LASER TRIANGULATION SENSORS LD3 SERIES

Transcription

1 LASER TRIANGULATION SENSORS LD3 SERIES (The sensor series are of small size and weight but with a wide functionality)

2 SENSOR SPECIFICATIONS: The sensor series are of small size and weight but with a wide functionality; The maximum sampling frequency (measuring rate) is: o 16,37kHz o 32,68kHz Digital interfaces: o Ethernet 100Mb o USB 10Mb (Virtual COM port) o RS232 (up to 250kbps) o RS485 (up to 921,6kbps) o CAN 2.0A, 2.0B (up to 1Mb) Communication protocols: ModBus RTU, ModBus TCP/IP; Programmable analogous output: o 0..5mA (load 2800 Ohm) o 0..10mA (load 1400 Ohm) o 0..20mA (load 700 Ohm) o 4..20mA (load 700 Ohm) 2 programmable galvanically isolated discrete outputs; 4 programmable galvanically isolated discrete inputs; Possibility to connect positioning signals up to 2 axes: X,Y; Possibility to operate as 3D scanner when installed on a CNC machine; Internal buffer for storage of up to measurements; Data buffering modes: o By time o By synchronization signal o Relative buffering by STEP/DIR signals or A/B encoder signals o Absolute buffering (with position recording up to 2 axes) by STEP/DIR signals or A/B encoder signals IP40 or IP67 class of protection; Power supply 5V DC (optionally galvanically isolated supply 9-36V DC); Power consumption 2W; page 2 from 37

3 CONTENT 1 INTRODUCTION PRECAUTIONS USES BASIC MODEL SERIES ORDERING INFORMATION DELIVERY SET OVERALL AND INSTALLATION DIMENSION CONNECTION PREPARATION FOR USE DESCRIPTION OF DIGITAL INTERFACES AND EXCHANGE PROTOCOLS Description of working with the ModBus protocol Description of how CAN operates DETAILED DESCRIPTION OF THE SENSOR PARAMETERS Basic parameters for reading (HR0-HR13) Control and configuration parameters (HR15-HR22) Configuration parameters for the buffering modes and DI discrete inputs (HR25-HR27) Analog Output Settings (HR29-HR31) Parameters for configuring discrete outputs (HR32-HR41) Communication settings parameters (HR42-HR70) RS232 Settings (HR43-HR44) RS485 Settings (HR46-HR48) Ethernet configuration (HR50-HR57) CAN Configuration (HR61-HR70) DESCRIPTION OF BUFFERING MODES Relative Time Buffering (HR25 = 0) Relative buffering on the SYNC synchronization input (HR25 = 1) Relative buffering by the STEP / DIR signals (HR25 = 2) Relative buffering by the A / B QEP encoder (HR25 = 3) Absolute buffering of axis 1 : STEP / DIR (HR25 = 4) Absolute buffering of axis 1: A/B QEP (HR25=5) Absolute buffering of 2nd axis: STEP / DIR & STEP / DIR (HR25 = 6) Absolute buffering of 2nd axis: STEP / DIR & A / B QEP (HR25 = 7) Absolute buffering of 2nd axis: A / B QEP & STEP / DIR (HR25 = 8) Absolute buffering of 2nd axis: A / B QEP & A / B QEP (HR25 = 9) DESCRIPTION OF THE CONFIGURATION PROGRAM Description of the main elements of the program Description of the 3D Scanning function Brief description of plugins operation SDK LIBRARY AND EXAMPLES OF THE OPEN SOURCE CODE FOR WORKING WITH THE SENSOR MAINTENANCE AND REPAIR STORAGE AND TRANSPORTATION page 3 from 37

4 1 INTRODUCTION This "" (UM) is intended for acquaintance with the technical data, device, operation and operating rules of laser triangulation sensors, series LD3 (hereinafter referred to as sensor). Before initiating installation of the sensor, it is necessary to familiarize yourself with this UM. Compliance with the operating rules outlined in this UM guarantees smooth operation of the sensor throughout its service life. The manufacturer reserves the right to make schematic and design changes that are not reflected in the operating documentation guaranteed they do not degrade the technical characteristics of the product. 2 PRECAUTIONS When working with the sensor, observe the following precautions: Do not point the laser beam to your eyes; Use protective glasses when working with the sensor; Avoid direct or reflected laser radiation to the eyes; When connecting / disconnecting the electrical connector, the sensor power must be turned off; 3 USES Laser triangulation sensors, series LD3 are designed for use in automation systems and non-contact measurement of various geometric parameters: thickness, straightness, internal and external diameters, scanning the profile of products with complex shapes, determining the position of objects. Using the sensors, automatic control systems for various processes (control tracking systems, product editing, rolling of sheet materials, etc.) can be built. In addition, the sensor is able to connect positioning signals from machines for the implementation of 3D scanning systems. The sensor series are of small size and weight but with a wide functionality. Usage examples: Straightness measurement system page 4 from 37

