameter label.

@type String Type of parameter. It is one of the following (see tables
below for elements found in each type):
- Bool
- Int
- Float
- ProfileRegion
- SurfaceRegion2d
- SurfaceRegion3d
- GeometricFeature

@options Variant (CSV) Options available for this parameter.

@optionNames String (CSV) Names

GDK Parameter Bool Type

Element Type Description

Bool Boolean value of parameter.

GDK Parameter Int Type

Element Type Description

32s Integer value of parameter of integer type.

GDK Parameter Float Type

Element Type Description

64f Floating point value of parameter.

GDK Parameter String Type

Element Type Description

String String value of parameter.

GDK Parameter Profile Region Type

Element Type Description

X 64f X value of region.

Z 64f Z value of region.
Width 64f Width value of region.
Height 64f Height value of region.

GDK Parameter Surface Region 2D Type

Element Type Description

X 64f X value of region.

X 64f X value of region.

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Element Type Description

Y 64f Y value of region.

Width 64f Width value of region.
Length 64f Length value of region.

GDK Parameter Surface Region 3D Type

Element Type Description

X 64f X value of region.

Y 64f Y value of region.
Z 64f Z value of region.
Width 64f Width value of region.
Length 64f Length value of region.
Height 64f Height value of region.
ZAngle 64f ZAngle value of region.

GDK Parameter Geometric Feature Type

Element Type Description

32s Geometric feature Id for parameter.

ProfileArea
A ProfileArea element defines settings for a profile area tool and one or more of its measurements.

ProfileArea Child Elements

Element Type Description

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Collection of geometric feature outputs available in the

tool. See ProfileArea above.

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 StreamOptions elements.
Stream\Step 32s The stream source step. Possible values are:

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Element Type Description

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.

Line ProfileLine Line definition when Baseline is set to Line.

Measurements\Area Area tool measurement Area measurement.

Measurements\CentroidX Area tool measurement CentroidX measurement.
Measurements\CentroidZ Area tool measurement CentroidZ measurement.

Features\CenterPoint GeometricFeature CenterPoint PointFeature.

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

PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state

0 – Disable

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Element Type Description

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

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Collection of geometric feature outputs available in the

tool. See ProfileBoundingBox above.

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 StreamOptions 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.

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Element Type Description

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

Features\CenterPoint GeometricFeature CenterPoint PointFeature.

Features\CornerPoint GeometricFeature CornerPoint PointFeature.

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

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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.

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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

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Not used.

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 StreamOptions 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 the profile points are used in the bridge
value calculation.

MaxInvalid 64f The maximum percentage of invalid points.

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Element Type Description

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

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Collection of geometric feature outputs available in the

tool. See ProfileCircle on the previous page.

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 StreamOptions 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 measurement X measurement.

Measurements\Z Circle tool measurement Z measurement.
Measurements\Radius Circle tool measurement Radius measurement.
Measurements\StdDev CircleMeasurement Standard deviation measurement
Measurements\MinError CircleMeasurement Minimum error measurement
Measurements\MinErrorX CircleMeasurement Minimum error X measurement
Measurements\MinErrorZ CircleMeasurement Minimum error Z measurement
Measurements\MaxError CircleMeasurement Maximum error measurement
Measurements\MaxErrorX CircleMeasurement Maximum error X measurement
Measurements\MaxErrorZ CircleMeasurement Maximum error Z measurement

Features\CenterPoint GeometricFeature CenterPoint PointFeature.

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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

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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.

ProfileDimension
A ProfileDimension element defines settings for a profile dimension tool and one or more of its
measurements.

ProfileDimension Child Elements

Element Type Description

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Not used.

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 StreamOptions 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

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

PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state

0 – Disable

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Element Type Description

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 measurements 0 – Signed
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

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Not used.

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 StreamOptions 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

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

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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.
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

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Collection of geometric feature outputs available in the

tool. See ProfileIntersect above.

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 StreamOptions elements.

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Element Type Description

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.

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

Features\IntersectPoint GeometricFeature IntersectPoint PointFeature.

Features\Line GeometricFeature Line LineFeature.

Features\BaseLine GeometricFeature BaseLine LineFeature.

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

PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state

0 – Disable
1 – Enable

SmoothingWindow 32u Smoothing window.

Scale 64f Output scaling factor.
Offset 64f Output offset factor.

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Element Type Description

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

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Collection of geometric feature outputs available in the

tool. See ProfileLine above.

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 StreamOptions 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.

FittingRegions ProfileLine ProfileLine describing up to 2 regions to fit to.

FittingRegionsEnabled Bool Whether the fitting regions are enabled.

Measurements\StdDev Line tool measurement StdDev measurement.

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Element Type Description

Measurements\MaxError Line tool measurement MaxError measurement.

Measurements\MinError Line tool measurement MinError measurement.
Measurements\Percentile Line tool measurement Percentile measurement.
Measurements\Offset Line tool measurement Offset measurement.
Measurements\Angle Line tool measurement Angle measurement.
Measurements\MinErrorX Line tool measurement Minimum Error in Z measurement.
Measurements\MinErrorZ Line tool measurement Minimum Error in Z measurement.
Measurements\MaxErrorX Line tool measurement Maximum Error in X measurement.
Measurements\MaxErrorZ Line tool measurement Maximum Error in Z measurement.
Features\Line GeometricFeature Line LineFeature.

Features\ErrorMinPoint GeometricFeature ErrorMinPoint PointFeature.

Features\ErrorMaxPoint GeometricFeature ErrorMaxPoint PointFeature.

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

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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.

Percent 64f Error percentile.

(Percentile measurement only)

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ProfilePanel
A ProfilePanel element defines settings for a profile panel tool and one or more of its measurements.

ProfilePanel Child Elements

Element Type Description

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Not used.

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 StreamOptions 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 edge configuration.

RightEdge ProfilePanelEdge Element for right edge configuration.

Measurements\Gap Gap/Flush Gap measurement.

measurement
Measurements\Flush Gap/Flush Flush measurement.
measurement

Measurements\LeftGapX Gap/Flush Left Gap X measurement.

measurement
Measurements\LeftGapZ Gap/Flush Left Gap Z measurement.
measurement
Measurements\LeftFlushX Gap/Flush Left Flush X measurement.
measurement

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Element Type Description

Measurements\LeftFlushZ Gap/Flush Left Flush Z measurement.

measurement
Measurements\LeftSurfaceAngle Gap/Flush Left Surface Angle measurement.
measurement
Measurements\RightGapX Gap/Flush Right Gap X measurement.
measurement
Measurements\RightGapZ Gap/Flush Right Gap Z measurement.
measurement
Measurements\RightFlushX Gap/Flush Right Flush X measurement.
measurement
Measurements\RightFlushZ Gap/Flush Right Flush Z measurement.
measurement
Measurements\RightSurfaceAngle Gap/Flush Right Surface Angle measurement.
measurement

ProfilePanelEdge
Element Type Description

EdgeType 32s Edge type:

0 – Tangent
1 – Corner

MinDepth 64f Minimum depth.

MaxVoidWidth 64f Maximum void width.
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/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
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable

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Element Type Description

1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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:

(Gap measurement only) 0 – Edge
1 – Surface
2 – Distance

Absolute Boolean Setting for selecting absolute or signed result:

(Flush measurement only) 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

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Collection of geometric feature outputs available in the

tool. See ProfilePosition above.

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.

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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 StreamOptions 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
Features\Point GeometricFeature Point PointFeature

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

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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.

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ProfileRoundCorner
A ProfileRoundCorner element defines settings for a profile round corner tool and one or more of its
measurements.

ProfileRoundCorner Child Elements

Element Type Description

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Not used.

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 StreamOptions 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.

RefDirection 32s Setting for reference side to use:
0 – Left
1 – Right

Edge ProfilePanelEdge Element for edge configuration

Measurements\X Round Corner tool X measurement.

measurement
Measurements\Z Round Corner tool Z measurement.
measurement
Measurements\Angle Round Corner tool Angle measurement.
measurement
Features\CenterPoint Geometric Feature Circle Center PointFeature.

Features\EdgePoint Geometric Feature Edge PointFeature.

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ProfilePanelEdge
Element Type Description

EdgeType 32s Edge type:

0 – Tangent
1 – Corner

MinDepth 64f Minimum depth.

MaxVoidWidth 64f Maximum void width.
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.

Round Corner 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

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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.

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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

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Not used.

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 StreamOptions 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.

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:

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Element Type Description

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 measurement X measurement.

Measurements\Z Strip tool measurement Z measurement.
Measurements\Width Strip tool measurement Width measurement.
Measurements\Height Strip tool measurement Width 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:
0 – Disable
1 – Enable

HoldEnabled Boolean Output hold enable state:

0 – Disable
1 – Enable

SmoothingEnabled Boolean Smoothing enable state:

0 – Disable
1 – Enable

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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

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Element Type Description

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

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

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.

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

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

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Element Type Description

@id 32s The tool's ID.

Name String Tool name.

Features Collection Collection of geometric feature outputs available in

the tool. See SurfaceBoundingBox on the previous
page.

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.
Anchor\ZAngle String (CSV) The Z Angle measurements (IDs) used for anchoring.
Anchor\ZAngle.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOptions 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

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Element Type Description

Measurements\Length BoundingBoxMeasurement Length measurement

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
Features\CenterPoint GeometricFeature CenterPoint PointFeature

Features\AxisLine GeometricFeature AxisLine LineFeature

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

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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.

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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

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Collection of geometric feature outputs available in

the tool. See SurfaceCsHole above.

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.
Anchor\ZAngle String (CSV) The Z Angle measurements (IDs) used for anchoring.
Anchor\ZAngle.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOptions 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:

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Element Type Description

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.

TiltYAngle 64f Setting for manual tilt correction angle Y.
CurveFitEnabled Boolean Setting to enable/disable curve fitting:
0 – Disable
1 – Enable

CurveOrientation 64f The orientation of the curvature, in degrees.

PlaneFitRangeEnabled Boolean Setting to enable/disable the use of the plane fit range
PlaneFitRange 64f Setting for the tolerance to use when doing the plane
fit
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

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Element Type Description

Measurements\XAngle Countersunk Hole tool X Angle measurement.

measurement
Measurements\YAngle Countersunk Hole tool Y Angle measurement.
measurement
Measurements\CounterboreDepth Countersunk Hole tool CounterboreDepth measurement.
measurement
Measurements\AxisTilt CsHoleMeasurement Axis tilt measurement
Measurements\AxisOrientation CsHoleMeasurement Axis orientation measurement.
Features\CenterPoint GeometricFeature CenterPoint PointFeature

Countersunk Hole Tool Measurement

Element Type Description

id (attribute) 32s Measurement ID. Optional (measurement disabled if not

set).
Name String Measurement name.
Features Collection Collection of geometric feature outputs available in the
tool. See SurfaceCsHole on page 610.
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

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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.

SurfaceDimension
A SurfaceDimension element defines settings for a surface dimension tool and one or more of its
measurements.

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SurfaceDimension Child Elements
Element Type Description

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Not used.

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.
Anchor\ZAngle String (CSV) The Z Angle measurements (IDs) used for anchoring.
Anchor\ZAngle.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOptions 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.

Measurements\CenterX Dimension tool Center X measurement
measurement
Measurements\CenterY Dimension tool Center Y measurement
measurement
Measurements\CenterZ Dimension tool Center Z measurement
measurement
Measurements\Distance Dimension tool Distance measurement
measurement
Measurements\PlaneDistance Dimension tool Plane Distance measurement
measurement
Measurements\Height Dimension tool Height measurement
measurement
Measurements\Length Dimension tool Length measurement

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Element Type Description

measurement
Measurements\Width Dimension tool Width measurement
measurement

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

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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.

(Height, Length, and Width 0 – Signed
measurements only) 1 – Absolute

Tool (type SurfaceEdge)

A Tool element of type SurfaceEdge defines settings for a surface edge tool and one or more of its
measurements.

SurfaceEdge Child Elements

Element Type Description

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool

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Element Type Description

1 – GDK user-defined tool

2 – Internal GDK tool

@id 32s The tool's ID.

@type String Type name of the tool.

@version String Version string for custom tool.

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.
Parameters\UseIntensity GdkParamBool Use intensity data.

Parameters\RegionCount GdkParamInt Count of regions.

Parameters\Region GdkParamSurfaceRegion3d Edge region parameters.

Parameters\Region1 GdkParamSurfaceRegion3d Second edge region parameters.
Parameters\Region2 GdkParamSurfaceRegion3d Third eddge region parameters.
Parameters\Region3 GdkParamSurfaceRegion3d Fourth edge region parameter.
Parameters\SearchDirection GdkParamInt Direction of search.

Parameters\FixedAngleValue GdkParamFloat Fixed angle value

Parameters\FixedAngleValue.units String Units of fixed angle (e.g.: deg)
Parameters\UseFixedAngle GdkParamBool Use fixed angle boolean.
Parameters\PathSpacing GdkParamFloat Path spacing value

Parameters\PathSpacing.units String Units of path spacing (eg: mm)

Parameters\PathWidth GdkParamFloat Path width.

Parameters\PathWidth.units String Units of path width (e.g.: mm).

Parameters\SelectEdge GdkParamInt Edge selection type. Is either:
0 – Best
1 – First
2 – Last

Parameters\EdgeDirection GdkParamInt Edge direction type. Is either:

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Element Type Description

0 – Rising
1 – Falling
2 – Rising or Falling

Parameters\EdgeThreshold GdkParamFloat Edge threshold value.

Parameters\EdgeThreshold.units String Units of edge threshold (e.g.: mm).

Parameters\IntensityThreshold GdkParamFloat Intensity threshold value.

Parameters\UseRelativeThreshold GdkParamBool Use relative threshold boolean

Parameters\RelativeThreshold GdkParamFloat Relative threshold value.
Parameters\RelativeThreshold.units String Units of relative threshold (e.g.: %)
Parameters\EdgeSmoothing GdkParamFloat Edge smoothing value.

Parameters\EdgeSmoothing.units String Units of edge smoothing (e.g.: mm).

Parameters\EdgeWidth GdkParamFloat The step width.

Parameters\EdgeWidth.units String Units of edge (e.g.: mm).

Parameters\EdgeMaxGap GdkParamFloat Edge max gap value.

Parameters\EdgeMaxGap.units String Units of edge max gap (eg: mm).

Parameters\FillBackground GdkParamBool Fill background boolean

Parameters\FillValue GdkParamFloat Fill value value.

Parameters\FillValue.units String Units of fill value (e.g.: mm).

Parameters\IntensityFillValue GdkParamFloat Intensity fill value value.

Parameters\IntensityFillValue.min GdkParamFloat Intensity fill value minimum value.

Parameters\IntensityFillValue.max GdkParamFloat Intensity fill value maximum value.
Parameters\RenderDetail GdkParamBool Render detail Boolean.

Measurements\Measurement Edge Measurement Base X measurement.

@type=X
Measurements\Measurement Edge Measurement Base Y measurement.
@type=Y
Measurements\Measurement Edge Measurement Base Z measurement.
@type=Z
Measurements\Measurement Edge Measurement Base ZAngle measurement.
@type=ZAngle
Measurements\Measurement Edge Measurement Base Height measurement.
@type=Height
Features\Feature @type=EdgeLine Gdk Feature EdgeLine line feature.

Features\Feature Gdk Feature CenterPoint point feature.

@type=CenterPoint

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Edge Measurement Child Elements
Element Type Description

@id 32s Measurement ID. Optional (measurement disabled if not

set).

@type String Type name of measurement.

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

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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.

SurfaceEllipse
A SurfaceEllipse element defines settings for a surface ellipse tool and one or more of its measurements.

SurfaceEllipse Child Elements

Element Type Description

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Collection of geometric feature outputs available in the

tool. See SurfaceEllipse above.

Source 32s Surface source.

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Element Type Description

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.
Anchor\ZAngle String (CSV) The Z Angle measurements (IDs) used for anchoring.
Anchor\ZAngle.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOptions 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.
measurement
Measurements\ZAngle Ellipse tool ZAngle measurement.
measurement
Features\CenterPoint GeometricFeature CenterPoint PointFeature

Features\MajorAxisLine GeometricFeature MajorAxisLine LineFeature

Features\MinroAxisLine GeometricFeature MinorAxisLine LineFeature

Ellipse Tool Measurement

Element Type Description

@id 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

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Collection of geometric feature outputs available in the

tool. See SurfaceHole above.

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.

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Element Type Description

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.
Anchor\ZAngle String (CSV) The Z Angle measurements (IDs) used for anchoring.
Anchor\ZAngle.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOptions 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.

(Advanced tab.)

RefRegions (Collection) Reference regions. Contains up to two RefRegion

elements of type SurfaceRegion2D. (Advanced tab.)
AutoTiltEnabled Boolean Setting to enable/disable tilt correction:
0 – Auto Set
1 – Custom

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Element Type Description

TiltXAngle 64f Setting for custom tilt correction angle X.

TiltYAngle 64f Setting for custom tilt correction angle Y.
Measurements\X Hole tool measurement X measurement.
Measurements\Y Hole tool measurement Y measurement.
Measurements\Z Hole tool measurement Z measurement.
Measurements\Radius Hole tool measurement Radius measurement.
Features\CenterPoint GeometricFeature CenterPoint PointFeature

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

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:

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Element Type Description

0 – Standard built-in tool

1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Collection of geometric feature outputs available in the

tool. See SurfaceOpening on the previous page.

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.
Anchor\ZAngle String (CSV) The Z Angle measurements (IDs) used for anchoring.
Anchor\ZAngle.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOptions 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

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Element Type Description

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 (Advanced

tab):
0 – Disable
1 – Enable

RefRegionCount 32s Count of the reference regions that are to be used.

(Advanced tab.)

RefRegions (Collection) Reference regions. Contains two RefRegion elements of

type SurfaceRegion2D.
AutoTiltEnabled Boolean Setting to enable/disable tilt correction (Advanced tab):
0 – Disable
1 – Enable

TiltXAngle 64f Setting for custom tilt correction angle X.

TiltYAngle 64f Setting for custom 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
Features\CenterPoint GeometricFeature CenterPoint PointFeature

Opening 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

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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.

SurfacePlane Child Elements

Element Type Description

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Not used.

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.
Anchor\ZAngle String (CSV) The Z Angle measurements (IDs) used for anchoring.
Anchor\ZAngle.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOptions 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 up to four Region

elements of type Region3D.
Measurements\XAngle Plane tool measurement XAngle measurement.
Measurements\YAngle Plane tool measurement YAngle measurement.
Measurements\ZOffset Plane tool measurement ZOffset measurement.
Measurements\StdDev Plane tool measurement Standard deviation measurement
Measurements\MinError Plane tool measurement Minimum error measurement
Measurements\MaxError Plane tool measurement Maximum error measurement
Measurements\XNormal PlaneMeasurement XNormal measurement
Measurements\YNormal PlaneMeasurement YNormal measurement
Measurements\ZNormal PlaneMeasurement ZNormal measurement
Measurements\Distance PlaneMeasurement Distance from normal measurement
Features\Plane GeometricFeature Resulting plane PlaneFeature.

Plane 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:

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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

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Collection of geometric feature outputs available in the

tool. See SurfacePosition above.

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.

Anchor\ZAngle String (CSV) The Z Angle measurements (IDs) used for anchoring.
Anchor\ZAngle.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOptions 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 SurfaceFeature Measurement feature.

Measurements\X Position tool X measurement.

measurement
Measurements\Y Position tool Y measurement.
measurement
Measurements\Z Position tool Z measurement.
measurement
Features\Point GeometricFeature Point PointFeature

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

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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.

SurfaceStud
A SurfaceStud element defines settings for a surface stud tool and one or more of its measurements.

SurfaceStud Child Elements
Element Type Description

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Collection of geometric feature outputs available in the

tool. See Feature Child Elements on page 630.

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.
Anchor\ZAngle String (CSV) The Z Angle measurements (IDs) used for anchoring.
Anchor\ZAngle.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOptions 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.

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Element Type Description

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.

(Advanced tab.)

RefRegions (Collection) Reference regions. Contains up to four RefRegion

elements of type SurfaceRegion2D. (Advanced tab.)
AutoTiltEnabled Boolean Setting to enable/disable tilt correction (Advanced tab):
0 – Auto Set
1 – Custom

TiltXAngle 64f Setting for custom tilt correction angle X.

TiltYAngle 64f Setting for custom tilt correction angle Y.
Measurements\BaseX Stud tool measurement BaseX measurement.
Measurements\BaseY Stud tool measurement BaseY measurement.
Measurements\BaseZ Stud tool measurement BaseZ measurement.
Measurements\TipX Stud tool measurement TipX measurement.
Measurements\TipY Stud tool measurement TipY measurement.
Measurements\TipZ Stud tool measurement TipZ measurement.
Measurements\Radius Stud tool measurement Radius measurement.
Features\TipPoint GeometricFeature TipPoint PointFeature
Features\BasePoint GeometricFeature BasePoint PointFeature

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

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Element Type Description

1 – Enable

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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)

Feature Child Elements

Element Type Description

@id 32s The identifier of the geometric feature. -1 if unassigned.

@dataType String The data type of the feature. One of:
– PointFeature
– LineFeature

Name String The display name of the feature.

Enabled Bool Whether the given feature output is enabled.

SurfaceVolume
A SurfaceVolume element defines settings for a surface volume tool and one or more of its
measurements.

SurfaceVolume Child Elements

Element Type Description

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

Name String Tool name.

Features Collection Not used.

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.

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Element Type Description

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.
Anchor\ZAngle String (CSV) The Z Angle measurements (IDs) used for anchoring.
Anchor\ZAngle.options String (CSV) The Z measurements (IDs) available for anchoring.
StreamOptions Collection A collection of StreamOptions 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

PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state

0 – Disable

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Element Type Description

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
2 – 2D Centroid
3 – 3D Centroid
4 – Average
5 – Median

Tool (type FeatureDimension)

A Tool element of type FeatureDimension defines settings for a feature dimension tool and one or more
of its measurements.

Tool Child Elements

Element Type Description

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

@type String Type name of the tool.

@version String Version string for custom tool.

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

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Element Type Description

anchoring.
Anchor\Z.options String (CSV) The Z measurements (IDs) available for
anchoring.
Parameters\RefPoint GdkParamGeometricFeature Reference point feature.