5 Laser triangulation sensors, LD3 series System for measuring the thickness of sheet products Profile measurement Internal surface control, diameter measurement Tracking control system, the sensor controls movement of the supporting lunette of the milling cutter Measurement of beats, vibro-displacement and frequency 3D scanner based on a CNC machine page 5 from 37

6 4 BASIC MODEL SERIES Table 4.1 LDx Model *1 LD3-20/5 LD3-36/10 LD3-65/25 LD3-82/50 LD3-104/100 LD3-129/200 LD3-142/300 LD3-230/500 LD3-251/800 LD3-260/1000 Start of measuring range 20mm 36mm 65mm 82mm 104mm 129mm 142mm 230mm 251mm 260mm Measuring range 5mm 10mm 25mm 50mm 100mm 200mm 300mm 500mm 800mm 1000mm Linearity *2 ±0.05% ±0,1% ±0,15% Accuracy ±2,5μm ±5μm ±12,5μm ±25μm ±0,1mm ±0,2mm ±0,3mm ±0,5mm ±1,2mm ±1,5mm Resolution of digital interface Type of laser 0,153μm 0,305μm 0,763μm 1,526μm 3,052μm 6,104μm 9,155μm 15,259μm 24,414μm 30,518μm Semiconductor laser Light source Wavelength Output power Safety class (IEC ) 650nm (red) or 405nm (blue) 5mW 3R Spot diameter *3 110μm 110μm 120μm 130μm 140μm 180μm 260μm 400μm 600μm 800μm Maximum sampling frequency (measuring rate) 16,37kHz or 32,68kHz Temperature stability 0,02% of measuring range / С Controller Discrete inputs Integrated digital microcontroller Four programmable galvanically isolated inputs (3.5-5V) Maximum impulse frequency: 1 MHz * It is permitted to use a voltage of more than 5 V when using external resistors with a current circuit of 6-14 ma Output's Environment resistance Digital Interfaces Analogue output Discrete outputs Protection class Ambient light Relative humidity Vibration resistance Shock Operation temperature Storage temperature USB (10Mb - Virtual COM port), ModBus RTU protocol RS485 (up to 921,6kb/s), ModBus RTU protocol RS232 (up to 250kb/s), ModBus RTU protocol Ethernet (100Mb), ModBus TCP/IP protocol CAN 2.0A, CAN 2.0B (up to 1Mb) One programmable analog output: (0..5mA; 0..10mA; 0..20mA; 4..20mA) Two programmable galvanically isolated: 30 V max; 30 ma max; IP40 or IP lux max. 5-90% (no condensation) 15g / Hz, 6 hours, for each of XYZ axes 15g / 6ms С С Power supply Power consumption 5V ±10% (optionally galvanically isolated power supply 9-36V) 2W Electromagnetic compatibility (EMC) EN :2006; EN :2005; EN 55022:2006 Dimensions Housing material Weight Software 65x65x22 Anodized aluminum Approx.130g. Free setup and aquisition tool + SDK *Notes: 1. The table shows the most frequently used models. It is possible to change the configuration by special order. 2. These values were obtained on a white ceramic target. 3. These values are obtained in the middle of the measuring range. page 6 from 37

7 Figure 1. Scheme showing the position of the object of measurement 5 ORDERING INFORMATION Each sensors has 2 versions of execution: industrial and budget. Budget version - IP40 sensor housing, USB is the only available digital interface, without discrete outputs. Industrial version - IP67 sensor housing, all digital interfaces are available: USB, Ethernet, RS232, RS485, CAN. LD3-SMR/MR-WL-AO-Fq-U-V LD3 Sensor series LD3 SMR Start of measuring range, mm MR Measuring range, mm Laser type: WL LR-red 650nm; LB-blue 405nm; Analogous output: AO TAO-sensor with analogous output; FAO-sensor without an analogous output; Maximum measuring rate up to: Fq F kHz; F kHz; Power supply: U U5-5V±10%; U24 - galvanically isolated 9-36V; Versions of execution: V I - industrial version; B - budget version; Example: LD3-129/200-LR-TAO-F32-U5-I - sensor series LD3; - start of measuring range: 129mm; - measuring range: 200mm; - red laser 650nnm; - sensor with analog output; - maximum measuring rate up to: 32.68kHz; - power supply: 5V±10%; - industrial version; page 7 from 37

8 6 DELIVERY SET The delivery set is shown in Table 6.1. Table 6.1 Name and designation Pcs. Notes 1. Laser triangulation sensor 1pc. 2. The mating part of the D-SUB44 connector 1pc. 3. Warranty certificate 1pc. 7 OVERALL AND INSTALLATION DIMENSION Figure 2. Overall dimensions of the sensor with a D-SUB44 connector. B1 - IP67 housing; B2 - IP40 housing; ATTENTION!!! The product must be installed on a flat surface to avoid bending forces on the housing relative to the attachment points. page 8 from 37

9 8 CONNECTION The diagram for connecting the sensor is shown on Fig 3. *Option with galvanically isolated supply Figure 3. Showing sensor connection Figure 4. Option with simple and galvanically isolated supply page 9 from 37

10 Figure 5. Pin numbering of the sensor connector (view of the D-SUB44 connector on the outside of the sensor, view of the mating connector from the side of the mounting part). Examples of connecting external circuits to discrete inputs and outputs are shown on Fig 6. Figure 6. Example of connecting external circuits 9 PREPARATION FOR USE To prepare for use, you must: - Carry out installation in accordance with the recommendations and requirements in Section 8 of the UM. - Check that the electrical part of the sensor is correctly installed. in order to obtain stable results after power-up, it is necessary to standby for minutes for the sensor to evenly warm; do not use the sensors near powerful light sources; page 10 from 37

11 10 DESCRIPTION OF DIGITAL INTERFACES AND EXCHANGE PROTOCOLS The following interfaces are used for sharing digital information in the sensor: -RS232 -RS485 -USB (virtual COM port) -Ethernet -CAN For RS232, RS485 and USB interfaces, ModBus RTU protocol is implemented; For the Ethernet interface, ModBus TCP / IP protocol is implemented; For CAN interface, 2 modes of operation are implemented: on request and during the event; To increase the resolution of the measurement result, the entire range of the sensor measurement is coded from 0 to Thus, to calculate the actual distance (in millimeters), the result must be decoded by the formula: L (Distance in mm) = Result transmitted by the sensor * Sensor measuring range / Description of working with the ModBus protocol All sensor parameters are stored in Holding registers. The main registers of the sensor are found on the 0th to the 70th address, 1st measurement buffer is found on the 100th to the 20099th address, the 2nd measurement buffer is found on the 20100th to the 40099th address (total of up to measurements). The rest of the address space is reserved. When reading from the reserved address space, the sensor returns 0, the entry is ignored. Owing to the built-in double data buffering, it is possible to read a large data stream without loss, using the ModBus protocol which uses the request-response principle. The sensor supports 3 basic ModBus functions for working with Holding registers: 0x03 reading the sequence of registers (up to registers per request); 0x06 recording one register; 0x16 recording the sequence of registers (up to 100 registers per request); When the settings registers are changed, the sensor automatically stores the new values in a non-volatile random-access memory. To speed up the exchange process, the sensor allows reading up to registers per request, while the byte count in the response is repeatedly overflowed. This is a deviation from the ModBus specification but allows one to get a high exchange rate in the request-response mode. Example of reading ModBus RTU registers: Request: Slave address ModBus function Start address Hi. Start address Lo. Number of registers Hi. Number of registers Lo. CRC checksum Hi. CRC checksum Lo. 0x01 0x03 0x00 0x00 0x9C 0xA4 0x2D 0x71 page 11 from 37