Parameters\Feature GdkParamGeometricFeature Reference feature.

Measurements\Measurement Dimension Measurement Width measurement.
@type=Width
Measurements\Measurement Dimension Measurement Length measurement.
@type=Length
Measurements\Measurement Dimension Measurement Width measurement.
@type=Height
Measurements\Measurement Dimension Measurement Distance measurement.
@type=Distance
Measurements\Measurement Dimension Measurement Plane distance measurement.
@type=PlaneDistance

Dimension Measurement Child Elements

@id 32s Measurement ID. Optional (measurement disabled if
not set).

@type String Type name of measurement.

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

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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.

Parameters\WidthAbsolute GdkParamBool Absolute width enabled boolean.

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(Width measurement only)

Parameters\LengthAbsolute GdkParamBool Absolute length enabled boolean.

(Length measurement only)

Parameters\HeightAbsolute GdkParamBool Absolute height enabled boolean.

(Height measurement only)

Tool (type FeatureIntersect)

A Tool element of type FeatureIntersect defines settings for a feature intersection tool and one or more
of its measurements.

Tool Child Elements

Element Type Description

@isCustom Bool Reserved for future use.

@format 32s Format type of the tool:
0 – Standard built-in tool
1 – GDK user-defined tool
2 – Internal GDK tool

@id 32s The tool's ID.

@type String Type name of the tool.

@version String Version string for custom tool.

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.
Parameters\Line GdkParamGeometricFeature Line feature input.

Parameters\RefLine GdkParamGeometricFeature Reference line feature input.

Measurements\Measurement Intersect Measurement X measurement.
@type=\X
Measurements\Measurement Intersect Measurement Y measurement.
@type=Y
Measurements\Measurement Intersect Measurement Z measurement.

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Element Type Description

@type=Z
Measurements\Measurement Intersect Measurement Angle measurement.
@type=Angle
Features\IntersectPoint GDK Feature Intersect point feature.

Intersect Measurement Child Elements

@id 32s Measurement ID. Optional (measurement disabled if not
set).

@type String Type name of measurement.

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

PreserveInvalidsEnabled Boolean Preserve invalid measurements 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.
Parameters\AngleRange GdkParamInt Angle range option choice. Is one of:
0 – -180 To 180
1 – 0 To 360

Custom
A Custom element defines settings for a user-created GDK-based tool and one or more of its
measurements.

Custom Child Elements

Element Type Description

@type String Type name of the tool.

@version String Version string for custom tool.

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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.

Parameters GDK Parameter Collection of parameters. The element name in

the job file is the name of the parameter.

Measurements GDK Measurement Collection of measurements.

Features GDK Feature Collection of features.

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 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>

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 <Ethernet>
...
<Ranges options=""/>
<Profiles options="0,1">0</Profiles>
<Surfaces options=""/>
...

Ethernet Child Elements

Element Type Description

Ethernet.used Boolean Indicates if the output is available on the sensor.

Protocol 32s Ethernet protocol:

0 – Gocator
1 – Modbus
2 – EtherNet/IP
3 – ASCII
4 – PROFINET

Protocol.options 32s (CSV) List of available protocol options.

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 page 639.

EIP Section See EIP on page 639.

Modbus Section See Modbus on page 640.

Profinet Section See Profinet on page 640.

Ptp Section Enable or disable Precision Time Protocol support.

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:

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Element Type Description

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

Surfaces.options 32s (CSV) List of available surface sources (see above).

SurfaceSections 32s (CSV) Selected surface section sources.
SurfaceSections.options 32s (CSV) List of available surface section sources.
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.

SurfaceIntensities.options 32s (CSV) List of available surface intensity sources (see above).
SurfaceSectionIntensities 32s (CSV) Selected surface section intensity sources
SurfaceSectionIntensities.options 32s (CSV) List of available surface section intensity sources.
Tracheids 32s (CSV) Selected tracheid sources.
Tracheids.options 32s (CSV) List of available tracheid sources.
Measurements 32u (CSV) Selected measurement sources.
Measurements.options 32u (CSV) List of available measurement sources.
Events 32u (CSV) Selected events
Events.Options 32u (CSV) CSV list of possible event options:
0 – Exposure Begins

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Element Type Description

1 – Exposure Ends

Features 32u (CSV) Selected feature sources.

Features.options 32u (CSV) List of available feature sources.
ToolData 32u (CSV) Selected tool data sources.
ToolData.options 32u (CSV) List of available tool data 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.
StandardFormatMode 32u The formatting mode used if not a custom format:
0 – Standard
1 – Standard with Stamp

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

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Modbus

Modbus Child Elements

Element Type Description

BufferEnabled Bool Enables Modbus output buffering.

Profinet

PROFINET is not supported on A and B revision Gocator 2100 and 2300 sensors.

Profinet Child Elements

Element Type Description

IpAddress String Address in dotted notation (e.g. 1.1.1.1).

PrefixLength 32u Length of prefix for the subnet.
SubnetMask String Address in dotted notation (e.g. 1.1.1.1).
Gateway String Address in dotted notation (e.g. 1.1.1.1).
DeviceName String Profinet name for the device.

Digital0 and Digital1

The Digital0 and Digital1 elements define settings for a sensor's two digital outputs.

Digital0 and Digital1 Child Elements

Element Type Description

Digital0.used Boolean Indicates if the output is available on the sensor.

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
1 – AND of measurements is false
2 – Always assert

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Element Type Description

Delay 64f Output delay (µs or mm, depending on delay domain defined below).
DelayDomain 32s Output delay domain:
0 – Time (µs)
1 – Encoder (mm)

Inverted Bool Whether the sent bits are flipped.

Measurements 32u (CSV) Selected measurement sources.
Measurements.options 32u (CSV) List of available measurement sources.

Analog
The Analog element defines settings for analog output.

Gocator 2500 series sensors do not support 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

Analog.used Boolean Indicates if the output is available on the sensor.

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).
DataScaleMax 64f Measurement value corresponding to maximum current.
DataScaleMin 64f Measurement value corresponding to minimum 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.

Gocator 2500 series sensors do not support the Selcom Serial Protocol.

Serial Child Elements

Element Type Description

Serial.used Boolean Indicates if the output is available on the sensor.

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

Rate 32u Output bit rate.

Rate.options 32u (CSV) List of available rates.
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.
StandardFormatMode 32u The formatting mode used if not a custom format:
0 – Standard
1 – Standard with Stamp

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>

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 </Device>
<Device id="1">
<X>0</X>
<Y>0.0</Y>
<Z>123.4966803469</Z>
<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.

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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".

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

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Field Type Offset Description

length 32u 9 Length of model space, un units of yScale

xScale 32u 13 X scale (nm)
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
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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Integrations

Several integration tools are provided in the Tools package available from the Downloads center, in the
Software subsection for your sensor model and Gocator software release.

l GenICam GenTL driver (see below)

l LabVIEW integration (for more information, see the LabVIEW application guide at https://-
downloads.lmi3d.com/interfacing-gocator-labview-4x-guide).

l EtherNet/IP files

l MountainsMap transfer tool (see below)

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.

If you switch jobs or make changes to a job using the SDK or a protocol (from a PLC), the switch
or changes are not automatically displayed in the web interface: you must refresh the browser
to see these.

Gocator 2500 series sensors do not support the Selcom Serial Protocol.

Protocols available over Ethernet

l Gocator
l Modbus
l EtherNet/IP
l PROFINET
l ASCII
For an overview of the Ethernet ports used by sensors, see Required Ports on page 56.

Protocols available over serial

l ASCII
l Selcom

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:

Gocator Line Profile Sensors: User Manual 647

 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/5.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 protocol, it must be enabled and configured in the active job.

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 GoSDK on
page 813.

For information on configuring the protocol using the web interface, see Ethernet Output on page 510.

For information on job file structures (for example, if you wish to create job files programmatically), see
Job File Structure on page 551.

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)

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Type Description Null Value

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 649), Control (page
652), and Upgrade (page 690) 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:

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)

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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 sensors across subnets.

Command
Field Type Offset Description

length 64s 0 Command length.

type 64s 8 Command type (0x1).
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.

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Set Address
The Set Address command modifies the network configuration of a sensor. On receiving the command,
the sensor will perform a reset. You should wait 30 seconds before re-connecting to the sensor.

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.
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 649.

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.

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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 649.

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

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[propertyCount] Property 100 List of sensor ID properties.

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).

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The Control channel and the Upgrade channel (port 3192) can be connected simultaneously. For more
information on Upgrade commands, see Upgrade Commands on page 690.

States
A sensor 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.

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 649.

majorVersion 8u 10 Major version.

minorVersion 8u 11 Minor version.

Get Address
The Get Address command is used to get a sensor address.

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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 649.

dhcpEnabled byte 10 0 – DHCP not used

1 – DHCP used

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 sensor. On receiving the command,
the sensor will perform a reset. You should wait 30 seconds before re-connecting to the sensor.

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 649.

Get System Info V2

The Get System Info command reports information about the local node, remote nodes and assigned
buddies.

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Firmware version refers to the version of the sensor's firmware installed on each individual sensor. The
client can upgrade the sensor's firmware by sending the Start Upgrade command (see Start Upgrade on
page 690). 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 117.

Every 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 (0x4010)

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4010).

status 32s 6 Reply status. For a list of status codes, see Commands on
page 649.

localInfoSize 16u 10 Size of localInfo structure. Current: 116.

localInfo Local Info 12 Info for this device.
remoteCount 32u - Number of discovered sensors.
remoteInfoSize 16u - Size of remoteInfo structure. Current 124.
remoteInfo[remoteCount] Remote Info - List of info for discovered sensors.
buddyInfoCount 32u - Number of buddies assigned (can be 0).
buddyInfoSize 16u - Size of buddyInfo structure. Current: 8.
Buddies[buddyCount] Buddy Info - List of info for the assigned buddies.

Local 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; "part number" starting with GoSdk 5.3.17.23.
Should not be parsed.

firmwareVersion[4] byte 40 Firmware version (most significant byte first).

state 32s 44 Sensor state
-1 – Conflict
0 – Ready
1 – Running

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Field Type Offset Description

For more information on states, see Control Commands on

page 652.

role 32s 48 Sensor role

0 – Main
1 – Buddy

modelNumber[32] char 52 Model number that can be parsed.

modelDisplayName[32] char 84 User-friendly model display name that can be used to

rename sensors more appropriately for custom-branding
naming.

Remote Info
Field Type Offset Description

deviceId 32u 0 Serial number of the remote device.

address[4] byte 4 IP address (most significant byte first).

modelName[32] char 8 Remote model name; "remote part number" starting with
GoSdk 5.3.17.23.

firmwareVersion[4] byte 40 Remote firmware version (most significant byte first).

state 32s 44 Remote sensor state
-1 – Conflict
0 – Ready
1 – Running
For more information on states, see Control Commands on
page 652.

role 32s 48 Sensor role

0 – Main
1 – Buddy

mainId 32u 52 Serial number of the main device, or zero.

buddyableStatus 32s 56 Whether or not the device can be buddied:
1 – Can be buddied

Errors:
0 – Unbuddiable (General Error)
-100 – Already buddied
-99 – Invalid State (e.g. running)
-98 – Version Mismatch
-97 – Model Mismatch

modelNumber[32] char 60 Model number that can be parsed.

modelDisplayName[32] char 92 Remote user-friendly model display name that can be used

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Field Type Offset Description

to rename sensors more appropriately for custom-branding

naming.

Buddy Info
Field Type Offset Description

deviceId 32u 2 Serial number of the device.

state k32s 6 Buddy state
2 - Connecting
1 – Connected

Errors:
0 – Unbuddiable (General Error)
-100 – Already buddied
-99 – Invalid State (e.g. running)
-98 – Version Mismatch
-97 – Model Mismatch
-95 – Device Missing
-92 – Standalone Sensor
-91 – Restricted Sensor Mismatch

Get System Info

This version of the Get System Info command is deprecated. Use Get System Info (v2) instead.

The Get System Info command reports information for sensors that are visible in the system.

Firmware version refers to the version of the sensor's firmware installed on each individual sensor. The
client can upgrade the sensor's firmware by sending the Start Upgrade command (see Start Upgrade on
page 690). 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 117.

Every 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 649.

localInfo Sensor Info 10 Info for this device.

remoteCount 32u 66 Number of discovered sensors.

remoteInfo[remoteCount] Sensor Info 70 List of info for discovered sensors.

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 652.

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.

id 16u 4 Reply identifier (0x4525).

status 32s 6 Reply status. For a list of status codes, see Commands on

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Field Type Offset Description

page 649.

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 652.

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 32su 38 Uptime (whole seconds component)

uptimeMicrosec 32u 42 Uptime (remaining microseconds component)

playbackPos 32u 46 Playback position

playbackCount 32u 50 Playback frame count

autoStartEnabled 32u 54 Auto-start enable (boolean)

isAccelerator 32u 58 Is the device an accelerator instance?

voltage 32u 62 Voltage setting

0 – 48V
1 – 24V

cableLength 32u 66 Cable length (maximum Is 60.0 meters, default is 5.0 meters)

quickEditEnabled 32u 70 Quick Edit state

securityLevel 32s 74 Security Level

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Field Type Offset Description

0 – No security, any user type can access system.

1 – Basic security level, only authorized user types can access
system.

brandingType 32s 78 Branding Type

0 – None/Gocator (default)
1 – White Label
2 – Custom

Log In/Out
The Log In/Out command is used to log in or out of a sensor.

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 649.

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.

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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 649.

Passwords can only be changed if a user is logged in as an administrator.

Assign Buddies
The Assign Buddies command is used to set the list of buddies assigned to the system.

This command can be used to both add and remove buddies by changing the list of buddies. A serial
number of 0 can be used to add device slots that are not assigned a physical sensor. Collections
associated with the devices (e.g. <Device> element in the configuration) grow or shrink accordingly.
Items are added to or removed from the end of these collections. For example: the system starts with 2
devices, [A, B]. A new list [A, B, C] is sent. The configuration for A and B are preserved, and a new record is
created for C. If now the system changes back to [A, B], the record for C is deleted. Adding or removing
items in the middle of the list has the same behaviour. Example: the system starts with 3 devices, [A, B,
C]. A new list [A, C] is sent. The configuration for B is now used for C, and the configuration for C is
deleted. To ensure consistency when adding and removing devices, add only to the end of the list and
remove using the Remove Buddies command.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4011).

buddyCount 32u 6 Number of buddies or 0 to unbuddy all devices.

buddies[buddyCount] 32u 10 Serial Numbers of the buddies to assign (can be 0).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4011).

status 32s 6 Reply status. For a list of status codes, see Commands on
page 649.

Remove Buddies
The Remove Buddies command is used to remove one or more buddies using 0-based buddy indices.

Use this command to remove a buddy devices along with its associated configuration resources. If the
system starts with 3 devices: [A, B, C], and this command is called to remove B, the configuration items
for A and C remain unchanged.

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Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4013).

buddyCount 32u 6 Number of buddies.

buddyIds[buddyCount] 32u 10 Indices of the buddies to remove. Note that the first buddy
has index 0 (i.e. it's the index of buddies, not all devices
including the main).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4013).

status 32s 6 Reply status. For a list of status codes, see Commands on
page 649.

Set Buddy
The Set Buddy command is used to assign or unassign a Buddy sensor.

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 649.

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.

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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 649.

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 File Structure on
page 551).

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.

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 649.

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 File Structure on page 551).

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.

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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 649.

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 File Structure on page 551).

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.

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 649.

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 File Structure on page 551).

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.

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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 649.

User Storage Used

The User Storage Used command returns the amount of user storage that is used.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x1021).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x1021).

status 32s 6 Reply status.

spaceUsed 64u 10 The used storage space in bytes.

User Storage Free

The User Storage Free command returns the amount of user storage that is free.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x1022).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x1022).

status 32s 6 Reply status.

spaceFree 64u 10 The free storage space in bytes.

Get Default Job

The Get Default Job command gets the name of the job the sensor loads when it powers up.

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Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4100).

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 649.

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 649.

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.

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Field Type Offset Description

id 16u 4 Reply identifier (0x4512).

status 32s 6 Reply status. For a list of status codes, see Commands on
page 649.

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).

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 649.

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).

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Field Type Offset Description

status 32s 6 Reply status. For a list of status codes, see Commands on
page 649.

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).

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 649.

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 649.

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).

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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 649.

encoder 64s 10 Current encoder position, in ticks.

Reset Encoder
The Reset Encoder command is used to reset the current encoder value.

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 649.

Start
The Start command starts the sensor system (system enters the Running state). For more information
on states, see Control Commands on page 652.

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 649.

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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 652.

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).

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 649.

Stop
The Stop command stops the sensor system (system enters the Ready state). For more information on
states, see Control Commands on page 652.

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 649.

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).

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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 649.

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 652).

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 649.

Get Voltage Settings

The Get Voltage Settings command returns the sensor’s voltage and cable length settings.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4539).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4539).

Voltage 16u 10 0: 48 Volts; 1: 24 Volts.

Cable Length 32u 12 0 – 100: Meters

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Set Voltage Settings
The Set Voltage Settings command sets the sensor’s voltage and cable length settings.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4538).

Voltage 16u 6 0: 48 Volts; 1: 24 Volts.

Cable Length 32u 8 0 – 100: Meters

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4538).

status 32s 6 Reply status. For a list of status codes, see Commands on
page 649.

Get Quick Edit Enabled

The Get Quick Edit Enabled command returns whether Quick Edit mode is enabled on the sensor.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4541).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4541).

status 32s 6 Reply status. For a list of status codes, see Commands on
page 649.

Enable 8u 10 0: disabled; 1: enabled.

Set Quick Edit Enabled

The Set Quick Edit Enabled command enables or disables Quick Edit mode on the sensor.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4540).

enable 8u 6 0: disabled; 1: enabled.

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Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4540).

status 32s 6 Reply status. For a list of status codes, see Commands on
page 649.

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 649.

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

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

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Field Type Offset Description

page 649.

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 649.

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.

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:

0 – Set to low (continuous)
1 – Set to high (continuous)
Ignored if output type is pulsed.

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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 649.

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.

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 (microamperes).

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 649.

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.

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).

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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 649.

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 649.

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).

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 649.

length 32u 10 Data length.

data[length] byte 14 Data content.

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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 649.

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).

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 649.

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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 649.

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 649.

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.

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Field Type Offset Description

id 16u 4 Reply identifier (0x4513).

status 32s 6 Reply status. For a list of status codes, see Commands on
page 649.

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 649.

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

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 649.

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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 649.

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.

id 16u 4 Reply identifier (0x4503).

status 32s 6 Reply status. For a list of status codes, see Commands on
page 649.

Step Playback
The Step Playback command advances playback by one frame.

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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 649.

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 649.

Frame Index 32u 10 Current frame index (starts from 0).

Frame Count 32u 14 Total number of available frames/objects.

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).

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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 649.

Read Live Log

The Read Live Log command returns an XML file containing the log messages between the passed start
and end indexes.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x101F).

Start 32u 6 First log to read

End 32u 10 Last log to read

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x101F).

status 32s 6 Reply status.

length 32u 10 File length

data[length] byte 14 XML Log File

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 649.

Simulate Unaligned
The Simulate Unaligned command simulates data before alignment transformation.

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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 649.

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 649.

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 649.

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 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)

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 649.

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 649.

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).

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Field Type Offset Description

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 649.

Add Measurement
The Add Measurement command adds a measurement to a tool instance.

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 649.

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.

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Field Type Offset Description

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 649.

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 649.

progressTotal 32u 10 Progress indicating completion (100%).

progress 32u 14 Current progress.

size 32u 18 Size of the chunk in bytes.

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 649.

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Field Type Offset Description

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 649.

progressTotal 32u 10 Progress indicating completion (100%).

progress 32u 14 Current progress.

size 32u 18 Size of the chunk in bytes.

data[size] byte 22 Chunk data.

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 649.

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 649.

progressTotal 32u 10 Progress indicating completion (100%).

progress 32u 14 Current progress.

size 32u 18 Size of the chunk in bytes.

data[size] byte 22 Chunk data.

Get Flag
The Get Flag command returns the given flag value as a string.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4533).

name[256] Char 6 A string representing the flag name whose value is to be

retrieved.

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4533).

valueLength 32u 10 The length of the string representing the flag's value.
value[valueLength] Char 14 The value of the flag.

Set Flag
The Set Flag command sets the string value for the given flag name.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4534).

Variablename[256] Char 6 A string representing the flag name whose value is to be

retrieved.
valueLength 32u 262 The length of the flag's value string.
value[valueLength] Char 266 The string representing the flag's value.

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Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4534).

status 32s 6 Reply status. For a list of status codes, see Commands on
page 649.

Get Runtime Variable Count

The Get Runtime Variable Count command gets the number of runtime variables that can be accessed.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4537).

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4537).

status 32s 6 Reply status.

valueLength 32u 10 The count of runtime variables.

Set Runtime Variables

The Set Runtime Variables command sets the runtime variables at the given index for the given length.

Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4536).

index 32u 6 The starting index of the variables to set.

length 32u 10 The number of values to set from the starting index.
values[length] 32s 14 The runtime variable values to set.

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4536).

status 32s 6 Reply status.

Get Runtime Variables
The Get Runtime Variables command gets the runtime variables for the given index and length.

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Command
Field Type Offset Description

length 32u 0 Command size including this field, in bytes.

id 16u 4 Command identifier (0x4535).

index 32u 6 The starting index of the variables to retrieve.

length 32u 10 The number of values to retrieve from the starting index.

Reply
Field Type Offset Description

length 32u 0 Reply size including this field, in bytes.

id 16u 4 Reply identifier (0x4535).

status 32s 6 Reply status.

index 32u 10 The starting index of the variables being returned.

length 32u 14 The number of values being returned.
values[length] 32s 18 The runtime variable values.

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 652.

After connecting to a 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 protocol. The
major part is updated when breaking changes are made to the 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).

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Field Type Offset Description

status 64s 16 Reply status. For a list of status codes, see Commands on
page 649.

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 649.

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 649.

state 64s 24 Upgrade state:

-1 – Failed
0 – Completed
1 – Running
2 – Completed, but should run again

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Field Type Offset Description

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 649.

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 a sensor sends.

Data Results
A client can receive data messages from a 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 704.

Messages that are received on the Data and Health channels use a common structure, called Gocator
Data Protocol (GDP). Each 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.)

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.

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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
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. (In a dual-sensor system, the serial
number of the main sensor.)

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:

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Field Type Offset Description

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.
flippedY 8u 27 Indicates whether the video data must be flipped vertically to
match up with profile data.

streamStep 32s 28 Data stream step number. For video, values are:
0 – video stream step
8 – tool data stream step

streamStepId 32s 32 Data stream step identifier within the stream step.

pixels[H][W] (Variable) 36 Image pixels. (Depends on pixelSize above.)

Profile Point Cloud

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).

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Field Type Offset Description

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.

streamStep 32s 40 Stream step

streamStepId 32s 44 Data stream step identifier within the stream step.

ranges[C][W] Point16s 48 Profile ranges.

Uniform 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: 40).

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.

streamStep 32s 40 Data stream step number. For a profile, values are:
2 – profile stream step

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Field Type Offset Description

8 – tool data stream step

streamStepId 32s 44 Data stream step identifier within the stream step.

ranges[C][W] 16s 48 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

exposure 32u 25 Exposure (ns).

cameraIndex 8u 29 Camera index.

reserved[2] 8u 30 Reserved.

streamStep 32s 32 Data stream step number. For video, values are:
2 – profile stream step
8 – tool data stream step

streamStepId 32s 36 Data stream step identifier within the stream step.

points[C][W] 8u 40 Intensity arrays.

Uniform 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: 48).

length (L) 32u 8 Surface length (rows).

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Field Type Offset Description

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).

reserved[7] 8u 45 Reserved.

streamStep 32s 52 Data stream step number. For a surface, values are:
3 – surface stream step
8 – tool data stream step

streamStepId 32s 56 Data stream step identifier within the stream step.

ranges[L][W] 16s 60 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).

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

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Field Type Offset Description

3 – Top Right

exposure 32u 33 Exposure (ns).

reserved[3] 8u 37

streamStep 32s 40 Data stream step number. For surface, values are:
3 – surface stream step
8 – tool data stream step

streamStepId 32s 44 Data stream step identifier within the stream step.

intensities[H][W] 8u 48 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)
streamStep 32s 53 Stream step.
streamStepId 32s 57 Stream step ID.
ranges[C][W] 16s 61 Profile ranges.

The pose can be used to transform the section data into the surface frame of reference, via a
rotation and then a translation.

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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).
streamStep 32s 45 Stream step.
streamStepId 32s 49 Stream step ID.
points[C][W] 8u 53 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).

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Measurement
Field Type Offset Description

value 32s 0 Measurement value.

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.

Alignment 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
-7 – Too few profiles in target 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: 8, current: 8).

opId 32u 8 Operation ID.

status 32s 12 Operation status.

exposure 32u 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 8u 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 8u 23 Quality match decision.
reserved[2] 8u 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 8u 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 8u 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.

Event

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 22.

attributesSize 16u 6 Size of attributes, in bytes (min: 8, current: 8).

eventType 32u 8 The type of event:

0 – Exposure Begin
1 – Exposure End

length 32u 12 The number of bytes containing additional data.

data[length] 8u 16 Additional data.

Feature Point

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 24.

id 16u 6 Feature Id
Point.x 64s 8 X Coordinate of Point (Scaled by 10^6)
Point.y 64s 16 Y Coordinate of Point (Scaled by 10^6)
Point.z 64s 24 Z Coordinate of Point (Scaled by 10^6)

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Feature Line

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 25.

id 16u 6 Feature Id
Point.x 64s 8 X Coordinate of Point (Scaled by 10^6)
Point.y 64s 16 Y Coordinate of Point (Scaled by 10^6)
Point.z 64s 24 Z Coordinate of Point (Scaled by 10^6)
Direction.x 64s 32 X Component of Direction Vector (Scaled by 10^6)
Direction.y 64s 40 Y Component of Direction Vector (Scaled by 10^6)
Direction.z 64s 48 Z Component of Direction Vector (Scaled by 10^6)

Feature Plane

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 26.

id 16u 6 Feature Id
Normal.x 64s 8 X Component of Normal Vector (Scaled by 10^6)
Normal.y 64s 16 Y Component of Normal Vector (Scaled by 10^6)
Normal.z 64s 24 Z Component of Normal Vector (Scaled by 10^6)
originDistance 64s 32 Distance to Origin (Scaled by 10^6)

Feature Circle

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 27.

id 16u 6 Feature Id
Point.x 64s 8 X Coordinate of Point (Scaled by 10^6)
Point.y 64s 16 Y Coordinate of Point (Scaled by 10^6)
Point.z 64s 24 Z Coordinate of Point (Scaled by 10^6)
Normal.x 64s 32 X Component of Normal Vector (Scaled by 10^6)
Normal.y 64s 40 Y Component of Normal Vector (Scaled by 10^6)
Normal.z 64s 48 Z Component of Normal Vector (Scaled by 10^6)
radius 64s 56 Radius of Circle (Scaled by 10^6)

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Generic Message

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 29.

attributeSize 16u 6 Size of attributes, in bytes (min: 32, current: 40).

streamStep 32s 8 Data stream step.
streamStepId 32s 12 Data stream step ID.
userType 32u 16 User-define data type ID
isObject 8u 20 0 – Content is raw byte buffer
1 – Content is an kObject

contentLength 32u 21 Length of content array, in bytes

Content[contentLength] byte 25 Content array. If isObject is true, the byte buffer should be
deserialized using kDat6Serializer.

Health Results
A client can receive health messages from a 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 692.

Messages that are received on the Data and Health channels use a common structure, called Gocator
Data Protocol (GDP). Each 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.)

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
Field Type Offset Description

size 32u 0 Count of bytes in message (including this field).

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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 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 Indicator identifiers below table

below).

instance 32u 4 Indicator instance.

value 64s 8 Value (identifier-specific meaning).

The following health indicators are defined for sensor systems.

When a sensor is accelerated, some health indicators report values from the PC that is
accelerating the sensor, or a combination of both. In the table below, values are reported from
the sensor unless otherwise indicated.

Undocumented indicators may be included in addition to the indicators defined below.

Indicator identifiers
Indicator ID Instance Value

Encoder Value 1003 - Current system encoder tick.

Encoder Frequency 1005 - Current system encoder frequency (ticks/s).

Laser Safety 1010 - Laser safety status.

0: laser is disabled
1: laser is enabled

App Version 2000 - Firmware application version.

Internal Temperature 2002 - Internal temperature (centidegrees Celsius).

Uptime 2017 - Time elapsed since node boot-up or reset

(seconds).

Projector Temperature 2404 - Projector module temperature (centidegrees

Celsius).
Only available on projector based devices.

Control Temperature 2028 - Control module temperature (centidegrees

Celsius).

Gocator Line Profile Sensors: User Manual Integrations • 705

Indicator ID Instance Value

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).

Alignment State 20008 - Alignment state:

0 – not aligned
1 - aligned

CPU Usage 2007 - CPU usage (percentage of maximum).

Net Out Capacity 2009 - Total available outbound network throughput

(bytes/s).

Net Out Link Status 2034 - Current Ethernet link status.

Sync Source* 2043 - Synchronization source.

1 - 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 - 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 spots found in the last unresampled

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Indicator ID Instance Value

profile/surface.

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)
Point Count 20015 - Number of points found in last resampled
Profile/Surface.
Max Point Count 20016 - Maximum number of points that can be found.

Laser Overheat* 20020 - Indicates whether laser overheat has occurred.

0 – Has not overheated
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.
The low-level firmware version used by the
sensor.

Processing Drops** 21000 - Number of dropped frames. The sum of various

processing drop related indicators.

Last Processing Latency 21001 - Last delay from camera exposure to availability
of all results.

Max Processing Latency 21002 - Maximum value of processing latency.

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

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Indicator ID Instance Value

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).

Controlled Trigger Drops 21017 Trigger drops from the Controlled Triggering
System (Grouped with “Trigger Drops” indicator)
Surface Processing Time 21018 Processing Time of Frame on 35XX/32XX
(microseconds)
Max Frame Rate 21019 Max Configurable frame rate given above
Processing Time (scaled by 1x10-6)

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.

Light Operational Time 21201 - Total running time of G2 laser or G3 projector

light (on Gocator firmware 5.3 or later), in
minutes.

First Log Id 21301 ID of the first available log entry.

Last Log Id 21300 ID of the last available log entry. It is inclusive: for
example, if first = 3 and last = 5, the available log
IDs are 3, 4, 5. If no log is available, the last ID is
less than the first ID.

Z-Index Drop Count 22000 - The number of dropped surfaces due to a lack of
z-encoder pulse during rotational part detection.

Tool Run Time 22004 Tool Index The most recent time taken to execute the tool.
Part Total Emitted 22006 - Total number of parts emitted by profile part
detection.
Part Length Limit 22007 - Number of parts emitted due to reaching the
length limit.
Part Min Area Drops 22008 - Number of parts dropped due to being smaller
than the minimum area.
Part Backtrack Drops 22009 - Number of parts dropped due to backtracking.
Parts Currently Active 22010 - Number of parts currently being tracked.
Part Length 22011 - Length of largest active part.
Part Start Y 22012 - Start Y position of the largest active part.
Part Tracking State 22013 - Tracking state of the largest active part.
Part Capacity Exceeded 22014 - Part detection part or run capacity has been
exceeded.
Part X Position 22015 - Center X position of the largest active part.
Tool Runtime Minimum 22016 - Minimum time spent for tool to process a

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Indicator ID Instance Value

sample
Tool Runtime Maximum 22017 - Maximum time spent for tool to process a
sample
Tool Runtime Average 22018 - Average time for tool to process a sample
Tool Runtime Percent 22019 - Average percentage of total time spent running
Average this tool

Bar Alignment Status 22020 - Status of the buffered bar alignment when
aligning:
1 – buffer leveling in progress
2 – buffer searching in progress
3 – buffer scanning in progress
4 – buffer padding in progress
5 – buffering complete; processing alignment on
buffered data
11 – alignment leveling in progress
12 – alignment searching in progress
13 – alignment fitting in progress
14 – alignment complete
15 – alignment completed but failed
16 – alignment cancelled

Value 30000 Measurement ID Measurement Value.

Pass 30001 Measurement ID Number of pass decision.

Fail 30002 Measurement ID Number of fail decision.

Min 30003 Measurement ID Minimum measurement value.

Max 30004 Measurement ID Maximum 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 single 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

Gocator Line Profile Sensors: User Manual Integrations • 709

Indicator ID Instance Value

given protocol's measurement value output type.

The Overflow health indicator increments.

* When the sensor is accelerated, the indicator's value is reported from the accelerating PC.

** When the sensor is accelerated, the indicator's value is the sum of the values reported from the
sensor and the accelerating PC.

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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. For information on
configuring the protocol using the Web interface, see Ethernet Output on page 510.

The Gocator 4.x/5.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 State on page 714) to advance the queue before reading the measurement results.

Concepts
A PLC sends a command to start each sensor. The PLC then periodically queries each sensor for its latest
measurement results. In Modbus terminology, the PLC is a Modbus Client. Each sensor 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
sensor on port 502. Control and data messages are communicated on this TCP connection. Up to eight
clients can be connected to the sensor 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:

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Modbus Application Protocol Header
Field Length (Bytes) Description

Transaction ID 2 Used for transaction pairing. The Modbus Client sets the value and
the Server (the sensor) copies the value into its responses.

Protocol ID 2 Always set to 0.

Length 2 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 (the sensor) 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 sensor 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.

Gocator Line Profile Sensors: User Manual Integrations • 712

Control registers are used to control the sensor states (e.g., start, stop, or calibrate a sensor).

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 - 1998 Measurements & RO 333 measurement and decision pairs. See
Decisions Measurement Registers on page 716 for detailed
descriptions.

Control Registers
Control registers are used to operate the sensor. Register 0 stores the command to be executed. 
Subsequent registers contain parameters for the commands if applicable. The sensor 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 Takes a 16-bit command. For a list of the available

commands, see table below.

1 – 64 Command Parameters WO For Load Job (5) command:

Null-terminated filename.
Each 16-bit register holds a single character.
Specifies the filename. If the file extension ".job" is
missing, it is automatically appended to the
filename.
For Set Runtime Variables (6) command:
Registers 1-8 are used to set the values of the
runtime variables.

The 16-bit values used for Command Register are described below.

Gocator Line Profile Sensors: User Manual Integrations • 713

Command Register Values
Value Name Description

0 Stop Running Stops the sensor. No effect if sensor is already stopped.

1 Start Running Starts the sensor. No effect if sensor is already started.

2 Align (stationary target) Starts the stationary alignment process. State register 301 will be set to
1 (busy). When the alignment process is complete, the register is set
back to zero.

3 Align (moving target) Starts moving alignment process and also calibrate encoder
resolution. State register 301 will be set to 1 (busy). When the
alignment process is complete, the register is set back to zero.

4 Clear Alignment Clears the alignment.

5 Load Job Activates the specified job file.

Set registers 1-64 to the null-terminated filename, one filename
character per 16-bit register, including the null terminator character.
The ".job" extension is optional; if it is missing, it is automatically
appended to the file name.

6 Set Runtime Variables Sets the runtime variables.

Set registers 1 through 8 to the values of all four 32-bit runtime
variables.

7 Software trigger Software trigger the sensor to capture one frame. The sensor must
already be running, in trigger mode “Software”. Otherwise, software
trigger has no effect.

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 Sensor State 16u Sensor State:

0 - Stopped
1 - Running

301 Modbus Command in 16u 1 when the sensor is busy performing the last
Progress command, 0 when done. Registers 302 and 311-371
below are only valid when there is no command in
progress.

302 Alignment State 16u Current Alignment State:

0 - Not aligned
1- Aligned

Gocator Line Profile Sensors: User Manual Integrations • 714

Register
Name Type Description
Address

(Valid when register 301 = 0.)

303 Encoder Position High 64u Current encoder position (64-bit value, requiring
four 16-bit registers)

304 Encoder

305 Encoder

306 Encoder Low

307 Time High 64s Uptime timestamp (64-bit value, requiring four 16-
bit registers)

308 Time

309 Time

310 Time Low

311 Job File Name Length 16u Number of characters in the current job file name.
(Valid when register 301 = 0.)

312 – 371 Live Job Name 16u Name of currently loaded job file. Does not include
the extension. Each 16-bit register contains a single
character. (Valid when register 301 = 0.)

375 Runtime Variable 0 High 32s Runtime variable value stored in two register
locations.
376 Runtime Variable 0 Low
... ... ... ...
381 Runtime Variable 3 High 32s Runtime variable value stored in two register
locations.
382 Runtime Variable 3 Low

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 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.

Stamp Register Map

Register
Name Type Description
Address

960-975 reserved Not used.

976 Buffer Advance Register 16u 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 1000-1059.

Gocator Line Profile Sensors: User Manual Integrations • 715

Register
Name Type Description
Address

977 Buffer Count 16u Number of buffered messages currently in the

queue.

978 Buffer Overflow Flag 16u Buffer Overflow Indicator:

0 - No overflow
1 - Overflow. (Indicates data is being lost.)

979 Inputs 16u Digital input state of the last frame.

980 zPosition High 64u Encoder position at time of last index pulse. 64-bit
value, requiring four 16-bit registers.

981 zPosition
982 zPosition
983 zPosition Low

984 Exposure High 32u Laser exposure (µs) of the last frame. Stored in two
register locations.

985 Exposure Low

986 Temperature High 32u Sensor temperature in degrees Celcius * 100

(centidegrees) of the last frame. Stored in two
register locations.

987 Temperature Low

988 Encoder Position High 64u Encoder position of the last frame when the image
data was scanned/taken. 64-bit value, requiring
four 16-bit registers.

989 Encoder Position

990 Encoder Position
991 Encoder Position Low

992 Time High 64u Time stamp in microseconds of the last frame. 64-
bit value, requiring four 16-bit registers.

993 Time
994 Time
995 Time Low

996 Frame Index High 64u The frame number of the last frame. 64-bit value,
requiring four 16-bit registers.

997 Frame Index

998 Frame Index
999 Frame 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 Line Profile Sensors: User Manual Integrations • 716

The measurement ID is used to find 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 32u 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

... ... ... ...

1996 Measurement 332 High

1997 Measurement 332 Low

1998 Decision 332

Gocator Line Profile Sensors: User Manual Integrations • 717

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). EtherNet/IP communication enables the client to:

l Switch jobs.

l Align and run sensors.

l Receive sensor states, stamps, and measurement results.

l Set and retrieve runtime variables.

This section describes the EtherNet/IP messages and data formats.

Note that in firmware version 5.2, the identity information was updated as follows:

Attribute Before Firmware 5.2 Firmware 5.2 and later

Product Code Was 1000, 2000, or 3000 Now 1.

depending on the model.
Major Revision Matched firmware major Now 1.
version.
Minor Revision Matched firmware minor Now 1.
version.

This update may require a change on a device attempting to connect to a sensor via EtherNet/IP. A
compatible EDS file can be downloaded from the web interface. If the existing EDS must be maintained,
the device can be configured to disable electronic keying, ignoring the product code and version
numbers.

To use the EtherNet/IP protocol, it must be enabled and configured in the active job. For information on
configuring the protocol using the Web interface, see Ethernet Output on page 510.

The Gocator 4.x/5.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.

Sensors support unconnected or connected explicit messaging (with TCP), as well as implicit (or I/O)
messaging. For information on explicit messaging assemblies and objects, see Explicit Messaging below.
For information on implicit messaging assemblies and objects, see Implicit Messaging on page 725.

Explicit Messaging
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. 

Sensors support all required objects for explicit messaging, such as the Identity object, TCP/IP object, and
Ethernet Link object. In addition, an Assembly object is used for sending sensor and sample data and
receiving commands. The Assembly object contains four assemblies: the command assembly (32 bytes),

Gocator Line Profile Sensors: User Manual Integrations • 718

the runtime variable configuration assembly (64 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 Get Attribute
and Set Attribute commands.

The PLC sends a command to start a sensor. 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 sensor is an adapter.

For detailed information on setting up explicit messaging using Allen-Bradley PLCs, see
https://downloads.lmi3d.com/setting-ethernetip-explicit-messaging-allen-bradley-plcs.

The following sections describe the explicit messaging assemblies and objects.

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 1 Product code Get

4 Revision USINT 1.1 Byte 0 - 1 Get

Byte 1 - 1

6 Serial number UDINT 32-bit value Sensor serial number Get

7 Product Name SHORT "Gocator" Gocator product name Get

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)

Gocator Line Profile Sensors: User Manual Integrations • 719

Attribute Name Type Value Description Access

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.

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)

For explicit messaging, the Ethernet/IP object model includes the following assemblies: command,
runtime variable configuration, 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.

Gocator Line Profile Sensors: User Manual Integrations • 720

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

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. File
name must be null-terminated. The job name and extension are case-
sensitive. If the extension “.job” is missing, it is automatically appended to
the file name.

6 Reserved Do not use.

7 Software trigger Sends a software trigger to the sensor to capture one frame. The sensor
must already be running, and its trigger mode must be set to “Software”.
Otherwise, software trigger has no effect.

Runtime Variable Configuration Assembly

The runtime variable configuration assembly object contains the sensor's intended runtime variables.

Runtime Variable Configuration Assembly

Information Value

Class 0x04

Instance 0x311

Attribute Number 3

Length 64 bytes

Supported Service 0x10 (SetAttributeSingle)

Attribute 3
Attribute Name Type Value Description Access

3 Command Byte See below Runtime variable configuration information. See Get
Array below for more details.

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Sensor State Information
Byte Name Type Description

0-3 Runtime 32s Stores the intended value of the Runtime Variable at index 0.
Variable 0

4-7 Runtime 32s Stores the intended value of the Runtime Variable at index 1.
Variable 1

8-11 Runtime 32s Stores the intended value of the Runtime Variable at index 2.
Variable 2

12-15 Runtime 32s Stores the intended value of the Runtime Variable at index 3.
Variable 3

16-63 Reserved

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 0x04

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 State Sensor state:

0 - Stopped
1 - Running

1 EtherNet/IP Command busy status:

Command in 0 - Not busy
Progress 1 - Busy performing the last command
Bytes 2 and 19-83 below are only valid when there is no
command in progress.

2 Alignment Alignment status:

State 0 - Not aligned

Gocator Line Profile Sensors: User Manual Integrations • 722

Byte Name Type Description

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 8u Number of characters in the current job filename. (e.g., 11

Filename for "current.job"). The length includes the .job extension.
Length Valid when byte 1 = 0.

20-83 Current Job Name of currently loaded job, including the ".job"
Filename extension. Each byte contains a single character. Valid when
byte 1 = 0.

84-87 Runtime 32s Runtime variable value at index 0

Variable 0
… …
96-99 Runtime 32s Runtime variable value at index 3
Variable 3

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 See below Sample state information. See below for more Get
Array details.

Sample State Information

Byte Name Type Description

0-1 Inputs 16u Digital input state of the last frame.

2-9 Z Index Position 64u Encoder position at time of last index pulse of
the last frame.

10-13 Exposure 32u Laser exposure in µs of the last frame.

14-17 Temperature 32u Sensor temperature in degrees Celsius * 100

(centidegrees) of the last frame.

Gocator Line Profile Sensors: User Manual Integrations • 723

Byte Name Type Description

18-25 Encoder Position 64u Encoder position of the last frame when the
image data was scanned/taken.

26-33 Time 64u Time stamp in microseconds of the last

frame.

34-41 Frame Counter 64u The frame number of the last frame.

42 Buffer Count 8u Represents the number of frames waiting to

be output if buffering is enabled.

43 Buffer Overflowing 8u Indicates whether the output buffer has

overflowed:
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.

Gocator Line Profile Sensors: User Manual Integrations • 724

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 Ethernet Output on page 510 for information on the Output panel.

Implicit Messaging
Implicit messaging uses UDP and is faster than explicit messaging, and is ideal for time-critical
applications. However, implicit messaging is layered on top of UDP. UDP is connectionless and data
delivery is not guaranteed. For this reason, implicit messaging is only suitable for applications where
occasional data loss is acceptable.

For detailed information on setting up implicit messaging using Allen-Bradley PLCs, see
http://lmi3d.com/sites/default/files/APPNOTE_Implicit_Messaging_with_Allen-Bradley_PLCs.pdf.