12 Response: Slave address ModBus function Bytes counter Data (register 0) Hi. Data (register 0) Lo. Data (register 1) Hi. Data (register 1) Lo.... Data (register 40099) Hi. Data (register 40099) Lo. CRC checksum Hi. CRC checksum Lo. 0x01 0x03 0x48 XX XX XX XX XX XX XX XX For RS232 and RS485 interfaces, the sensor address in the ModBus network is set by the HR42 register. For the virtual COM port (USB) and Ethernet, the sensor address is static and equal to 1. The sensor supports broadcast recording requests when the sensor address is set to 0. This allows sensors located on one RS485 bus to simultaneously receive commands for recording settings, synchronization, latches For a detailed description of the ModBus RTU and ModBus TCP / IP protocols, see the specifications for these protocols. The software package (software) with the sensor includes a protocol library and sample programs, which allows software developers under Windows OS to exchange data with the sensor without going into the particulars of the protocol. Regster number ModBus protocol Holding map registers: Name of register Access type* Factory settings Value Range Basic parameters for reading 0 Device identifier RO Device version identifier (High byte of register) RO Software version identifier (Low byte of register) RO Serial number (High word of parameter) RO Serial number (Low word of parameter) RO Start of measuring range RO - 5 Measuring range RO - 6 Current distance RO Latched distance RO - 8 Number of the busy buffer RO Number of records in buffer 1 RO - 10 Number of records in buffer 2 RO - 11 Absolute position along the X axis RW Absolute position along the Y axis RW Sampling frequency (measuring rate khz) RO (step 0.01) 14 Reserved - - Control and configuration 15 Software latch / 1-Software latch RW - SYNC Software synchronization 2-SYNC Software synchronization 16 Sensor control command RW - 0-Operation mode 1-Energy-saving mode 2-Buffer reset 3-Set 0 4-Restore the factory settings 17 Minimum sampling frequency of the sensor (khz) RW (step 0.01) 18 Holding the result during the time of no signal (ms) RW Sensor status at startup RW 0 0-Operation mode 1-Energy-saving 20 Shift point 0 th RW Laser power RW Average filter coefficient RW page 12 from 37

13 23 Noise Filtering Algorithm RW 0 0-Most minimal filtering 1-Minimal filtering 2-Average filtering 3-Maximal filtering 4-Most maximal filtering 24 Noise filtering coefficient RW Configuring the buffering modes and DI discrete inputs 0-Relative buffering by time DI1-Do not use/di2-latch/di3-inst 0th/DI4-Energy saving 1-Relative buffering on the SYNC synchronizing input DI1-STEP/DI2-Latch/DI3-Inst 0th/DI4-Energy saving 2-Relative buffering on the STEP/DIR signals DI1-STEP/DI2-DIR/DI3-Inst 0th/DI4-Energy saving 3-Relative buffering on the A / B QEP encoder DI1-A/DI2-B/DI3-Inst 0th/DI4-Energy saving 4-Absolute buffering of the 1st axis: STEP/DIR 25 Configuring buffering modes and DI digital inputs RW 1 DI1-STEP/DI2-DIR/DI3-Inst 0th/DI4-Energy saving 5-Absolute buffering of the 1st axis: A/B QEP DI1-A/DI2-B/DI3-Inst 0th/DI4-Energy saving 6-Absolute buffering of the 2nd axis: STEP/DIR & STEP/DIR DI1-STEP1/DI2-DIR1/DI3-STEP2/DI4-DIR2 7-Absolute buffering of the 2nd axis: STEP/DIR & A/B QEP DI1-STEP/DI2-DIR/DI3-A/DI4-B 8-Absolute buffering of the 2nd axis: A/B QEP & STEP/DIR DI1-A/DI2-B/DI3-STEP/DI4-DIR 9-Absolute buffering of the 2nd axis: A/B QEP & A/B QEP DI1-A1/DI2-B1/DI3-A2/DI4-B2 26 1) HR25 = 0: Sampling time (0-0.1ms, 1-0.2ms ) 2) HR25 = 1..9: Pulse divider for the 1st axis RW Pulse divider for the 2nd axis RW Reserved - - Analog output setting 29 Analog output type RW 3 0-Off mA mA mA mA 30 Lower limit of the parameter RW Upper limit of the parameter RW Discrete output setting 32 DO1 setting: Low point value RW DO1 setting: Upper point value RW DO1 setting: Lower point hysteresis RW DO1 setting: Upper point hysteresis RW DO1 setting: Output state in the absence of a signal RW 0 0-Open 1-Closed 37 DO2 setting: Low point value RW DO2 setting: Upper point value RW DO2 setting: Lower point hysteresis RW DO2 setting: Upper point hysteresis RW DO2 setting: Output state in the absence of a signal RW 0 0-Open 1-Closed Communication settings 42 Device address in the ModBus network (Slave address) RW RS-232 setting 43 RS-232 port speed (baud) RW RS-232 port parity (High byte of register) No parity RW 0 1-Parity is even 44 2-Parity is odd RS-232 port stop bit (Low byte of register) 0-Stop bit 1 RW 0 1-Stop bit 1,5 2-Stop bit 2 page 13 from 37