The following sections describe the implicit messaging assemblies.

Assembly Object (Class 0x04)

For implicit messaging, the Ethernet/IP object model includes the following assemblies: implicit
messaging command and implicit messaging output.

All assembly object instances are static. Data in a data byte array in an assembly object are stored in the
big endian format.

Implicit Messaging Command Assembly

Implicit Messaging Command Assembly

Information Value

Class 0x04

Instance 0x64

Attribute Number 3

Length 32 bytes

Implicit Messaging Command Assembly Information

Byte Name Type Description

0 Command 8u A bit mask where setting the following bits

will only perform the action with highest
priority*:
1 – Stop sensor
2 – Start sensor
4 – Perform stationary alignment
8 – Perform moving alignment
16 – Clear alignment
32 – Set runtime variables
64 – Load job file
128 – Software trigger

Gocator Line Profile Sensors: User Manual Integrations • 725

Byte Name Type Description

*The priority of commands is currently as

follows:
1. Stop sensor
2. Start sensor
3. Perform stationary alignment
4. Perform moving alignment
5. Clear alignment
6. Set runtime variables
7. Load job file
8. Software trigger

1-31 Reserved (except for If you are setting the runtime variables, use
configuring runtime bytes 4-19 to define the values of each of the
variables and loading job four runtime variables in little endian format.
file)
If you are loading job file, use bytes 1-31 for
the filename, one character per byte. The job
name and extension are case-sensitive. The
filename must be null terminated and must
end with ".job".

Implicit Messaging Output Assembly

Implicit Messaging Output Assembly

Information Value

Class 0x04

Instance 0x322

Attribute Number 3

Length 376 bytes

Implicit Messaging Output Assembly Information

Byte Name Type Description

0 Sensor State 8u Sensor state is a bit mask where:

Bit 0:
1 – Running
0 – Stopped
Bit 1:
1 – Conflict due to unreachable buddy
0 – No conflict
Bits [2-7]: Not used.

1 Alignment and Command 8u A bit mask where:

Gocator Line Profile Sensors: User Manual Integrations • 726

Byte Name Type Description

state Bit 0:
1 – Explicit or Implicit Command in progress
0 – No Explicit or Implicit command is in
progress
Bit 1
1 – Aligned
0 – Not aligned

2-3 Inputs 16u Digital input state of the last frame.

4-11 Z Index Position 64u Encoder position at time of last index pulse of
the last frame.
12-15 Exposure 32u Exposure in µs of the last frame.
16-19 Temperature 32u Sensor temperature in degrees celsius * 100
(centidegrees) of the last frame.
20-27 Encoder Position 64s Encoder position of the last frame when the
image data was scanned/taken.
28-35 Time 64u Time stamp in microseconds of the last
frame.
36-43 Frame Index 64u The frame number of the last frame.
44-55 Reserved
56 Decision 0 8u 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

… …
119 Decision 63 8u 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

120-123 Measurement 0 32s Measurement value in µm.

Gocator Line Profile Sensors: User Manual Integrations • 727

Byte Name Type Description

(0x80000000 if invalid)

… …
372-375 Measurement 63 32s Measurement value in µm.
(0x80000000 if invalid)

Rockwell Allen-Bradley Instructions

This section describes how to set up network communications over the EtherNet/IP industrial
communication protocol with Allen-Bradley PLCs that are EtherNet/IP-capable. Gocator supports two
EtherNet/IP messaging methods: implicit messaging via UDP and explicit messaging via TCP.

Implicit messaging has advantages and disadvantages. Implicit messaging uses UDP and is faster than
explicit messaging and is ideal for time-critical applications. Since implicit messaging is layered on top of
UDP, it is connectionless and data delivery is not guaranteed. For this reason, implicit messaging is only
suitable for applications where occasional data loss is acceptable. Two connection types are available for
implicit communication: a Monitor Data connection or a Monitor Data and Control Data connection.

Explicit messaging is more suitable for deterministic and verified communication transfer where no
losses are acceptable. Add-On Profile (AOP) is not available for the Gocator, and it is not possible to use
the EDS file for automatic configuration.

For these reasons, LMI recommends in most application using a closed ethernet subnet (i.e., network
switch, PLC, Gocator(s), and setup PC only) to minimize losses and collisions and cyclical implicit
messaging over the EtherNet/IP protocol unless a specific control command such as job loading and/or
transfer verification is required.

Software and Hardware Setup

The following software and hardware were used during development.

Requirements Details
Gocator Firmware 5.2 and higher
Gocator Series G1, G2, and G3 sensors.
Required Files GocatorEip.eds
LMI.ico
Gocator_EthernetIP.ACD
Other Allen-Bradley L16ER-BB1B PLC
Allen-Bradley Studio 5000 programming tool V21.11 or newer
D-Link Unmanaged Industrial Gigabit Ethernet Switch DGS-108
Note: The Ethernet card to which the Gocator is connected should be added as a module to the
Backplane. Verify that the IP Address is on the correct subnet. Note the IP address should be that of the
PLC’s Ethernet modules, not that of the Gocator’s.

Byte Order Options

Gocator supports outputting in either Big Endian or Little Endian byte ordering options.

Gocator Line Profile Sensors: User Manual Integrations • 728

Big Endian Byte Order: The most significant byte (the "big end") of the data is placed at the byte with the
lowest address. The rest of the data is placed in order of decreasing significance in the next three bytes
of memory.

Little Endian Byte Order: The least significant byte (the "little end") of the data is placed at the byte with
the lowest address. The rest of the data is placed in order of increasing significance in the next three
bytes in memory.

Most Allen-Bradley PLCs default to Little Endian addressing formats, but you should verify this when
configuring the PLC.

Setting Up Implicit Messaging on the Gocator

To output in EtherNet/IP implicit messaging mode on the sensor, you configure the sensor using the
Protocol setting and the Configuration area on the Output page. Note that the type of implicit
messaging (cyclic versus change of state) is determined by the Trigger Override setting.

To configure the sensor for EtherNet/IP implicit messaging mode:

1. On the Output page, in the Ethernet category, choose EtherNet/IP as the protocol.

2. Choose Little Endian from the Byte Order dropdown box.

3. Make sure that Explicit Message Buffering is unchecked.

4. Check the Implicit Messaging option.

5. Set the Trigger Override dropdown to the type of implicit messaging you are using.
For cyclic messaging, set Trigger Override to Force Cyclic.
For change of state messaging, set Trigger Override to Force Change of State.
When you set up the PLC to communicate with a Gocator using change of state implicit messaging, an event
task must be created on the PLC to rapidly check whether the sensor is running; if the frame count

Gocator Line Profile Sensors: User Manual Integrations • 729

 increases, data is copied to an array. The event task period must allow the event task to be executed at a
higher rate than Gocator frame rate. For more information, see TBD.
Before setting up implicit messaging on the PLC, you must download the EDS file from the Gocator
sensor to the PC.

To download the EDS file:

1. Click Download EDS File to download the latest Gocator EDS file to the PC connected to the sensor.

2. Click Save to save the zipped folder to a convenient location.

3. Extract the zipped folder.

Gocator Line Profile Sensors: User Manual Integrations • 730

 Your unzipped folder will contain two files: a .eds file and a .ico file.

4. Make note of where you have extracted the EDS file.

Setting Up Implicit Messaging on the PLC

This section describes setting up implicit messaging on the PLC.

Install EDS File

1. If you haven’t already done so, download the EDS file from the Gocator sensor.
For more information, see To download the EDS file: on the previous page.

2. In Studio 5000, under the Tools menu, click EDS Hardware Installation Tool.

The EDS setup tool (the Rockwell Automation EDS Wizard) launches.

3. In the wizard, click Next.

Gocator Line Profile Sensors: User Manual Integrations • 731

4. Choose Register an EDS file(s) and click Next

5. Choose Register a single file and then click Browse.

Gocator Line Profile Sensors: User Manual Integrations • 732

6. Navigate to the unzipped .eds file you downloaded and unzipped, select it, and click Open.

7. Click Next.

Gocator Line Profile Sensors: User Manual Integrations • 733

8. If your EDS file has no errors or conflicts (a green checkmark is displayed next to the .eds file), click Next.

9. Verify that the tool automatically selects the LMI logo from the unzipped folder.
The .ico file contained in the zip folder you downloaded previously contains the logo.

10. If the tool does not automatically select the LMI logo, navigate to the file, select it, and then click Next.

Gocator Line Profile Sensors: User Manual Integrations • 734

 Proper icon selection is important, as this will make it easier for maintenance/future engineers to identify
the sensor product from a long list of connected devices in a PLC program.

11. Click Next.

12. Click Finish.

Gocator Line Profile Sensors: User Manual Integrations • 735

Add Gocator IO Device to PLC Program

1. Click the Who Active button to the right of the Path field.

2. Click Refresh in RSLinx the Who Active dialog to update your available devices.

Gocator Line Profile Sensors: User Manual Integrations • 736

3. In the tree structure, navigate to and select your PLC controller ethernet node.

4. If you do not see the Go Online option at this point, make sure that RSLinx has been started and is running
in the background on your setup PC.
Device discovery will not complete if RSLinx is not running.

5. Click Set Project Path.

Gocator Line Profile Sensors: User Manual Integrations • 737

 This will set your project path when you attempt to download to the PLC later.

6. Click X to exit your node setup.

7. In Studio 5000, verify that the path is updated to the IP address of your controller.

Gocator Line Profile Sensors: User Manual Integrations • 738

8. In the Controller Organizer, choose Ethernet under the IO Configuration node.

9. Right-click the Ethernet network node and click New Module.

Gocator Line Profile Sensors: User Manual Integrations • 739

10. Type “Gocator” into the search bar of the dialog that appears.

Gocator Line Profile Sensors: User Manual Integrations • 740

11. In the list under the search bar, select the new Gocator device file and click Create.

12. In the New Module dialog, in the Name field, give the new IO device a unique name.

Gocator Line Profile Sensors: User Manual Integrations • 741

13. Type in the static IP address of the first sensor that you are trying to set up, and then click OK.
The default IP address for all Gocator sensors from the factory is 192.168.1.10. You can verify the IP address
of the sensor by logging into the web user interface in a browser or by using the kDiscovery utility available
in the GoUtilities package available from LMI’s Download Center.

Gocator Line Profile Sensors: User Manual Integrations • 742

14. In your Program tree, verify that you now have a new IO device.
The naming format shown should be device devicename (i.e., GXXX Gocator1)

Gocator Line Profile Sensors: User Manual Integrations • 743

15. In the Select Module Type dialog, click Close.

Gocator Line Profile Sensors: User Manual Integrations • 744

16. In the Controller Organizer, under Data-Types, expand Module-Defined and verify that you have two new
data blocks.
These will correspond to the Input and Output data coming from and going to the Gocator, respectively, for
a Monitor Data and Control Data connection type.

When the Gocator is in Implicit Messaging mode, data will be streamed and stored in the Gocator1:I tag
when both the PLC is in Run mode and the Gocator is started. The tag address header is formatted as
devicename:I and/or devicename:O for inputs and outputs, respectively.
For the data format, see Implicit Messaging Output Assembly on page 726.
The EDS file now contains detailed tag descriptions as shown below that can be used directly in the PLC
program.

Gocator Line Profile Sensors: User Manual Integrations • 745

17. If you set the sensor to use change of state earlier (Trigger Override is set to Force Change of State in the
Output panel), perform the following additional steps.
a. In the RSLogix 5000 programming tool, create a new task with a 0.5 millisecond period and a 1.0
millisecond watchdog, and then click OK at the upper right.
A major fault alarm is triggered if the task does not finish execution within the watchdog time limit.

Gocator Line Profile Sensors: User Manual Integrations • 746

 Ladder logic is written to monitor the Gocator’s running state and store data into a FIFO (Ladder
Element FFL) array of the same data type.

b. Confirm that frames are properly stored in the stored array, without any repetition or dropped frames.
In this case, the Gocator frame count is stored in a user-defined array.

Gocator Line Profile Sensors: User Manual Integrations • 747

Using the Implicit Messaging Gocator Command Assembly
The Output Message format (from PLC to Gocator) is used to control the sensor through implicit
messaging. This message is sent continuously from the PLC to the Gocator at the user-requested
Request Packet Interval (RPI) on the PLC side. The default Gocator RPI is 10ms.

In PLC programming, the standard practice is to use bits instead of sending a value representing that
command, for example, start/stop bits. When using values, the PLC needs to add more code to convert it
to bits and vice versa.

Since the Gocator does not allow parallel commands, a priority scheme is needed to handle multiple
command bits being set at the same time. Only the bit with the highest priority will be accepted as the
command.

The total command message size is 32 bytes.

For information on the command assembly structure, see Implicit Messaging Command Assembly on
page 725.

It’s important to understand that because the Gocator is driven internally by its own clock, and because
users can configure the Gocator for any frame rate—independently of the RPI request configured on the
PLC—Cyclic implicit messaging can cause unnecessary data loss if the two clocks are not synchronized.
Using Change of State implicit messaging instead can overcome this issue. For instructions on how to set
up Change of State implicit messaging, see Setting Up Change of State Implicit Messaging.

The data block used to send control messages to the Gocator should have been set properly up in
Setting Up Implicit Messaging on the PLC on page 731. It will appear in the Gocator Module-Defined data
types as shown below:

Gocator Line Profile Sensors: User Manual Integrations • 748

Starting a Sensor
To start a sensor, do the following:

1. Make sure that you have downloaded your PLC program to the controller and that your controller is in Run
mode.
For information on downloading the the PLC program to the controller, see Install EDS File on page 731.

Gocator Line Profile Sensors: User Manual Integrations • 749

2. In the Controller Organizer, double-click Controller Tags to show them in the main screen

3. Click your Output data block to expand

4. Write the integer value 2 to the first byte named Command.

Gocator Line Profile Sensors: User Manual Integrations • 750

5. Go to a web browser and type in the sensor IP address to the URL bar. This should load the web GUI

6. Verify that the sensor started.

If the Run button is a red square, then the sensor was successfully started.

This process can be repeated to stop the sensor, clear alignment, start moving alignment, start stationary
alignment, or issue a software trigger by typing the proper integer value into the Command byte of the

Gocator Line Profile Sensors: User Manual Integrations • 751

Output assembly. For additional commands and control options, Implicit Messaging Command Assembly
on page 725, or refer to the provided sample Studio 5000 job file.

Loading a Sensor Job File

1. Make sure that you have downloaded your PLC program to the controller and that your controller is in Run
mode.
For information on downloading the the PLC program to the controller, see Install EDS File on page 731.

2. Double click Controller Tags to show them in the main screen

3. Click your Output data block to expand

4. If 1.job is the name of the job file to be loaded on the sensor and it is not currently running, type each of the
five characters making up the filename into the first five characters of the Reserved bytes of the Command
assembly.
The ASCII character inputs here are case sensitive and the extension, .job, must be included. All non-
jobname characters must be null or empty values. Changing the display option from Decimal (which is the
default) to ASCII can make this easier.

Gocator Line Profile Sensors: User Manual Integrations • 752

5. Then type the integer value 64 into the Command byte to transmit the job name for loading.

6. Go to a web browser and type in the sensor IP address to the URL bar

Gocator Line Profile Sensors: User Manual Integrations • 753

7. Once the web GUI loads, verify that the job was loaded on the Gocator by looking at the job name box

This process can be repeated to load runtime variables by typing the proper integer value into the
Command byte of the Output assembly after preloading the runtime variable values into four successive
bytes starting at byte 4 of the Reserved bytes. For additional commands and control options, Implicit
Messaging Command Assembly on page 725, or refer to the provided sample Studio 5000 job file.

Setting Up Explicit Messaging on the Gocator

To output in EtherNet/IP explicit messaging mode on the sensor, you configure the sensor using the
Protocol setting and the Configuration area on the Output page.

To configure the sensor for EtherNet/IP explicit messaging mode:

1. On the Output page, in the Ethernet category, choose EtherNet/IP as the protocol.

2. Choose Little Endian from the Byte Order dropdown box.

3. Check the Explicit Message Buffering option.

4. Make sure that Implicit Messaging is unchecked.

Reading Single Attribute on the PLC (Explicit Messaging)

This section shows how to read the serial number from a Gocator sensor, that is, attribute 6. (For more
on the Identity Object, see Identity Object (Class 0x01) on page 719.)

Gocator Line Profile Sensors: User Manual Integrations • 754

Before attempting to control and run the Gocator from the PLC, you should always verify the
connection first by reading an attribute from the Identity Object, for example the sensor’s serial number.
LMI recommends following the steps described in this section before trying to control the sensor.

To read the sensor's serial number:

1. In Studio 5000, in the Controller Organizer, expand Controller Tags by double-clicking it.

2. Right-click in the middle of the screen and choose New Tag from the context menu.

3. In the New Tag dialog, change the data type to MESSAGE.

This creates a block to store parameters for requesting data from the Gocator.

Gocator Line Profile Sensors: User Manual Integrations • 755

4. Name the tag and click Create to the right.

5. Right-click in the middle of the screen again and choose New Tag from the context menu.

6. Change the data type to DINT and name the tag.

Gocator Line Profile Sensors: User Manual Integrations • 756

 This will create a tag to store the serial number in. The type must match the data type of the attribute you
want to get. To determine the type of the attribute, see Identity Object (Class 0x01) on page 719.

7. In the ladder, navigate to the Input/Output function blocks and click MSG to add a Message function block.
You may need to add a new rung to allow this.

8. Once the new MSG function block has been added, click the tag dropdown and select the MSG tag you
created earlier.

9. Click the grey box to open the Configuration Dialog box.

Gocator Line Profile Sensors: User Manual Integrations • 757

10. Choose the Get Attribute Single function from the Service Type dropdown.
This will auto-populate the Service Code hex character.

11. Type 1 in Class, 1 in Instance, and 6 in Attribute.

These settings indicate that the sensor’s serial number will be retrieved.

Gocator Line Profile Sensors: User Manual Integrations • 758

12. Choose the DINT tag you created to store the serial number from the Destination Element dropdown.

13. On the Communication tab, click Browse.

14. In the Message Path Browser dialog, choose the EtherNet/IP Network node.
This will route communication messages to the EtherNet/IP network.

Gocator Line Profile Sensors: User Manual Integrations • 759

15. In Path, type the Ethernet port on the PLC that is physically connected to the Gocator, after the name in the
field.
Here, the port “2” is added.

16. In Path, type the IP address of the Gocator to complete the path.
Double-check that the network, port, and IP address are separated by commas in the form
“networkname,port,IPaddress”.

Gocator Line Profile Sensors: User Manual Integrations • 760

17. Click OK to exit the Message Path Browser dialog, and click OK again to exit the Message Configuration
dialog.

18. In the Controller Organizer, verify that the serial number is updated in the RetrievedSN tag by going to the
Controller Tags node.

To obtain a measurement result, use the procedure described above but change the messaging block
class to 4, the instance to 801, and the attribute to 3. The data storage location for this attribute will
have to be the proper type and length; for more information, see Sensor State Assembly on page 722.
You will now have to create ladder logic to copy the correct bits in the raw data stream into Controller
Tags holding the individual results. This can be done with the Bit Field Distribute (BTD) block. For

Setting Single Attribute to Gocator on the PLC (Explicit Messaging)

You use the Command assembly to do the following:

l Start a sensor
l Stop a sensor
l Align a sensor
l Clear sensor alignment
l Set a sensor’s runtime variables
l Load a job on a sensor
l Trigger a sensor

Gocator Line Profile Sensors: User Manual Integrations • 761

To see the information needed to properly configure the control byte, see Command Assembly on
page 720.

LMI recommends following the steps in To read the sensor's serial number: on page 755 to verify
the communication path and message block before attempting to control a sensor.

To set a single attribute to the sensor on the PLC, do the following:

1. In Studio 5000, in the Controller Organizer, expand Controller Tags by double-clicking it.

2. Right-click in the middle of the screen and select New Tag from the context menu.

3. Change the data type to MESSAGE.

Gocator Line Profile Sensors: User Manual Integrations • 762

4. Name the tag and click Create.

This creates a block to store parameters for sending data to the Gocator.

5. Right-click in the middle of the screen again and choose New Tag from the context menu.

Gocator Line Profile Sensors: User Manual Integrations • 763

6. Change the data type to SINT[32] and name the tag.

Gocator Line Profile Sensors: User Manual Integrations • 764

7. Set Style to one of the following:
If you will be loading job files on the Gocator over the protocol, change Style from the default to ASCII. This
will make editing the command assembly easier later.

If you will only be starting or stopping the sensor, leave Style at the default setting of Decimal.

Gocator Line Profile Sensors: User Manual Integrations • 765

8. Click Create.
This creates a tag to store the command data before sending it.

9. In the ladder, navigate to the Input/Output function blocks and click MSG to add a Message function block.
You may need to add a new rung to allow this.

10. Once the new MSG function block has been added, click the tag dropdown and select the MSG tag you
created earlier.

11. Click the grey box to open the Configuration Dialog box

12. In the Message Configuration dialog, choose the Set Attribute Single function from the Service Type
drop-down.
This will auto populate the Service Code hex character.

Gocator Line Profile Sensors: User Manual Integrations • 766

13. Enter 4 for Class, 784 for Instance, and 3 for Attribute to set the sensor’s command assembly.

14. Select the SINT[32] tag you created to store the command assembly from the Destination Element
dropdown

Gocator Line Profile Sensors: User Manual Integrations • 767

15. Make sure that the length is set to 32 bytes so that the entire command assembly is transmitted.
A partial transmission may result in an unexecuted command.

16. On the Communication tab, click Browse

Gocator Line Profile Sensors: User Manual Integrations • 768

17. Click the EtherNet/IP Network node.
This will route communication messages to the EtherNet/IP network.

18. Add the ethernet port that is physically connected to the Gocator.
This will add the specific port address to your communication path.

Gocator Line Profile Sensors: User Manual Integrations • 769

19. Type the IP address of the Gocator to complete the path.
It is important to double-check that the network, port, and IP address are separated by commas in the form
“networkname,port,IPaddress”.

20. Click OK.

21. Click OK to exit the Message Configuration dialog.

Gocator Line Profile Sensors: User Manual Integrations • 770

To start a sensor over explicit messaging, the Command assembly must be correctly modified for the
integer-based command byte.

1. Make sure that you have downloaded your PLC program to the controller and that your controller is in Run
Mode.

2. Expand Controller Tags by double-clicking it.

3. Expand the Command assembly tag.

Gocator Line Profile Sensors: User Manual Integrations • 771

 If you changed the formatting of the Command tag array to ASCII, then change the display of only the first
byte, Command[0], back to Decimal as the control command are sent as integer-based values.

4. Type the number 1 into the value field of Command[0].

5. Go to a web browser and type in the sensor IP address to the URL bar. This should load the web GUI

6. Verify that the sensor started.

If the Run button is a red square, then the sensor was successfully started.

Gocator Line Profile Sensors: User Manual Integrations • 772

Your ladder logic should only be able to edit the Command assembly 1 time. Since Explicit Message
Buffering is checked from the Gocator setup, multiple message transfers from improper ladder logic will
end up buffering on the Gocator side of the network. The only way to easily clear the messaging buffer is
to power cycle the sensor.

Loading a Sensor Job File

1. Make sure that you have downloaded your PLC program to the controller and that your controller is in Run
Mode

2. Expand Controller Tags by double-clicking it

3. Expand the Command assembly tag

Gocator Line Profile Sensors: User Manual Integrations • 773

 If you changed the formatting of the Command tag array to ASCII, then change the display of only the first
byte, Command[0], back to Decimal as the control command are sent as integer-based values.

4. If 1.job is the job file to be loaded on the sensor and it is not currently running, type each of the five
characters making up the filename into Command[1] through Command[5] of the Command assembly.
The ASCII character inputs here are case sensitive and the extension, .job, must be included. All non-
jobname characters must be null or empty values. If the style was changed to ASCII as the default during the
tag creation, this will be done already, and the alphanumeric characters can be directly typed into the value
column of the bytes.

Gocator Line Profile Sensors: User Manual Integrations • 774

5. Type the integer value 64 into the Command byte to transmit the job name for loading.

6. Go to a web browser and type in the sensor IP address to the URL bar.

7. Once the web GUI loads, verify that the job was loaded on the Gocator by looking at the job name box.

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Gocator Line Profile Sensors: User Manual Integrations • 776
PROFINET Protocol
PROFINET is an Industrial Ethernet network protocol that allows controllers such as PLCs to
communicate with sensors. Sensors are PROFINET IO devices with Conformance Class A.

The Gocator emulator and accelerator do not support the PROFINET protocol.

PROFINET is not supported on A and B revision Gocator 2100 and 2300 sensors.

This section describes the PROFINET modules that let a controller do the following:

l Switch jobs.
l Align and run sensors.
l Receive sensor states, stamps, and measurement results.
l Set and retrieve runtime variables.
To use the PROFINET protocol, it must be enabled and configured in the active job. For information on
configuring the protocol using the Web interface, see Ethernet Output on page 510.

The Gocator 4.x/5.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.

Control Module
The client sends the Control module to the sensor. The length of the Control module is 256 bytes.
Unused space is for future expansion.

Control Module Elements

Byte Index Type Description

0 Command Register Takes a 8-bit command as given in the table below.

1-64 Command Parameters. (Job For command 5, these registers contains the null terminated job file
filename in the case of name. The “.job” extension is optional.
command 5)

Command Definitions
Value Name Description

0 Stop running Stop the sensor. If already stopped, do nothing

1 Start Running Start the sensor. If already running, do nothing
2 Stationary Alignment Start the stationary alignment process. State register 301 will be set to 1
(busy) until the alignment process is complete, then back to zero.
3 Moving Alignment Start the moving alignment process. State register 301 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 Set bytes 1 - 64 for the null terminated file name, one file name character
per 8-bit register, including the null terminator character. The “.job”

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Value Name Description

extension is optional. If the extension is missing, it is automatically

appended to the file name.
6 Set Runtime Variables The runtime variables are expected to be sent in the Runtime Variables
module. The runtime variables are not included as part of the Control
module.

7 Software trigger Software trigger the sensor to capture one frame. The sensor must
already be running, in trigger mode “Software”. Otherwise, software
trigger has no effect.

Runtime Variables Module

The length of the Runtime Variables module is 16 bytes. The client sends the variables to the sensor in
big endian format.

Data
Byte Index Name Description
Type

0-3 Runtime 32s Stores the intended value of the Runtime Variable at index 0.
Variable 0
4-7 Runtime 32s Stores the intended value of the Runtime Variable at index 1.
Variable 1
8-11 Runtime 32s Stores the intended value of the Runtime Variable at index 2.
Variable 2
12-15 Runtime 32s Stores the intended value of the Runtime Variable at index 3.
Variable 3

State Module
The length of the State module is 116 bytes. The sensor sends the module to the client. The runtime
variables are received from the sensor in big endian format. The extra unused space is for future
expansion.

Data
Byte Index Name Description
Type

0 Sensor state 0= stopped, 1 = running

1 Command in 1 when the sensor is busy performing the last command, 0 when done.
progress Bytes 2, 19->83 below are only valid when there is no command in
progress
2 Alignment State 0 - not calibrated, 1 calibrated
(valid when byte 1 = 0)

3-10 Encoder 64s Encoder position

Position
11-18 Time 64s Timestamp
19 Current Job 8u Number of characters in the current job filename. (eg. 11 for “current.job”)
filename length (valid when byte 1 = 0)

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 Data
Byte Index Name Description
Type

20-83 Current job Name of currently loaded job, including extension. Each byte contains a
filename single character. Max 64 bytes.
(valid when byte 1 = 0)

84-87 Runtime 32s Runtime variable value at index 0

Variable 0
… …
96-99 Runtime 32s Runtime variable value at index 3
Variable 3

Stamp Module
The length of the Stamp module is 45 bytes. The sensor sends the module to the client. The extra
unused space is for future expansion.

Data
Byte Index Name Description
Type

0-1 Inputs 16u Digital input state of the last frame.

2-9 zPosition 64u Encoder position at time of last index pulse of the last frame.
10-13 Exposure 32u Laser exposure in µs of the last frame.
14-17 Temperature 32u Sensor temperature in degrees celsius * 100 (centidegrees) of the last
frame.
18-25 Encoder 64u Encoder position of the last frame when the image data was
Position scanned/taken.
26-33 Time 64u Time stamp in microseconds of the last frame.
34-41 Frame Count 64u The frame number of the last frame.

Measurements Module
The length of the Measurement module is 800 bytes. The sensor sends the module to the client. The
measurements and decisions are sent in big endian format only. Each measurement plus decision takes
5 bytes so this module can hold a maximum of 800/5 = 160 measurements + decisions.

Data
Byte Index Name Description
Type

0-3 Measurement 0 32s measurement value

(0x80000000 if invalid)

4 Decision 0 8u Measurement decision is a bit mask where:

Bit 0: 1 – Pass, 0 – Fail
Bits [1-7]:
0 – Measurement value OK

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 Data
Byte Index Name Description
Type

1 – Invalid Value
2 – Invalid Anchor

5-8 Measurement 1
9 Decision 1
... ...
795-798 Measurement
159
799 Decision 159

The byte mapping of each measurement/decision pair depends on its ID as specified in the
measurement interface. Each measurement will begin at byte (0 + 5*ID). For example, a
measurement with ID set to 4 can be read from bytes 20 (high byte) to 23 (low byte) and the
decision at 24.

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 can use polling. For more information on polling commands, see Polling Operation
Commands (Ethernet Only) on the next page.

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/5.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 510.

For information on configuring the protocol with the Web interface (when using the protocol over Serial),
see Serial Output on page 520.

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):

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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 sensor 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, ASCII communication uses the following connection settings:

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

A sensor 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
Command Channel on the next page).

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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 Channel on page 786 for more information.

The Health channel is used to receive health indicators (see Health Channel on page 788).

Command and Reply Format

Commands are sent from the client to the sensor. 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>

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

Command Channel
The following sections list the actions available on the command channel.

Optional parameters are shown in italic. The placeholder for data is surrounded by brackets (<>). In the
examples, the delimiter is set to ','.

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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:

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.

Formats
Message Format

Command Trigger

Reply OK or ERROR, <Error Message>

Examples:

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Command: Trigger
Reply: OK

LoadJob
The Load Job command switches the active sensor configuration.

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

Clear Alignment
The Clear Alignment command clears the alignment record generated by the alignment process.

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Formats
Message Format

Command ClearAlignment

Reply OK or ERROR, <Error Message>

Examples:

Command: ClearAlignment
Reply: OK

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

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

Reply If no arguments are specified

OK or ERROR, <Error Message>

Examples:

Command: StationaryAlignment
Reply: OK
Command: StationaryAlignment
Reply: ERROR,ALIGNMENT FAILED

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Set Runtime Variables
The Set Runtime Variables command sets the runtime variables, using the specified index, length, and
data. Values are integers.

Formats
Message Format

Command setvars,index,length,data

Where data is the delimited integer values to be set.

Reply OK or ERROR

Examples:

Command: setvars,0,4,1,2,3,4
Reply: OK

Get Runtime Variables

The Get Runtime Variables command gets the runtime variables, using the specified index and length.

Formats
Message Format

Command setvars,index,length

Reply OK,data

Where data is the delimited data for the passed length.

Examples:

Command: getvars,0,4
Reply: OK,1,2,3,4

Data Channel
The following sections list the actions available on the data channel.

Optional parameters are shown in italic. The placeholder for data is surrounded by brackets (<>). In the
examples, the delimiter is set to ','.

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>

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Message Format

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:

Standard data string for measurements ID 0 and 1:

Value,0,1

OK,M00,00,V151290,M01,01,V18520

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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

Health Channel
The following sections list the actions available on the health channel.

Optional parameters are shown in italic. The placeholder for data is surrounded by brackets (<>). In the
examples, the delimiter is set to ','.

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Health
The Health command retrieves health indicators. See Health Results on page 704 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

A sensor 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 tn , in , V vn , D d1 CR

Field Shorthand Length Description

MeasurementStart M 1 Start of measurement frame.

Type tn n Hexadecimal value that identifies the type of

measurement. The measurement type is the same
as defined elsewhere (see Data Results on
page 692).

Id in n Decimal value that represents the unique identifier

of the measurement.

ValueStart V 1 Start of measurement value.

Value vn n Measurement value, in decimal. The unit of the

value is measurement-specific.

DecisionStart D 1 Start of measurement decision.

Decision d1 1 Measurement decision,

a bit mask where:

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Field Shorthand Length Description

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 Name Explanation

%time Time Timestamp in microseconds of the last frame.

%encoder Encoder Position Encoder position of the last frame when the image data was
scanned/taken.

%frame Frame Index Frame number of the last frame.

%value[Measurement Value Measurement value of the specified measurement ID. The ID must
ID] correspond to an existing measurement.

The value output will be displayed as an integer in micrometers.

%decision Decision Measurement decision, where the selected measurement ID must

[Measurement ID] 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

C language printf-style formatting is also supported: for example, %sprintf[%09d, %value[0]]. This allows
fixed length formatting for easier input parsing in PLC and robot controller logic.

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Selcom Protocol
This section describes the Selcom serial protocol settings and message formats supported by sensors.

Gocator 2500 series sensors do not support the Selcom Serial Protocol.

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 520.

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 901 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 sensor'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)

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 12-bit data format (SLS mode; "SLS" in the web interface)

12-bit data format with Search/Track bit

14-bit data format

14-bit data format with Search/Track bit

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GenICam GenTL Driver
GenICam is an industry standard for controlling and acquiring data from an imaging device. Gocator
sensors support GenICam through a GenTL Producer driver.

The included GenTL driver allows GenICam-compliant third-party software applications such as Halcon
and Common Vision Blox to acquire and process 3D data and intensity generated from the sensor.

The following sensor scan modes are supported:

l Video

l Profile (with Uniform Spacing disabled). In this mode, the raw profiles are resampled and accu-
mulated into a surface.

l Surface (with Uniform Spacing enabled)

For more information on scan modes and uniform spacing, see Scan Modes on page 122.

To use these third-party software applications, you must configure a system variable so the
software can access the GenTL driver. For instructions, see To configure system variables to use
the driver in Windows 7, below.

To get the utilities package containing the driver (14405-x.x.x.x_SOFTWARE_GO_Utilities.zip), go to

http://lmi3d.com/support, choose your product from the Product Downloads section, and download it
from the Download Center.

After downloading the package and unzipping the file to a location you will remember, you will find the
driver in the GenTL\x86 or GenTL\x64 subfolder under Integration > GenTL (you can move the
GenTL folder to a more convenient location).

To configure system variables to use the driver in Windows 7:

1. From the Start menu, open the Control panel and then click System and Security.

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2. Click System.

3. Click Advanced System Settings.

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4. In the System Properties dialog, on the Advanced tab, click Environment Variables...

5. In the Environment Variables dialog, under the System variables list, click New.

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6. In the New System Variable dialog, enter the following information, depending on your system:

Variable name Variable value

32-bit system GENICAM_GENTL32_PATH The full path to the GenTL\x86 folder.

64-bit system GENICAM_GENTL64_PATH The full path to the GenTL\x64 folder.

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7. Click OK in the dialogs until they are all closed.
To work with the GenTL driver, the sensor must operate with the appropriate output enabled in the
Ethernet panel in the Output page. Check Acquire Intensity in the Scan Mode panel on the Scan
page and enable intensity output in the Ethernet panel if intensity data is required.

The GenTL driver packs the 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 needed to accommodate the sensor's field of view 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
pixel channel

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Channel Details

See Data Results on page 692 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
Y = Y offset + Py * Y resolution

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Rows Details

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 692 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)

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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 multiples 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

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Register
Name Read/Write Length (bytes) Description
Address

specified configuration.

320 Transformation RO 4 Return the sensor transformation X offset

X offset

324 Transformation RO 4 Return the sensor transformation Z offset

Z offset

328 Transformation RO 4 Return the sensor transformation angle

Angle

332 Transformation RO 4 Return the sensor transformation orientation

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. A sensor can use the included GenTL driver to stream 3D point clouds and
intensity data into Halcon in real-time.

The current GenTL driver does not support scanning in profile mode.

For information on setting up the GenTL driver, see GenICam GenTL Driver on page 793.

This section describes how to configure Halcon to acquire data from the 4.x firmware. You should be
familiar with the sensor's Surface mode. Before continuing, make sure Halcon is installed.

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Requirements
Sensor Laser profile sensor
Firmware Firmware 4.0.9.136 or later
Halcon Version 10.0 or later

Setting Up Halcon
Before using Halcon with a sensor, you must set up Halcon.

To set up Halcon:
1. Connect a 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 35 and Network Setup on page 49.

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 sensors, see Scan Setup and Alignment on page 121 and Models on
page 181.

6. Click the Output page icon.

7. On the Output page, enable the required surface under Data and choose Gocator in Protocol.

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 For more information on configuring Ethernet output, see Ethernet Output on page 510.

8. Make sure the sensor 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 sensor can't be detected.

12. Switch to the Connection tab.

If Halcon detects a sensor, the sensor's IP will be listed next to Device.

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13. In the Connection tab, set Color Space to RGB and Bit Depth to 16.

14. In the sensor's web interface, click the Snapshot button to trigger the output of a surface.

The output displays in the Halcon Graphics Window.

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 Halcon is now configured for use with the sensor.

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 GenTL driver packs the height map, intensity and stamp information into a 16-bit RGB image.
ParseData The function is used to extract data from the RGB image.
For details on how the information is packed in the data, see the sections under GenICam GenTL
Driver on page 793.
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.

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Procedures Description

Parameters (Output)
HeightMap : The height map image.
Intensity: The intensity image.
FrameCount: The number of frames.
Timestamp : The timestamp.
Encoder: The encoder position.
EncoderIndex: The last index of the encoder.
Inputs: The digital input states.
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. 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 sensor's web interface.
Each output is returned as decimal value.

Example
Go2GenTL_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
Go2GenTL_ResampleMode (AcqHandle, ResampleMode)

To set the resample mode, you must directly modify Go2GenTL.xml, which is
in the same directory as the sensor GenTL driver (Go2GenTL.cti).

Go2GenTL_ Returns the current live sensor job file name.

ConfigFileName
Parameters (Input)
AcqHandle: Acquisition handle created by open_framegrabber.

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Procedures Description

Parameters (Output)
ConfigFile: The name of the job file. The file name includes the extension .job.

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 job file. The file name should include the extension .job.

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 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 sensor GenTL driver (Go2GenTL.cti).

Go2GenTL_ Returns the real-world coordinates (X, Y, Z) of the part given the row and column position in the
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.

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Procedures Description

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), as an integer.

Example
Go2GenTL_SetExposure(AcqHandle, exposure)
set_ Generic Halcon function to set parameters on the scanner. Can be used to set scanner specific
framegrabber_ settings. For a complete list of settings that can be changed, see the SDK interface files. In the
param generic form:
set_framegrabber_param( AcqHandle, ‘Name’, ‘Value’)

Parameters (Input)
AcqHandle: Acquisition handle created by open_framegrabber.
Name: The name of the parameter to set on the scanner.
Value: 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’)

To set the Scan mode to HDR (1 = no HDR, 2 = HDR, 3 = Super HDR):

set_framegrabber_param( AcqHandle, ‘Dynamic’, ‘2’)

To set the brightness to ‘3’:

set_framegrabber_param( AcqHandle, ‘Exposure’, ‘3’)

To schedule a system to start in 1000000 ticks or microseconds (depends on current

domain unit):
set_framegrabber_param( AcqHandle, ‘XMLSetting’, ‘GenTL/System’)

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Procedures Description
set_framegrabber_param( AcqHandle, ‘XMLSetting’, ‘ScheduledStart=1’)
set_framegrabber_param( AcqHandle, ‘XMLSetting’, ‘000000’)
set_framegrabber_param( AcqHandle, ‘XMLSetting’, ‘’)

To schedule a sensor to start after a delay (ticks or microseconds), pass GenTL/Sensor in

the first call to set_framegrabber_param, followed by the remaining calls to the
function as described in the previous example:
set_framegrabber_param( AcqHandle, ‘XMLSetting’, ‘GenTL/Sensor’)

To clear data buffers::

set_framegrabber_param(AcqHandle,'XmlCommand','GenTL/ClearData\n')

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.

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After the example code is generated, you should add a catch instruction to bypass the acquisition
timeout event, and use the Go2GenTL_ParseData function to extract information from the returned
image.

An example, Continuous_Acq.hdev, is included in the Examples/Halcon directory.

MountainsMap Transfer Tool

The MountainsMap transfer tool (MMTransfer.exe) lets you trigger scans on a connected sensor. The
scan data is then automatically transferred to the MountainsMap component of the transfer tool. You
can then work on the scan data within the tool. For more information on the tool, see Using the
Mountains Map Transfer Tool on the next page.

MountainsMap must be installed and properly licensed on the PC.

The MountainsMap transfer tool is available in the utilities package (14405-x.x.x.x_SOFTWARE_GO_

Utilities.zip). To get the package, go to http://lmi3d.com/support, choose your product from the Product
Downloads section, and download it from the Download Center.

Configuring a Sensor to Work with the Transfer Tool

In order for scan data to be available for transfer, you must first configure the sensor.

To configure a sensor:
1. In the web interface, go to the Output tab.

2. In the Ethernet category, set Protocol to Gocator.

3. In the Data area of the panel, make sure a source for Surface data is checked under Surfaces.
By default, a source for Surface data is already selected.

4. (Optional) If you want to transfer intensity data, check a source for intensity data under Surface Intensities.

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 For intensity to be available, you must also check Acquire Intensity on the Scan page.

Using the Mountains Map Transfer Tool

The following graphic and table show the functionalities available in the tool:

Element Description

1 Sensor selector Lets you choose among connected sensors.

2 Receiving timeout The number of seconds the transfer tool will wait to receive data from the sensor before
timing out.

3 MountainsMap After the data transfers from the sensor to the tool, you can edit it directly in the transfer
component tool.

4 Status bar Indicates whether the tool is connected to a sensor, and so on.

5 Show/hide log file Toggles display of the log file. Useful for diagnosing connection and scan issues.

6 Hide command bar Toggles display of the command bar at the top of the tool.

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 Element Description

7 Use accelerator Attempts to accelerate the sensor chosen in the sensor selector drop-down.

In order for the tool to accelerate the sensor, the sensor's firmware must
match the Gocator SDK version indicated on the tool's title bar. If these
versions do not match, the tool will not be able to accelerate the sensor.
In this case, you can accelerate the sensor using the standalone
accelerator application or an SDK-based application.

8 Snapshot button Causes the connected sensor to take a snapshot. The data is then transferred to the tool. If
the tool does not receive the data before the delay specified in Receiving timeout, the
transfer fails.

To use the transfer tool:

1. Make sure the sensor you wish to work with is configured properly.
See Configuring a Sensor to Work with the Transfer Tool on page 810.

2. (Optional) Modify the timeout or check the Use accelerator option.

See the table above for more information.

3. Click the Snapshot button or press F2.

The sensor takes a snapshot, and the scan data transfers to the tool.

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Development Kits

These sections describe the following development kits:

l Software Development Kit (GoSDK)

l Gocator Development Kit (GDK)

GoSDK
The Gocator Software Development Kit (GoSDK) includes open-source software libraries and
documentation that can be used to programmatically access and control Gocator sensors. To get the
latest version of the Gocator SDK package, go to http://lmi3d.com/support, choose your product from
the Product Downloads section, and download it from the Download Center.

For information on the ports the SDK uses (for example, in order to ensure ports are not blocked over
your network), see Required Ports on page 56.

If you switch jobs or make changes to a job using the SDK or a protocol (from a PLC), the switch
or changes are not automatically displayed in the web interface: you must refresh the browser
to see these.

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 sensor firmware if the
major version numbers of the protocols match. For example, an application compiled with version 5.0 of
the SDK (which uses protocol version 5.0) will be compatible with a sensor running firmware version 5.1
(which uses protocol version 5.1). However, any new features in firmware version 5.1 would not be
available.

Applications compiled using SDK version 4.x are compatible with sensors running firware 5.x.

Applications compiled using SDK version 3.x are not compatible with sensors running firmware 4.x. In
this case, you must rewrite the application with the SDK version corresponding to the sensor firmware in
use.

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For more information about programming with the SDK, refer to the class reference and sample
programs included in the SDK.

Setup and Locations

Class Reference
The full GoSDK class reference is found by accessing the following file:

14400-x.x.x.xx_SOFTWARE_GO_SDK\GO_SDK\doc\GoSdk\Gocator_2x00\GoSdk.html

Examples
Examples showing how to perform various operations are provided, each one targeting a specific area.
For Visual Studio, the examples can be found in solution files specific to different versions of Visual
Studio. For example, GoSdk-2017.sln is for use with Visual Studio 2017. A make file for Linux systems is
also provided.

To compile the examples in Visual Studio, you may be need to retarget the solution to the
installed Windows SDK version. You can do this through the Retarget solution option in the
solution context menu.

To run the GoSDK examples, make sure the required DLLs are copied beside the executable. In most
cases only GoSDK.dll and kApi.dll are required, but with .NET and the accelerator additional DLLs are
needed. Please refer to the SDK samples to see which DLLs are required.

Example Project Environment Variable

All GoSDK example 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.

Functional Hierarchy of Classes
This section describes the functional hierarchy of the classes in the Gocator SDK ("GoSDK"). In the
following diagram, classes higher in the hierarchy often provide resources for classes lower in the
hierarchy, and for this reason should be instantiated earlier in a client application.

Gocator Line Profile Sensors: User Manual Development Kits • 814

GoSystem
The GoSystem class is the top-level class in the SDK. 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 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.

Gocator Line Profile Sensors: User Manual Development Kits • 815

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.

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.

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Data Type Description

GoBoundingBoxMatchMsg Represents a message containing bounding box based part matching results.

GoDataMsg Represents a base message sourced from the data channel. See GoDataSet Type
below 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.

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 814 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.

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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 page 816 for
more information on value types.

The following table lists the decisions that can be returned.

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

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 See Setup and Locations on page 814 for more information on the code samples referenced
below.

Sensors must be connected before the system can enable the data channel.

All GoSDK 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.

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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 Functional Hierarchy of Classes on page 814 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.

Enable Data Channels

Use GoSystem_EnableData to enable the data 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 API

#include <GoSdk/GoSdk.h>

void main()
{
kIpAddress ipAddress;

Gocator Line Profile Sensors: User Manual Development Kits • 820

 GoSystem system = kNULL;
GoSensor sensor = kNULL;
GoSetup setup = kNULL;

//Construct the GoSdk library.

GoSdk_Construct(&api);

//Construct a sensor 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

//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);

Gocator Line Profile Sensors: User Manual Development Kits • 821

}

Limiting Flash Memory Write Operations

Several operations and Gocator SDK functions write to the sensor'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 sensor's flash memory when you design your system with the SDK.

Power loss during flash memory write operation will also cause sensors to enter rescue mode.

This topic applies to all Gocator sensors.

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.

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 Line Profile Sensors: User Manual Development Kits • 822

GDK

The Gocator Development Kit (GDK) is a framework for developing and testing custom Gocator tools
containing your own algorithms, and then deploying them to Gocator sensors.

Custom tools created with the GDK act much like native Gocator data output tools (providing
measurements, geometric features, data and generic outputs) with support for multiple input
parameters), running at native speeds and taking advantage of features such as anchoring. The
GDK supports all data types, and tools created with the GDK use the same data visualization as native
tools.

Benefits
When you use the GDK to create custom measurement tools, you have complete control over how and
where your custom measurement tools can be used, which protects your intellectual property.

You can also easily troubleshoot and modify your tools on-site, letting you respond quickly to your
customers' urgent issues.

Supported Sensors
The GDK is available for free for the following Gocator sensors:

Gocator Line Profile Sensors: User Manual 823

 l Gocator 1300 series
l Gocator 2100 series
l Gocator 2300 series
l Gocator 2400 series
l Gocator 2500 series
l Gocator 2880
l Gocator 3210 and Gocator 3500 series

Typical Workflow
The following is the typical workflow for creating and deploying custom measurement tools:

l Develop and build tools using the GDK project files and libraries in Microsoft Visual Studio, targeting
Win32.

l Debug the tools using the emulator on a PC.

l Build the tools into a custom firmware binary.

l Upload the custom firmware to a sensor.

Installation and Class Reference

The GDK project and library files are in the GDK package (14524-x.x.x.xx_SOFTWARE_GDK.zip). To
download the package, go to http://lmi3d.com/support, choose your product from the Product
Downloads section, and download it from the Download Center.

After downloading the package, extract the package to a directory.

You can access full installation and setup instructions, as well as the complete class reference
documentation, by double-clicking the Guide shortcut under the root directory.

Required Tools
The GDK requires Microsoft Visual Studio 2017, as well as various other tools provided in the
GDK Prerequisites package (14525_x.x.x.x_SOFTWARE_GDK_Prerequisites.zip). This package is
available in LMI's Downloads Center (see above for download location).

Getting Started with the Example Code

The best way to get started is with the GDK sample code. You can find the sample projects under
Gocator\GDKSampleApp. This project is ready for you to build and use as a template for new projects.

Start by opening GDK.sln in Visual Studio 2017.

Gocator Line Profile Sensors: User Manual • 824

Building the Sample Code
You can build the sample code for working with either the emulator or a sensor. To do this, choose the
target and then build the solution.

The following targets are available:

l Win32/x64 for debugging code and emulating a sensor to test tools (on a PC)
l Arm7 for building for Gocator 2300C and 2400 series sensors
l C64x for Gocator 1300, 2300A, 2300B, 3210, and 3506 series sensors
The Win32 target supports Debug and Release builds. The Arm7 and C64x targets (sensors) only the
support Release builds.

Tool Registration
For a tool to be available to a user in the sensor web interface, you must add it to the project assembly in
Asm.c.

#include <GdkSampleApp/Asm.h>
#include <GdkSampleApp/TestProfileSelect.h>
#include <GdkSampleApp/TestSurfaceSelect.h>
#include <GdkSampleApp/TestSurfaceConfiguration.h>
#include <GdkSampleApp/TestSurfaceGraphics.h>
#include <Gdk/GdkLib.h>
#include <GoSensor/Version.h>
#include <GoSensorAppLib/GsaDef.h>
#include <GoSensorAppLib/GsaAsm.h>

kBeginAssembly(Tool, ToolAsm, TOOL_VERSION, GOCATOR_VERSION)

kAddDependency(GdkLib)
kAddType(TestProfileSelect)
kAddType(TestSurfaceSelect)
kAddType(TestSurfaceConfiguration)
kAddType(TestSurfaceGraphics)
kEndAssembly()

You can add multiple tools in a GDK project. As seen above, TestProfileSelect,
TestSurfaceSelect, TestSurfaceConfiguration, etc. will be available for users from the drop-
down menu in the Tools panel in sensor's web interface.

Gocator Line Profile Sensors: User Manual • 825

Tool Definitions
You must add standard entry functions (methods) for each tool. The class table declares the entry
functions:

kBeginClass(Tool, TestTool, GdkTool)

kAddVMethod(TestTool, kObject, VRelease)
kAddVMethod(TestTool, GdkTool, VInit)
kAddVMethod(TestTool, GdkTool, VName)
kAddVMethod(TestTool, GdkTool, VDescribe)
kAddVMethod(TestTool, GdkTool, VNewToolConfigInstanced)
kAddVMethod(TestTool, GdkTool, VNewMeasurementConfigInstanced)
kAddVMethod(TestTool, GdkTool, VUpdateConfigInstanced)
kAddVMethod(TestTool, GdkTool, VNewFeatureConfigInstanced)
kAddVMethod(TestTool, GdkTool, VNewToolDataOutputConfigInstanced)
kAddVMethod(TestTool, GdkTool, VIsVisible)
kAddVMethod(TestTool, GdkTool, VCalcDataOutputRegionInstanced)
kAddVMethod(TestTool, GdkTool, VStart)
kAddVMethod(TestTool, GdkTool, VStop)
kAddVMethod(TestTool, GdkTool, VProcess)
kEndClass()

ToolFx (kStatus) TestTool_VDescribe(GdkToolInfo toolInfo)

{
GdkMeasurementInfo mmt;
GdkParamsInfo params;
GdkParamInfo paramInfo;

kCheck(GdkToolInfo_SetTypeName(toolInfo, TEST_PROFILE_SELECT_TOOL_NAME));
kCheck(GdkToolInfo_SetLabel(toolInfo, TEST_PROFILE_SELECT_TOOL_LABEL));

kCheck(GdkToolInfo_SetSourceType(toolInfo, GDK_DATA_TYPE_UNIFORM_PROFILE));

...

The function <Tool Name>_VDescribe describes the tool and its basic configuration. This function is
called during sensor start-up. For more information on entry functions, see Entry Functions below.

Make sure the VDescribe function for each tool is properly formed. Significant issues with this
function (for example, overwriting memory) could prevent the sensor from starting.

You should use the emulator to debug tools before deploying tools to sensors.

Entry Functions
The following table describes the main entry functions.

Function Description

VDescribe Defines the tool's name, data types, acceptable source options, configuration
parameters, and at least one measurement.

VStart Called when the sensor starts running (that is, the user clicks the Run button). The
function gets parameters from GtTool. You typically allocate memory in this function.

VProcess Called every time data is received while the sensor is running.

Gocator Line Profile Sensors: User Manual • 826

Function Description

VStop Called when the user clicks the Stop button.

The TestSurfaceConfiguration example shows how to create and modify parameters based on
other user settings.

For full descriptions of these functions, see the GDK class reference documentation (see Installation and
Class Reference on page 824 for information on installing the documentation).

Parameter Configurations
Each tool has two levels of parameters: tool parameters and measurement parameters.

A tool can contain multiple measurements. In the image above, the Groove tool contains four
measurements: X, Z, Width, and Depth. Each tool has one set of tool parameters and each measurement
in a tool has one set of measurement parameters.

The following table lists the functions that provide advanced or interactive control for setting up tool
and measurement parameters:

Function Description

VNewToolConfig Advanced method for setting default values of tool parameters based on the current
sensor configuration (for example, active area). Called when a new tool is added in the
interface.

Gocator Line Profile Sensors: User Manual • 827

Function Description

VNewMeasurementConfig Advanced method for setting default values of measurement parameters based on the
current sensor configurations (for example, active area). Called when measurements in
a tool is are added in the interface.

VUpdateConfig Advanced method for updating the configuration based on parameters set by users.

For full descriptions of these functions, see the GDK class reference documentation (see Installation and
Class Reference on page 824 for information on installing the documentation).

Graphics Visualization
The GdkGraphic function supports points and lines.

Point graphics

Gocator Line Profile Sensors: User Manual • 828

 Line graphics

To create graphics:
1. Use GdkGraphic_Construct to create a graphic object.

2. Use GdkGraphicPointSet_Construct to create points or GdkGraphicLineSet_Construct to create

lines.

3. Add the points and lines to the graphic object using GdkGraphic_AddPointSet and GdkGraphic_
AddLineSet.

4. Output using GdkToolOutput_SetRendering.

The following illustrates the process:

kTest(GdkGraphic_Construct(&graphic, kObject_Alloc(tool)));

kTest(GdkGraphicPointSet_Construct(&pointSet, 4.0, kMARKER_SHAPE_CROSS, kCOLOR_LIME,

&point32f, 1, kObject_Alloc(tool)));

kTest(GdkGraphic_AddPointSet(graphic, pointSet));

kTest(GdkToolOutput_SetRendering(output, measurementIndex, graphic));

The GDK example TestSurfaceGraphics shows how to use the graphics functions.

Gocator Line Profile Sensors: User Manual • 829

 Graphic functions take an array of kPoint3d32f. It does NOT accept kPoint3d64f.

Debugging Your Tools

We highly recommend using the emulator to debug tools you create with the GDK. By using a sensor
support file and previously recorded scan data, downloaded from a physical sensor, you can completely
simulate standalone and multi-sensor configurations on a PC to test your tools.

To debug your tools in the emulator:

1. Compile your code using the Win32 target (Debug or Release).

2. In the output directory, rename the DLL with the same name as your project to GdkApp.dll.
For example, if your project is called MyGDKTools, the resulting DLL should be called MyGDKTools.dll. You
rename this DLL to GdkApp.dll.
The output directories are as follows:
Release: win32
Debug: win32d

3. Launch the emulator from same output directory as in step 2.

4. In the emulator, choose a scenario and start it.

5. In Visual Studio, attach the debugger to the kFramework.exe process.

Gocator Line Profile Sensors: User Manual • 830

 kFramework.exe is only loaded after a user selects a scenario and starts the emulator
session.

Debugging Entry Functions

VStart, VProcess, and VStop are called whenever a data record is played back in the emulator (that is,
when a user clicks on the Next button or types the frame number in the frame field) with at least one
tool instance. For more information on playback controls, see Recording, Playback, and Measurement
Simulation in the Gocator user manual.

VDescribe however is called when the DLL loads, before the debugger can attach to the
kFramework.exe process. To debug VDescribe, we recommend testing the function calls by putting
them in VInit.

For information on building targets for testing in the emulator, see the GDK class reference
documentation.

Tips
The following sections provide useful information for creating custom measurement tools.

Backward Compatibility with Older Versions of Tools

When loading a recording or job file that contains a custom measurement tool, the parameters in the
loaded recording or job file must match those in the firmware.

By default, if declared parameters are missing from the configuration, a job file or a recording will fail to
load.

There are two ways to provide backward compatibility with older parameter sets.

Define new parameters as optional

Mark a parameter as optional with the function GdkParamInfo_SetIsOptional. When a parameter is
marked as optional, parameter parsing functions succeed even if the parameter is missing from the
configuration. The missing parameter is initialized with default value.

Configuration Versioning
Over the lifetime of a tool, you may need to make changes to its interface (for example, changing or
removing parameters). The user-defined aspects of a tool interface—its parameters and

Gocator Line Profile Sensors: User Manual • 831

measurements—are captured by GDKToolVersionInfo objects.

By default, a tool has just one version (GdkToolInfo_FirstVersion), but more versions may be
added using GdkToolInfo_AddVersion. Whenever the interface of a tool has changed, a new version
can be registered so that the new interface can be correctly parsed by the framework.

When the configuration of a tool instance is saved, the version used at the time is also saved. This saved
version is used by the framework to parse the configuration. If a version is not defined by the firmware
implementation, then that tool instance will not be active.

During run-time, you can query the version of the configuration of a tool instance by using
GdkToolCfg_Version. You can then interpret the parameters depending on the version the
configuration is saved in.

GdkFx(kStatus) GdkExampleTool_VDescribe(GdkToolInfo info)

{
kCheck(GdkToolInfo_SetLabel(info, "Example"));

kCheck(GdkToolInfo_SetSourceType(info, GDK_DATA_TYPE_UNIFORM_PROFILE));
kCheck(GdkToolInfo_AddSourceOption(info, GDK_DATA_SOURCE_TOP));

kCheck(GdkExampleTool_DescribeV0(info));
kCheck(GdkExampleTool_DescribeV1(info));

kCheck(GdkToolInfo_SetDefaultVersion(info, GdkToolInfo_VersionAt(info, 1)));

return kOK;
}

GdkFx(kStatus) GdkExampleTool_DescribeV0(GdkToolInfo info)

{
kCheck(GdkParamsInfo_Add(GdkToolInfo_Params(info), "RefRegion", GDK_PARAM_TYPE_PROFILE_
REGION, "Ref Region", kNULL));
kCheck(GdkParamsInfo_Add(GdkToolInfo_Params(info), "Region", GDK_PARAM_TYPE_PROFILE_
REGION, "Region", kNULL));
kCheck(GdkToolInfo_SetFirstVersionName(info, ""));

return kOK;
}

GdkFx(kStatus) GdkExampleTool_DescribeV1(GdkToolInfo info)

{
GdkToolVersionInfo versionInfo;

// Auto-version

kCheck(GdkToolInfo_AddVersion(info, kNULL, &versionInfo));

kCheck(GdkToolVersionInfo_UseBase(versionInfo, GdkToolInfo_FirstVersion(info)));
kCheck(GdkParamsInfo_AddFloat(GdkToolVersionInfo_Params(versionInfo), "BaseScale",
kNULL, 2.0, kNULL));

return kOK;
}

Gocator Line Profile Sensors: User Manual • 832

Adding a new measurement does not require special handling. The new measurement is just not
instantiated in a previous configuration.

Version
You can define the version number of your tools in Asm.x.h.

#define TOOL_VERSION kVersion_Stringify_(1, 0, 0, 23)

The version is displayed on the Manage page, in the Support category.

Common Programming Operations

The following sections describe common programming operations.

Input Data Objects

The VProcess function receives a GdkToolInput object as input. This object is a container where the
information and actual data of the received input is stored.

GdkInputItem item = GdkToolInput_Find(input, obj->dataSource);

GdkDataInfo itemInfo = GdkInputItem_Info(item);

The GdkToolInput_Find and GdkInputItem_Info functions are used to extract the item and info
objects. These objects can then be used to retrieve the input data and information (for example, offset
and resolution) associated to the input. The following are some examples:

Computing actual height information using offset and scale

Gocator Line Profile Sensors: User Manual • 833

k64f height = rangeSrc[index] * scale->z + offset->z;

Extracting height information from profiles and surfaces.

The TestProfileSelect and TestSurfaceSelect examples show how to perform these

operations.

Setup and Region Info during Tool Initialization

Memory allocation is often done in the VInit or VStart function. To retrieve sensor and data
information such as active area settings and data scale outside of VProcess, you can use the following
function:

GdkDataInfo info = GdkSensorInfo_DataSource(GdkTool_SensorInfo(tool), GDK_DATA_SOURCE_

TOP);

Computing Region Based on the Offset from an Anchor Source

Just like built-in measurement tools, custom tools created with the GDK can be anchored to another tool
(GDK-based tools or built-in tools).

To compute the offset region:

TestToolClass* obj = TestTool_Cast_(tool);

GdkParams params = GdkToolCfg_Parameters(config);
const kPoint3d64f* anchor = GdkToolInput_AnchorPosition(input);
GdkRegionXZ64f offsetRegion = { k64F_NULL, k64F_NULL, k64F_NULL, k64F_NULL };

param = GdkParams_Find(params, "Region");

obj->region = *GdkParam_AsProfileRegion(param);

offsetRegion = obj->region;
offsetRegion.x += anchor->x;
offsetRegion.z += anchor->z;

In the code above, we first retrieve the tool’s region settings (before anchoring is applied), and then
adjust the region based on the results from the anchored source in VProcess. If the anchored source
fails, the tools will not be invoked.

The TestProfileSelect and TestSurfaceSelect examples show how to extract height

information from anchored regions.

For more information on anchoring, see Measurement Anchoring in the Gocator user manual.

Part Matching
When part matching is enabled, the tool receives translated and corrected surface data. If part matching
fails for the current scan (for example, the quality score is too low), the tools will not be invoked.

For more information on part matching, see Part Matching in the user manual.

Accessing Sensor Local Storage

You can access a sensor's local storage by using the kFile API.

For example, to read and write a file to a sensor's storage, you could use the following:

Gocator Line Profile Sensors: User Manual • 834

#include <kApi/Io/kFile.h>

ToolFx(kStatus) TestTool_VStart(TestTool tool)

{
…

kFile_Save("test.txt", stringBuf, (kSize) 1024);

kFile_Load("test.txt", stringBuf, &bufLen, kNULL);

Print Output
In the emulator, you can send output to Visual Studio or to programs such as DebugView by using the
OutputDebugString function.

GtsFx(kStatus) TestTool_Trace(const kChar* format, ...)

{
kStatus status = kOK;
kChar debugLine[256];

kVarArgList argList;
kVarArgList_Start_(argList, format);
{
status = kStrPrintvf(debugLine, 256, format, argList);
}
kVarArgList_End_(argList);
OutputDebugStringA(debugLine);
return status;
}

OutputDebugString is NOT supported on sensor targets. Use #ifdef to comment out the code
when compiling against sensor targets.

Gocator Line Profile Sensors: User Manual • 835

Tools

The following sections describe some of the tools provided with a Gocator sensor, as well as the
CSV format that a sensor can export. For information on the integrations available with a sensor, see
Integrations on page 647.

l Sensor Discovery Tool: Used to find sensors on a network. See Sensor Discovery Tool below.

l CSV Converter Tool: Used to convert CSV data exported from a sensor to several formats. See CSV
Converter Tool on the next page.

l Bandwidth Tool: Use this tool to diagnose bandwidth-related issues.

Sensor Discovery 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 the Sensor Discovery software tool. This tool
can be obtained from the downloads area of the LMI Technologies website: http://www.lmi3D.com.

After downloading the utility package [14405-x.x.x.x_SOFTWARE_GO_Utilities.zip], unzip the file and run
the Sensor Discovery Tool [Tools > Discovery > 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. Select the Custom option.

2. Enter the new network address information.

3. Click Set Address.

Gocator Line Profile Sensors: User Manual 836

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.

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.

CSV Converter Tool

The CSV Converter tool lets you convert data exported from a Gocator sensor in the CSV format to
several formats (see table below). For more information on exporting recorded data, see Downloading,
Uploading, and Exporting Replay Data on page 92.

For information on the CSV file format that the sensor exports, see the next section.

The tool supports data exported from Profile or Surface mode.

To get the utility package (), go to http://lmi3d.com/support, choose your product from the Product
Downloads section, and download it from the Download Center.

After downloading the tool package, unzip the file and run the Gocator CSV Converter tool [Tools
> CSV Converter > kCsvConverter.exe].

The tool supports the following output formats:

Output formats
Format Description

ASCII (XYZI) Comma-separated points in X, Y, Z, Intensity (if available)

format.

16-bit BMP Heightmap with 16bit height values in a 5-5-5 RGB image.
Not intended for visualization.

Gocator Line Profile Sensors: User Manual Tools • 837

Format Description

16-bit TIFF Heightmap as grayscale image.

16-bit PNG Heightmap as grayscale image.

GenTL RGB For more information, see 16-bit RGB Image on page 797

GenTL Mono For more information, see 16-bit Grey Scale Image on

page 798.

Raw CSV LMI Gocator CSV format for a single frame.

HexSight HIG LMI HexSight heightmap.

STL ASCII Mesh in standard STL text format (can become very large).

STL Binary Mesh in binary STL format.

Wavefront OBJ Mesh with comma-separated vertices and facets in text

format.

ODSCAD OMC ODSCAD heightmap.

MountainsMap SUR DigitalSurf MountainsMap heightmap.

24-bit Spectrum Color spectrum bitmap for visualization of heightmap.

Does not contain height values.

With some formats, one or more of the following options are available:

Output options
Option Description

Scale Z Resamples the Z values to use the full value range.

Swap X/Y Swaps the X and Y axes to obtain a right-handed

coordinate system.

Keep Aspect Ratio Resamples the X and Y axes to obtain the proper aspect
ratio.

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 (GenICam GenTL Driver on
page 793). 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 in the CSV field.

2. (Optional) 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, choose the source sensor next to Image.

4. Select the output format.

For more information on output formats, see Output formats on the previous page.

Gocator Line Profile Sensors: User Manual Tools • 838

5. (Optional) Set the Scale Z, Swap X/Y, and Keep Aspect Ratio options.
Availability of these options depends on the output format you have chosen. For more information, see
Output options on the previous page.

6. Click Convert.
The converter converts the input files.
The converted file will be in the same directory as the input file. It will also have the same name as the
input file but with a different file extension. The converted file name is displayed in the Output File
field.

CSV File Format

The CSV Converter tool can convert from the CSV format that a sensor can export to several other
formats. If you want to work with the exported file directly, use the following information.

An exported CSV file contains a series of "sections." Each section begins with a row containing the name
of the section, and ends with a row containing the string "End." An empty line separates each section.

Each section usually contains one or more subsections. Each subsection has a header row containing a
list of field names, followed by one or more rows of data. There is usually no empty line between the
subsections.

Other structures within sections are possible.

Example:

Info
CSV Version,Sensor Count,Trigger Mode,...
2,1,0,32000.00000,...
End

DeviceInfo
ID,Model,Version,...
13434,311320-2M-01,4.8.2.29,...
End

Ranges
...
End
Usually all available data in the recording buffer is exported. The exceptions are Surface and
SurfacePointCloud. For these sections, only the currently selected frame is exported.

Info
This section contains basic system information. It has one header row and one value row. The fields are
described below:

Gocator Line Profile Sensors: User Manual Tools • 839

Info Fields
Field Description

CSV Version Version of the CSV file format.

Sensor Count Number of sensors in the system.
Trigger Mode Trigger source:
0 – Time
1 – Encoder
2 – Digital input
3 – Software

Trigger Rate Frame rate for time trigger (Hz).

Trigger Delay Domain Output delay domain:
0 – Time (µs)
1 – Encoder (mm)

Trigger Delay Output delay (µs or mm, depending on delay domain defined above).
Operation Mode The scan mode.
XResolution System X resolution (mm).
YResolution System Y resolution (mm).
ZResolution System Z resolution (mm).
Yspeed Y Speed (mm/s).
Layout Sensor orientation:
0 – Normal (single-sensor system) / Wide (dual-sensor system)
1 – Opposite
2 – Reverse
3 – Grid

DeviceInfo
This section contains information about each device in the system. There is one header row, and one
value row per device.

DeviceInfo Fields
Field Description

ID Device serial number

Model Device part number
Version Firmware version
Exposure Mode Exposure mode:
0 – Single exposure
1 – Multiple exposures
2 – Dynamic exposure

Exposure 0 through Exposure 4 Multiple exposures

Gocator Line Profile Sensors: User Manual Tools • 840

Field Description

Exposure Min Dynamic exposure min

Exposure Max Dynamic exposure max
FOV X Active area X
FOV Y Active area Y
FOV Z Active area Z
FOV Width Active area width
FOV Height Active area length (Y). (Note difference in terminology.)
FOV Depth Active area height (Z). (Note difference in terminology.)
Transform X Transform X offset (mm)
Transform Y Transform Y offset (mm)
Transform Z Transform Z offset (mm)
Transform X Angle Transform X Angle (degrees)
Transform Y Angle Transform Y angle (degrees)
Transform Z Angle Transform Z angle (degrees)

RecordingFilter
This section lists the filters used during recording. Unlike the other sections, it contains multiple sub-
sections within, separated by spaces (but not the “End” keyword).

Example:

RecordingFilter
Section1 Param 1, Section1 Param2
value, value
Section2 Param 1
value
Section3 Param1, Section3 Param2
value
End
Each section will be described by a separate table below. They appear in the same order as documented.

RecordingFilter Fields
Field Description

Condition Combination Type Any or All

"Any Measurement" Filter Fields

Field Description

Type Any Measurement

Enabled Whether or not is enabled. Yes/No
Result Accepted result type: Pass/Fail/Invalid/Valid

Gocator Line Profile Sensors: User Manual Tools • 841

"Any Data" Filter Fields
Field Description

Type Any Data

Enabled Whether or not is enabled: Yes/No
Threshold Case How to threshold: At or Above, or Below
Range Count Threshold Threshold value (point count)

"Measurement" Filter Fields

Field Description

Type Measurement
Enabled Whether or not is enabled: Yes/No
Result Accepted result type: Pass/Fail/Invalid/Valid
Selection ID First measurement ID

Ranges
This section describes single-point range data. It has two sub-sections: attributes and data.

The attribute section has only one row of data

Attribute Section Fields

Field Description

Frame Count Total number of frames

X Offset X offset (mm)
Y Offset Y offset (mm)
Z Offset Z offset (mm)

The data section has one or more rows of data per frame (for example, range and intensity).

Data Section Fields

Field Description

Frame Frame index

Source Source (for example, 0 for Top)
Time Stamp time
Encoder Stamp encoder
Z Encoder Stamp encoder Z
Inputs Stamp inputs
Exposure Stamp exposure (us)
Y Y value (mm)
Axis Axis: Z (range) or I (Intensity)
Value Range value (mm) or intensity (count)

Profile
This section describes uniform (or resampled) profile data, which is produced when the sensor is in

Gocator Line Profile Sensors: User Manual Tools • 842

Profile mode and uniform spacing is enabled. It has two sub-sections: attributes and data.

The attribute section has only one row of data.

Attribute Section Fields

Field Description

Frame Count Total number of frames

Column Count Number of columns
X Offset X offset (mm)
Y Offset Y offset (mm)
Z Offset Z offset (mm)

The data section has one or more rows of data per frame (for example, range and intensity).

Data Section Fields

Field Description

Frame Frame index

Source Source (for example, 0 for Top)
Time Stamp time
Encoder Stamp encoder
Z Encoder Stamp encoder Z
Inputs Stamp inputs
Exposure Stamp exposure (µs)
Y Y value (mm)
Axis Axis: Z (range) or I (Intensity)
(x values) Each column in header is a resampled X position
Each column in data is the range (mm) or intensity (count)

RawProfile
This section describes point cloud profile data (or unresampled / raw data), which is produced when the
sensor is in Profile mode and uniform spacing is disabled. It has two sub-sections: attributes and data.

The attribute section has only one row of data.

Attribute Section Fields

Field Description

Frame Count Total number of frames

Column Count Number of columns
X Offset X offset (mm)
Y Offset Y offset (mm)
Z Offset Z offset (mm)

The data section has one or more rows of data per frame (for example, range and intensity).

Gocator Line Profile Sensors: User Manual Tools • 843

Data Section Fields
Field Description

Frame Frame index

Source Source (for example, 0 for Top)
Time Stamp time
Encoder Stamp encoder
Z Encoder Stamp encoder Z
Inputs Stamp inputs
Exposure Stamp exposure (µs)
Y Y value (mm)
Axis Axis: X, Z, or I (Intensity)
(x values) Each column in header is an index.
Each column in data is the X/Z value (mm) or intensity (count)

Part
This section describes uniform (or resampled) surface data, which is produced when the sensor is in
Surface mode and uniform spacing is enabled.

Only the data for the frame currently selected in the UI is exported when you export part data to
a CSV file.

The section has two sub-sections: attributes and data.

The attribute section has only one row of data.

Attribute Section Fields

Field Description

Frame Frame index

Source Source (for example, 0 for Top)
Time Stamp time
Encoder Stamp encoder
Z Encoder Stamp encoder Z
Inputs Stamp inputs
Row Count Number of rows
Column Count Number of columns
X Offset X offset (mm)
Y Offset Y offset (mm)
Z Offset Z offset (mm)

The data section contains the data of a single surface scan. Each data row corresponds to one Y position.
The first row contains the X values, and the first column contains the Y values. The region inside contains
the range values (mm) for the corresponding row and column.

Gocator Line Profile Sensors: User Manual Tools • 844

Surface Section
This section describes surface section data, which is produced when a section is added to uniform
surface data. A surface section is similar to a uniform profile.

The data section contains the following fields.

Data Section Fields

Field Description

Frame Frame Index

Source Source (e.g. 0 for Top)
Time Stamp time
Encoder Stamp encoder
Z Encoder Stamp encoder Z
Inputs Stamp inputs
Exposure Exposure
Column Count Number of columns
Start X X Start
Start Y Y Start
End X X End
End Y Y End
Pose Angle Pose Angle
Pose X Pose X Offset
Pose Y Pose Y Offset
X Offset X Offset
Y Offset Y Offset
Z Offset Z Offset
XResolution X Resolution
ZResolution Y Resolution
Axis Axis: Z (range) or I (Intensity)
(x values) Each column in header is a resampled X position
Each column in data is the range (mm) or intensity (count)

Gocator Line Profile Sensors: User Manual Tools • 845

Troubleshooting

Review the guidance in this chapter if you are experiencing difficulty with a sensor system.

If the problem that you are experiencing is not described in this section, see Return Policy on page 924.

Mechanical/Environmental
The sensor is warm.

l It is normal for a sensor to be warm when powered on. A 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 Use the Sensor Recovery tool to verify that the sensor has the correct network settings. See Sensor Discovery
Tool on page 836 for more information.

When attempting to log in, the password is not accepted.

l Use the Sensor Recovery tool. See Sensor Discovery Tool on page 836 for steps to reset the password.

The sensor emits laser light, but the Range Indicator LED does not illuminate and/or points are not
displayed in the Data Viewer.

l Verify that the measurement target is within the sensor's field of view and measurement range. See Spe-
cifications on page 847 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 134 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 123 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 resolution.
See Spacing on page 138 for more information on configuring resolution.
l Review the measurements that you have programmed and eliminate any unnecessary measurements.

Gocator Line Profile Sensors: User Manual 846

Specifications

The following sections describe the specifications of Gocator sensors and connectors, as well as Master
hubs.

Sensors
The following sections provide the specifications of Gocator sensors.

Gocator 2100 & 2300 Series

The Gocator 2100 and 2300 series consists of the following models.

Unless otherwise specified, the wavelength of all models is 660 nanometers.

The following models are not typically industry-specific and can be used for various applications.

MODEL 2x20 2x30 2x40 2x50 2x70 2x75 2x80

Data Points / 640 / 1280 640 / 1280 640 / 1280 640 / 1280 640 /1280 640 /1280 640 / 1280
Profile

Linearity Z 0.01 0.01 0.01 0.01 0.04 0.03 0.04

(+/- % of MR)

Resolution Z (mm) 0.0018 - 0.0030 0.006 - 0.014 0.013 - 0.037 0.019 - 0.060 0.055 - 0.200 0.175 - 0.925 0.092 - 0.488

Resolution X (mm)
(Profile Data
Interval)
2100 series 0.028 - 0.042 0.088 - 0.150 0.19 - 0.34 0.3 - 0.6 0.55 - 1.10 0.510 - 1.580 0.75 - 2.20
2300 series 0.014 - 0.021 0.044 - 0.075 0.095 - 0.170 0.150 - 0.300 0.275 - 0.550 0.255 - 0.790 0.375 - 1.100

Repeatability Z 0.4 0.8 1.2 2 8 12 12

(µm)

Clearance 40 90 190 300 400 650 350

Distance (CD) (mm)

Measurement 25 80 210 400 500 1350 800

Range (MR) (mm)

Field of View (FOV) 18 - 26 47 - 85 96 - 194 158 - 365 308 - 687 324 - 1010 390 - 1260
(mm)

Laser Classes 2, 3R 2, 3R; 2, 3R, 3B 2, 3R; 2, 3R 2, 3R 2, 3R

3B (2300 series 3B (2300 series
only) only)

Input Voltage +24 to +48 VDC (13 W); Ripple +/- 10%
(Power)

Dimensions (mm) 35x120x149.5 49x75x142 49x75x197 49x75x272 49x75x272 49x75x272 49x75x272

Weight (kg) 0.8 0.74 0.94 1.3 1.3 1.3 1.3

Gocator Line Profile Sensors: User Manual 847

The following models are typically used in road applications.

MODEL 2342 2375

Data Points / Profile 1280 1280

Linearity Z 0.01 0.05
(+/- % of MR)
Resolution Z (mm) 0.015 - 0.040 0.154 - 0.560
Resolution X (mm)(Profile Data Interval) 0.095 - 0.170 0.27 - 0.80
Repeatability Z (µm) 1.2 n/a
Clearance 190 650
Distance (CD) (mm)
Measurement 210 1350
Range (MR) (mm)
Field of View (FOV) (mm) 64 - 140 345 - 1028
Laser Classes 3R, 3B 3B (NIR, 808 nm)
Input Voltage (Power) +24 to +48 VDC (13 W); Ripple +/- 10% +48 VDC (20 W); Ripple +/- 10%
Dimensions (mm) 49x75x197 49x75x272
Weight (kg) 0.94 1.3

The following diagram illustrates some of the terms used in the table above.

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; additionally, Gocator 2100 series sensors do not support the tracking
window capability (for more information, see Tracking Window on page 131).

Specifications stated are based on standard laser classes. Linearity Z, Resolution Z, and Repeatability Z
may vary for other laser classes.

Gocator Line Profile Sensors: User Manual Specifications • 848

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 60 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, CD/FOV/MR, and the envelope for each sensor model are illustrated on the
following pages.

In the following drawings, the physical height dimensions of measurement ranges are reversed
compared to the logical height values returned by sensors. For an illustration of the orientation
of coordinate systems in relation to physical sensors, see the sections below for each sensor
model.

Gocator Line Profile Sensors: User Manual Specifications • 849

Gocator 2120 and 2320
Field of View / Measurement Range / Coordinate System Orientation

Gocator Line Profile Sensors: User Manual Specifications • 850

Dimensions

Envelope

Gocator Line Profile Sensors: User Manual Specifications • 851

Gocator 2130 and 2330
Field of View / Measurement Range / Coordinate System Orientation

Dimensions

Gocator Line Profile Sensors: User Manual Specifications • 852

Envelope

Gocator Line Profile Sensors: User Manual Specifications • 853

Gocator 2140 and 2340
Field of View / Measurement Range / Coordinate System Orientation

Gocator Line Profile Sensors: User Manual Specifications • 854

Dimensions

Envelope

Gocator Line Profile Sensors: User Manual Specifications • 855

Gocator 2342
Field of View / Measurement Range / Coordinate System Orientation

Gocator Line Profile Sensors: User Manual Specifications • 856

Dimensions

Envelope

Gocator Line Profile Sensors: User Manual Specifications • 857

Gocator 2150 and 2350
Field of View / Measurement Range / Coordinate System Orientation

Gocator Line Profile Sensors: User Manual Specifications • 858

Dimensions

Gocator Line Profile Sensors: User Manual Specifications • 859

Envelope

Gocator Line Profile Sensors: User Manual Specifications • 860

Gocator 2170 and 2370
Field of View / Measurement Range / Coordinate System Orientation

Gocator Line Profile Sensors: User Manual Specifications • 861

Dimensions

Gocator Line Profile Sensors: User Manual Specifications • 862

Envelope

Gocator Line Profile Sensors: User Manual Specifications • 863

Gocator 2175 and 2375
Field of View / Measurement Range / Coordinate System Orientation

Class 3B

Class 2 & 3R

Gocator Line Profile Sensors: User Manual Specifications • 864

Gocator Line Profile Sensors: User Manual Specifications • 865
Dimensions

Gocator Line Profile Sensors: User Manual Specifications • 866

Envelope

Gocator Line Profile Sensors: User Manual Specifications • 867

Gocator 2180 and 2380
Field of View / Measurement Range / Coordinate System Orientation

Gocator Line Profile Sensors: User Manual Specifications • 868

Dimensions

Gocator Line Profile Sensors: User Manual Specifications • 869

Envelope

Gocator Line Profile Sensors: User Manual Specifications • 870

Gocator 2400 Series
The Gocator 2400 series consists of the following models:

MODEL 2410 2420 2430 2440

Data Points / Profile 1710 1940 1500 1500

Linearity Z 0.015 0.006 0.01 0.01

(+/- % of MR)

Resolution Z (µm) 1.1 1.8 - 3.0 6 - 14 13 - 37

Resolution X (µm) 5.8 - 6.2 14.0 - 16.5 37 - 57 90 - 130

(Profile Data Interval)

Repeatability Z (µm) 0.2 0.4 0.8 1.2

Clearance 19 60 75 183
Distance (CD) (mm)

Measurement 6 25 80 210
Range (MR) (mm)

Field of View (FOV) (mm) 10 - 10 27 - 32 47 - 85 96 - 194

Laser Classes 3R (blue, 405 nm) 3R (blue, 405 nm) 2 (red, 660 nm) 3R (red, 660 nm)

2M (blue, 405 nm) 2M (blue, 405 nm 3R, 3B (red, 660 nm) 2, 3B (red, 660 nm)

Dimensions (mm) 44x90x145 44x90x145 44x90x155 44x90x190

Weight (kg) 0.88 0.88 1.0 1.2

The following diagram illustrates some of the terms used in the table above.

Optical models, laser classes, and packages can be customized. Contact LMI for more details.

Gocator Line Profile Sensors: User Manual Specifications • 871

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 60 for more information.

ALL 2400 SERIES MODELS

Scan Rate 200 Hz, up to 5 kHz. (Gocator 2400 series sensors provide up to 2x scan rate for
equivalent window size as 2300 series sensors.)
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
Input Voltage (Power) +24 to +48 VDC (9 W); Ripple +/- 10%
Operating Temp. 0 to 50° C
Storage Temp. -30 to 70° C

Mechanical dimensions, CD/FOV/MR, and the envelope for each sensor model are illustrated on the
following pages.

Gocator Line Profile Sensors: User Manual Specifications • 872

Gocator 2410
Field of View / Measurement Range / Coordinate System Orientation

Gocator Line Profile Sensors: User Manual Specifications • 873

Dimensions

Gocator Line Profile Sensors: User Manual Specifications • 874

Envelope

Gocator Line Profile Sensors: User Manual Specifications • 875

Gocator 2420
Field of View / Measurement Range / Coordinate System Orientation

Gocator Line Profile Sensors: User Manual Specifications • 876

Dimensions

Gocator Line Profile Sensors: User Manual Specifications • 877

Envelope

Gocator Line Profile Sensors: User Manual Specifications • 878

Gocator 2430
Field of View / Measurement Range / Coordinate System Orientation

Gocator Line Profile Sensors: User Manual Specifications • 879

Dimensions

Envelope

Gocator Line Profile Sensors: User Manual Specifications • 880

Gocator 2440
Field of View / Measurement Range / Coordinate System Orientation

Gocator Line Profile Sensors: User Manual Specifications • 881

Dimensions

Envelope

Gocator Line Profile Sensors: User Manual Specifications • 882

Gocator 2500 Series
The Gocator 2500 series consists of the following models:

MODEL 2510 2512 2520

Data Points / Profile 1920 1920 1920

Resolution X (µm) 8.0 8.0 13.0 - 17.0

(Profile Data Interval)

Linearity Z (+/- % of MR) 0.015% 0.015% 0.006%

Repeatability Z (µm) 0.2 0.2 0.4

Clearance 17.0 17.0 47.5

Distance (CD) (mm)

Measurement 6 6 25
Range (MR) (mm)

Field of View (FOV) (mm) 13.0 - 14.5 13.0 - 14.5 25 - 32.5

(diffuse) (diffuse & specular) (diffuse)
Laser Classes 2 (blue, 405 nm) 2 (blue, 405 nm) 2 (blue, 405 nm)

Dimensions (mm) 46x80x110 46x80x110 46x80x110

Weight (kg) 0.65 0.65 0.65

The following diagram illustrates some of the terms used in the table above.

Unlike other Gocator line profile sensors, the clearance distance for Gocator 2500 sensors is
measured from the lowest point of the sensor's housing, not the laser window.

Specifications stated are based on standard laser classes. Linearity Z and Repeatability Z may vary for
other laser classes.

Gocator Line Profile Sensors: User Manual Specifications • 883

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 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 60 for more information.

ALL 2500 SERIES MODELS

Scan Rate 2.4 kHz (2510 full field of view) / 1.6 kHz (2520 full field of view) to 10 kHz

Interface Gigabit Ethernet

Inputs Differential Encoder, Laser Safety Enable, Trigger
Outputs 2x Digital output, RS-485 Serial (115 kBaud)
Housing Gasketed aluminum enclosure, IP67
Input Voltage (Power) +24 to +48 VDC (15 W); Ripple +/- 10%
Operating Temp. 0 to 40° C
Storage Temp. -30 to 70° C

Mechanical dimensions, CD/FOV/MR, and the envelope for each sensor model are illustrated on the
following pages.

Gocator Line Profile Sensors: User Manual Specifications • 884

Gocator 2510/2512
Field of View / Measurement Range / Coordinate System Orientation

Gocator Line Profile Sensors: User Manual Specifications • 885

Dimensions

Envelope

Gocator Line Profile Sensors: User Manual Specifications • 886

Gocator 2520
Field of View / Measurement Range / Coordinate System Orientation

Gocator Line Profile Sensors: User Manual Specifications • 887

Dimensions

Gocator Line Profile Sensors: User Manual Specifications • 888

Envelope

Estimated Performance
This section provides estimated measurement tool performance.

The following hardware was used to produce the estimates:

PC

l Intel i7 5960X
l 16 GB RAM
l Windows 8.1 Pro
Graphics Card

l NVIDIA GeForce GTX 970

l 12 GB DDR5 RAM
The following table lists the running time of various measurement tools, with and without GoMax, as
well as the performance increase factor when running with GoMax.

Gocator Line Profile Sensors: User Manual Specifications • 889

Note that although sensor models and job file configurations will affect running times, the performance
increase factor for tools should be consistent across models and configurations.

Gocator 2510 Performance Increase Factors

Running Time Running Time with GoMax
Measurement Tool Performance Increase Factor
on Sensor (ms) (ms)

Surface Hole 40 11 3.5

Surface Bounding Box 30 9 3.3

Surface Plane 2.3 0.4 6.0

Profile Dimension 0.054 0.037 1.5

Profile Intersect 0.075 0.028 2.7

Gocator Line Profile Sensors: User Manual Specifications • 890

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 380 Hz - 2500 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, CD/FOV/MR, and the envelope for each sensor model are illustrated on the
following pages.

Gocator Line Profile Sensors: User Manual Specifications • 891

Gocator 2880
Field of View / Measurement Range / Coordinate System Orientation

Gocator Line Profile Sensors: User Manual Specifications • 892

Dimensions

Gocator Line Profile Sensors: User Manual Specifications • 893

Envelope

Gocator Line Profile Sensors: User Manual Specifications • 894

Sensor Connectors
The following sections provide the specifications of the connectors on Gocator sensors.

Gocator Power/LAN Connector

The 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 Power/LAN Connector pins, organized by function.

Gocator Power/LAN Connector Pins

Lead Color on Lead Color on
Function Pin Standard High Flex
Cordsets Cordsets

GND_24-48V L White / Orange / Red

Orange & Black

GND_24-48V L Orange / Black Orange / Black

DC_24-48V A White / Green / Red

Green & Black

DC_24-48V A Green/ Black Green / Black

Safety- G White / Blue & Blue / Black

Black
View: Looking into the connector on the sensor
Safety+ J Blue / Blue / Red
Black

Sync+ E White / Brown / Red

Brown & Black (not connected)

Sync- C Brown / Black Brown / Black

(not connected)

Ethernet MX1+ M White / Orange White / Orange

Ethernet MX1- N Orange Orange

Ethernet MX2+ O White/ Green White / Green

Ethernet MX2- P Green Green

Ethernet MX3- S White / Blue White / Blue

Ethernet MX3+ R Blue Blue

Ethernet MX4+ T White / Brown White / Brown

Ethernet MX4- U Brown Brown

Two wires are connected to the ground and power pins.

Gocator Line Profile Sensors: User Manual Specifications • 895

Grounding Shield
The grounding shield should be mounted to the earth ground.

Power
Apply positive voltage to DC_24-48V.

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 Line Profile Sensors: User Manual Specifications • 896

Gocator I/O Connector
The Gocator 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 I/O connector pins, organized by function.

Gocator Line Profile Sensors: User Manual Specifications • 897

Gocator I/O Connector Pins
Lead Color on Lead Color on High
Function Pin
Standard Cordset Flex Cordset

Trigger_in+ D Grey Blue / Red

Trigger_in- H Pink Blue / Black

Out_1+ (Digital N Red Brown / Red

Output 0)

Out_1- (Digital O Blue Brown / Black

Output 0)

Out_2+ (Digital S Tan Green / Red

Output 1)

Out_2- (Digital T Orange Green / Black

Output 1)
View: Looking into the
Encoder_A+ M White / Brown & Pink / Red
connector on the sensor
Black

Encoder_A- U Brown / Black Pink / Black

Encoder_B+ I Black Yellow / Red

Encoder_B- K Violet Yellow / Black

Encoder_Z+ A White / Green & White / Red

Black

Encoder_Z- L Green / Black White / Black

Serial_out+ B White Purple / Red

Serial_out- C Brown Purple / Black

Reserved E Blue / Black Red

Reserved G White / Blue & Black Black

Analog_out+ P Green Gray / Red

(Reserved on
Gocator 2500 series
sensors)

Analog_out- F Yellow & Maroon / Gray / Black

(Reserved on White & Orange / Black
Gocator 2500 series
sensors)

Reserved R Maroon Orange / Red

(not connected)

Grounding Shield
The grounding shield should be mounted to the earth ground.

Gocator Line Profile Sensors: User Manual Specifications • 898

Digital Outputs
Each sensor has two optically isolated outputs. Both outputs are open collector and open emitter, which
allows a variety of power sources to be connected and a variety of signal configurations.

Digital outputs cannot be used when taking scans using the Snapshot button, which takes a
single scan and is typically used to test measurement tool settings. Digital outputs can only be
used when a sensor is running, taking a continuous series of scans.

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.

Max Collector Max Collector–Emitter

Function Pins Min Pulse Width
Current Voltage

Out_1 N, O 40 mA 70 V 20 µs

Out_2 S, T 40 mA 70 V 20 µs

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-. For resistor selection, see above.

Digital Input
Every sensor has a single optically isolated input. To use this input without an external resistor, supply
3.3 - 24 V to the positive pin and GND to the negative.

Gocator Line Profile Sensors: User Manual Specifications • 899

 Active High

If the supplied voltage is greater than 24 V, connect an external resistor in series to the positive. The
resistor value should be R = [(Vin-1.2V)/10mA]-680.

Active Low

To assert the signal, the digital input voltage should be set to draw a current of 3 mA to 40 mA from the
positive pin. The current that passes through the positive pin 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 µs

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.

Gocator Line Profile Sensors: User Manual Specifications • 900

 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

Encoder_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 the sensor reads each of the four quadrature
signals, you should choose an encoder accordingly, given the resolution required for your
application.

Serial Output
Serial RS-485 output is connected to Serial_out as shown below.

Function Pins

Serial_out B, C

Selcom Serial Output

Serial RS-485 output is connected to Serial_out and Serial_out2 as shown below.

Function Pins

Serial_out (data) B, C

Serial_out2 (clock) E, G

Gocator Line Profile Sensors: User Manual Specifications • 901

Analog Output
The Sensor I/O Connector defines one analog output interface: Analog_out.

You do not need to supply an external power source.

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 Line Profile Sensors: User Manual Specifications • 902

Master Network Controllers
The following sections provide the specifications of Master network controllers.

For information on maximum external input trigger rates, see Maximum Input Trigger Rate on page 129.

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

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

Gocator Line Profile Sensors: User Manual Specifications • 903

I/O Pin Master Pin Conductor Color

Encoder_B+ 11 Black

Encoder_B- 12 Violet

The rest of the wires in the I/O cordset are not used.

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 Line Profile Sensors: User Manual Specifications • 904

Master 400/800
Master network controllers provide sensor power and safety interlock, and broadcast system-wide
synchronization information (i.e., time, encoder count, encoder index, and digital I/O states) to all
devices on a sensor network.

The Phoenix connectors on Master 400/800/1200/2400 are not compatible with the connectors
on Master 810/2410. For this reason, if you are switching models in your network, you must
rewire the connections to the Master.

Power and Safety (6 pin connector)

Function Pin

+48VDC 1

+48VDC 2

GND (24-48VDC) 3

GND (24-48VDC) 4

Safety Control+ 5

Safety Control– 6

The 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 of 24 VDC to 48 VDC across the pin to enable the
laser.

Gocator Line Profile Sensors: User Manual Specifications • 905

Input (16 pin connector)
Function Pin

Input 1 1

Input 1 GND 2

Reserved 3

Reserved 4

Reserved 5

Reserved 6

Reserved 7

Reserved 8

Reserved 9

Reserved 10

Reserved 11

Reserved 12

Reserved 13

Reserved 14

Reserved 15

Reserved 16

The Input 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
Specification Value

Power Supply Voltage +48 VDC

Power Supply Current (Max.) 10 A

Gocator Line Profile Sensors: User Manual Specifications • 906

Specification Value

Power Draw (Min.) 5.76 W

Safety Input Voltage Range +24 VDC to +48 VDC

Encoder Signal Voltage Differential (5 VDC)

Digital Input Voltage Range Logical LOW: 0 to +0.1 VDC

Logical HIGH: +3.3 to +24 VDC

When using a Master hub, the chassis must be well grounded.

The 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 that need to be considered when calculating total system power
requirements..

Gocator Line Profile Sensors: User Manual Specifications • 907

Master 400/800 Dimensions
The dimensions of Master 400 and Master 800 are the same.

Gocator Line Profile Sensors: User Manual Specifications • 908

Master 810/2410
Master network controllers provide sensor power and safety interlock, and broadcast system-wide
synchronization information (i.e., time, encoder count, encoder index, and digital I/O states) to all
devices on a sensor network.

The following table summarizes Master 810 and 2410:

Master 810 and 2410

Input Voltage (Power) +24-48 VDC (2 Watts)1

Total Power Master 810 / 2410 input power + (sensor input power x number of sensors)
Capacity Master 810: up to 8 sensors

Master 2410: up to 24 sensors

I/O 4 digital inputs2

Differential (5 VDC, 12 VDC)

Single-ended active high/low (5 VDC, 12 VDC)

Single-ended active high/low (5 VDC, 12 VDC)

10-pin Phoenix

Encoder Differential (5 VDC, 12 VDC)

Single-ended (5 VDC, 12 VDC)3

11-pin Phoenix connector

LED Indicators Safety, power, encoder, input

Cable Dual CAT5e cable for power / safety / synchronization / data
Weight (kg) Master 810: 0.6

Master 2410: 0.9

Notes

1. Refer to sensor datasheets for additional power required by sensors.

2. Gocator only supports one digital input.

3. Supports open collector, pull-up resistor, line driver, push-pull, and TTL.
Master 810 and 2410 can be mounted to DIN rails using the provided adapters (for more information,
see Installing DIN Rail Clips: Master 810 or 2410 on page 42). The units are also provided with removable
adapters for 1U rack mounting; the mounting holes for this option are compatible with older Master
models (400/800/1200/2400).

The Phoenix connectors on Master 400/800/1200/2400 are not compatible with the connectors
on Master 810/2410. For this reason, if you are switching models in your network, you must
rewire the connections to the Master.

Master 2410 can currently be used with encoders with a maximum quadrature frequency of 300 kHz.

Gocator Line Profile Sensors: User Manual Specifications • 909

Master 810 can be configured to work with a maximum encoder quadrature frequency of 6.5 MHz. For
more information, see Configuring Master 810 on page 44.

Power and Safety (6 pin connector)

Function Pin

Power In+ 1

Power In+ 2

Power In- 3

Power In- 4

Safety Control+ 5

Safety Control– 6

The power supply must be isolated from AC ground. This means that AC ground and DC ground
are not connected.

Gocator Line Profile Sensors: User Manual Specifications • 910

 The Safety Control requires a voltage differential of 24 VDC to 48 VDC across the pin to enable the
laser.

On earlier revisions of Master 810 and Master 2410, the inputs are labeled 0-3.

Input (10 pin connector)

Function Pin

Input 1 Pin 1 1

Input 1 Pin 2 2

Reserved 3

Reserved 4

Reserved 5

Reserved 6

Reserved 7

Reserved 8

GND (output for powering other devices) 9

+5VDC (output for powering other devices) 10

The Input connector does not need to be wired up for proper operation.

For Input connection wiring options, see Input on page 914.

Encoder (11 pin connector)

Function Pin

Encoder_A_Pin_1 1

Encoder_A_Pin_2 2

Encoder_A_Pin_3 3

Encoder_B_Pin_1 4

Encoder_B_Pin_2 5

Encoder_B_Pin_3 6

Encoder_Z_Pin_1 7

Encoder_Z_Pin_2 8

Encoder_Z_Pin_3 9

GND (output for powering external devices) 10

+5VDC (output for powering external devices) 11

For Encoder connection wiring options, see Encoder on page 913.

Gocator Line Profile Sensors: User Manual Specifications • 911

Electrical Specifications
Electrical Specifications
Specification Value

Power Supply Voltage +24 VDC to +48 VDC

Power Supply Current (Max.)* Master 810: 9 A

Master 2410: 25 A
* Fully loaded with 1 A per sensor port.

Power Draw (Min.) Master 810: 1.7 W

Master 2410: 4.8 W

Safety Input Voltage Range +24 VDC to +48 VDC

Encoder Signal Voltage Differential (5 VDC, 12 VDC)

Single-Ended (5 VDC, 12 VDC)
For more information, see Encoder on the next page.

Digital Input Voltage Range Single-Ended Active LOW: 0 to +0.8 VDC

Single-Ended Active HIGH: +3.3 to +24 VDC
Differential LOW: 0.8 to -24 VDC
Differential HIGH: +3.3 to +24 VDC
For more information, see Input on page 914.

If the input voltage is above 24 V, use an

external resistor, using the following formula:

R = [(Vin - 1.2V) / 10mA] - 680

When using a Master hub, the chassis must be well grounded.

The power supply must be isolated from AC ground. This means that AC ground and DC ground
are not connected.

24 VDC power supply is only supported if all connected sensors support an input voltage of 24
VDC.

The Power Draw specification is based on a Master with no sensors attached. Every sensor has
its own power requirements that need to be considered when calculating total system power
requirements..

Gocator Line Profile Sensors: User Manual Specifications • 912

Encoder
Master 810 and 2410 support the following types of encoder signals: Single-Ended (5 VDC, 12 VDC) and
Differential (5 VDC, 12 VDC).

For 5 VDC operation, pins 2 and 3 of each channel are used.

For 12 VDC operation, pins 1 and 3 of each channel are used.

The 5-volt encoder input supports up to 12 volts for compatibility with earlier Master network
controllers. However, we strongly recommend connecting 12-volt output encoders to the
appropriate 12-volt input to attain maximum tolerance.

To determine how to wire a Master to an encoder, see the illustrations below.

Single-Ended 5 VDC

Single-Ended 12 VDC

Gocator Line Profile Sensors: User Manual Specifications • 913

 Differential 5 VDC

Differential 12 VDC

Input
Master 810 and 2410 support the following types of input: Differential, Single-Ended High, and Single-
Ended Low.

Currently, Gocator only supports Input 0.

Gocator Line Profile Sensors: User Manual Specifications • 914

For digital input voltage ranges, see the table below.

Differential

Single-Ended Active High

Single-Ended Active Low

Digital Input Voltage Ranges

Input Status Min (VDC) Max (VDC)

Single-ended Active High Off 0 +0.8

On +3.3 +24
Single-ended Active Low Off (VDD - 0.8) VDD
On 0 (VDD - 3.3)
Differential Off -24 +0.8
On +3.3 +24

Gocator Line Profile Sensors: User Manual Specifications • 915

Master 810 Dimensions
With 1U rack mount brackets:

With DIN rail mount clips:

Older revisions of Master 810 and 2410 network controllers use a different configuration for the DIN rail
clip holes.

For information on installing DIN rail clips, see Installing DIN Rail Clips: Master 810 or 2410 on page 42.

The CAD model of the DIN rail clip is available at https://www.winford.com/products/cad/dinm12-rc.igs.

Gocator Line Profile Sensors: User Manual Specifications • 916

Master 2410 Dimensions
With 1U rack mount brackets:

With DIN rail mount clips:

Older revisions of Master 810 and 2410 network controllers use a different configuration for the DIN rail
clip holes.

For information on installing DIN rail clips, see Installing DIN Rail Clips: Master 810 or 2410 on page 42.

The CAD model of the DIN rail clip is available at https://www.winford.com/products/cad/dinm12-rc.igs.

Gocator Line Profile Sensors: User Manual Specifications • 917

Master 1200/2400
Master network controllers provide sensor power and safety interlock, and broadcast system-wide
synchronization information (i.e., time, encoder count, encoder index, and digital I/O states) to all
devices on a sensor network.

The Phoenix connectors on Master 400/800/1200/2400 are not compatible with the connectors
on Master 810/2410. For this reason, if you are switching models in your network, you must
rewire the connections to the Master.

Power and Safety (6 pin connector)

Function Pin

+48VDC 1

+48VDC 2

GND (24-48VDC) 3

GND (24-48VDC) 4

Safety Control+ 5

Safety Control– 6

The 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 of 24 VDC to 48 VDC across the pin to enable the
laser.

Gocator Line Profile Sensors: User Manual Specifications • 918

Input (12 pin connector)
Function Pin

Input 1 1

Input 1 GND 2

Reserved 3

Reserved 4

Reserved 5

Reserved 6

Reserved 7

Reserved 8

Reserved 9

Reserved 10

Reserved 11

Reserved 12

The Input 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
Specification Value

Power Supply Voltage +48 VDC

Power Supply Current (Max.) 10 A

Power Draw (Min.) 5.76 W

Safety Input Voltage Range +24 VDC to +48 VDC

Encoder Signal Voltage Differential (5 VDC)

Digital Input Voltage Range Logical LOW: 0 to +0.1 VDC

Logical HIGH: +3.5 to +6.5 VDC

Gocator Line Profile Sensors: User Manual Specifications • 919

 When using a Master hub, the chassis must be well grounded.

The 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 that 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 Line Profile Sensors: User Manual Specifications • 920

Accessories

Masters
Description Part Number

Master 100 - for single sensor (development only) 30705

Master 810 - for networking up to 8 sensors 301114

Master 2410 - for networking up to 24 sensors 301115

Cordsets
Description Part Number

1.2m I/O cordset, open wire end 30864-1.2m

2m I/O cordset, open wire end 30864-2m
5m I/O cordset, open wire end 30864-5m
10m I/O cordset, open wire end 30864-10m
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 30861-5m
10m Power and Ethernet cordset, 1x open wire end, 1x RJ45 end 30861-10m
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

1.2m Power and Ethernet to Master cordset, 2x RJ45 ends 30858-1.2m

2m Power and Ethernet to Master cordset, 2x RJ45 ends 30858-2m

5m Power and Ethernet to Master cordset, 2x RJ45 ends 30858-5m

10m Power and Ethernet to Master cordset, 2x RJ45 ends 30858-10m

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

Cordsets - 90-degree
Description Part Number

2m I/O cordset, 90-deg, open wire end 30883-2m

5m I/O cordset, 90-deg, open wire end 30883-5m

Gocator Line Profile Sensors: User Manual 921

Description Part Number

10m I/O cordset, 90-deg, open wire end 30883-10m

15m I/O cordset, 90-deg, open wire end 30883-15m
20m I/O cordset, 90-deg, open wire end 30883-20m
25m I/O cordset, 90-deg, open wire end 30883-25m
2m Power and Ethernet cordset, 90-deg, 1x open wire end, 1x RJ45 end 30880-2m
5m Power and Ethernet cordset, 90-deg, 1x open wire end, 1x RJ45 end 30880-5m
10m Power and Ethernet cordset, 90-deg, 1x open wire end, 1x RJ45 end 30880-10m
15m Power and Ethernet cordset, 90-deg, 1x open wire end, 1x RJ45 end 30880-15m
20m Power and Ethernet cordset, 90-deg, 1x open wire end, 1x RJ45 end 30880-20m
25m Power and Ethernet cordset, 90-deg, 1x open wire end, 1x RJ45 end 30880-25m

2m Power and Ethernet to Master cordset, 90-deg, 2x RJ45 ends 30877-2m

5m Power and Ethernet to Master cordset, 90-deg, 2x RJ45 ends 30877-5m

10m Power and Ethernet to Master cordset, 90-deg, 2x RJ45 ends 30877-10m

15m Power and Ethernet to Master cordset, 90-deg, 2x RJ45 ends 30877-15m

20m Power and Ethernet to Master cordset, 90-deg, 2x RJ45 ends 30877-20m

25m Power and Ethernet to Master cordset, 90-deg, 2x RJ45 ends 30877-25m

90-degree cordsets are not stocked. Lead times for delivery may be longer.

Custom cordset lengths and connector orientations are available upon request. Prices depend on length
and orientation requested. For standard cordsets, the maximum cable length is 60 m.

High Flex Cordsets

Description Part Number

2m I/O cordset, open wire end 301175-2m

5m I/O cordset, open wire end 301175-5m
10m I/O cordset, open wire end 301175-10m
2m Power and Ethernet cordset, 1x open wire end, 1x RJ45 end 301176-2m
5m Power and Ethernet cordset, 1x open wire end, 1x RJ45 end 301176-5m
10m Power and Ethernet cordset, 1x open wire end, 1x RJ45 end 301176-10m

2m Power and Ethernet to Master cordset, 2x RJ45 ends 301165-2m

5m Power and Ethernet to Master cordset, 2x RJ45 ends 301165-5m

10m Power and Ethernet to Master cordset, 2x RJ45 ends 301165-10m

Description Part Number

2m I/O cordset, 90-deg, open wire end 301172-2m

5m I/O cordset, 90-deg, open wire end 301172-5m
10m I/O cordset, 90-deg, open wire end 301172-10m
2m Power and Ethernet cordset, 90-deg, 1x open wire end, 1x RJ45 end 301171-2m

Gocator Line Profile Sensors: User Manual Accessories • 922

Description Part Number

5m Power and Ethernet cordset, 90-deg, 1x open wire end, 1x RJ45 end 301171-5m
10m Power and Ethernet cordset, 90-deg, 1x open wire end, 1x RJ45 end 301171-10m

2m Power and Ethernet to Master cordset, 90-deg, 2x RJ45 ends 301173-2m

5m Power and Ethernet to Master cordset, 90-deg, 2x RJ45 ends 301173-5m

10m Power and Ethernet to Master cordset, 90-deg, 2x RJ45 ends 301173-10m

Calibration Disks

Description Part Number

Calibration Disk, 40mm 30727

Calibration Disk, 100mm 30728

Gocator Line Profile Sensors: User Manual Accessories • 923

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 Line Profile Sensors: User Manual 924

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 Line Profile Sensors: User Manual 925

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 Line Profile Sensors: User Manual Software Licenses • 926

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.

Three.js

The MIT License

Copyright (c) 2010-2013 three.js authors

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

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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.

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 Line Profile Sensors: User Manual Software Licenses • 928

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)

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.

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Support

For help with a component or product, please submit an online support ticket using LMI's Help Desk at
http://support.lmi3d.com/newticket.php.

If you are unable to use the Help Desk or prefer to contact LMI by phone or email, use the contact
information below.

Response times for phone or email support requests are longer than requests submitted
through the Help Desk.

North America

Phone +1 604 636 1011

Fax +1 604 516 8368

Email [email protected]

Europe

Phone +31 45 850 7000

Fax +31 45 574 2500

Email [email protected]

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 Line Profile Sensors: User Manual 930

Contact

Americas EMEAR ASIA PACIFIC

LMI Technologies (Head Office) LMI Technologies GmbH LMI (Shanghai) Trading Co., Ltd.
Burnaby, 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.

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