14 45 Reserved - - RS-485 setting 46 RS-485 port speed (baud) RW RS-485 port parity (High byte of register) No parity RW 0 1-Parity is even 47 2-Parity is odd RS-485 port stop bit (Low byte of register) 0-Stop bit 1 RW 0 1-Stop bit 1,5 2-Stop bit 2 48 RS-485 port response delay (ms) RW Reserved - - Ethernet setting 50 Ethernet port RW Ethernet IP1 sensor address (High byte of register) RW Ethernet IP2 sensor address (Low byte of register) RW Ethernet IP3 sensor address (High byte of register) RW Ethernet IP4 sensor address (Low byte of register) RW Ethernet M1 subnet mask (High byte of register) RW Ethernet M2 subnet mask (Low byte of register) RW Ethernet M3 subnet mask (High byte of register) RW Ethernet M4 subnet mask (Low byte of register) RW Ethernet IP1 gateway address (High byte of register) RW Ethernet IP2 gateway address (Low byte of register) RW Ethernet IP3 gateway address (High byte of register) RW Ethernet IP4 gateway address (Low byte of register) RW Ethernet: On / Off. RW 0 0-Always on 1-Disabled in power saving mode 2-Always off 58 Reserved Reserved Reserved - - CAN setting 61 CAN interface speed (1 = 5000 baud) RW CAN interface type RW 0 0-CAN 2.0A 1-CAN 2.0B 63 Lo identifier RW Hi identifier RW CAN operation types RW 0 0-On request 1-On event 66 User-configurable register 1 RW User-configurable register 2 RW User-configurable register 3 RW User-configurable register 4 RW Number of bytes transmittable in the frame RW Reserved Buffer 1 RO Buffer 2 RO - *RO the register is read-only; RW the register is available for reading and writing; page 14 from 37

15 10.2 Description of how CAN operates In the sensor, the CAN interface does not use application layer protocols, such as CANopen, DeviceNet, etc. The CAN interface is only able to transmit one frame of data on request (Remote frame) or by event, depending on the setting of the CAN operation type (HR65). An event is defined as the condition for recording the measured distance in the buffer. For example, if the time mode (HR25 = 0) is selected, then the event will be the specified measurement period (HR26), but if, for example, the operation mode is set by an external discrete input, the event will be the impulse at the given discrete input, taking into account the pulse divider register (HR26). HR66..HR69 registers allow you to configure the CAN data frame for the transmission of any desired sensor parameter in the address range from 0 to 65. The number of transmitted data bytes in the frame is specified by the HR70 register in the range from 1 to 8 bytes. Depending on the selected mode of operation (HR65) and the type of buffering (HR25), the format of the transmitted data frame changes: Format of the data frame in the request mode: 0 th byte: User-configurable register No. 1 (HR66) low byte 1 st byte: User-configurable register No. 1 (HR66) high byte 2 nd byte: User-configurable register No. 2 (HR67) low byte 3 rd byte: User-configurable register No. 2 (HR67) high byte 4 th byte: User-configurable register No. 3 (HR68) low byte 5 th byte: User-configurable register No. 3 (HR68) high byte 6 th byte: User-configurable register No. 4 (HR69) low byte 7 th byte: User-configurable register No. 4 (HR69) high byte Format of the data frame in the event mode at HR25 = 0..1: 0 th byte: Distance at the time of the event low byte 1 st byte: Distance at the time of the event high byte 2 nd byte: User-configurable register No. 1 (HR66) low byte 3 rd byte: User-configurable register No. 1 (HR66) high byte 4 th byte: User-configurable register No. 2 (HR67) low byte 5 th byte: User-configurable register No. 2 (HR67) high byte 6 th byte: User-configurable register No. 3 (HR68) low byte 7 th byte: User-configurable register No. 3 (HR68) high byte Format of the data frame in the event mode at HR25 = 2..3: 0 th byte: Distance at the time of the event low byte 1 st byte: Distance at the time of the event high byte 2 nd byte: The number of the busy buffer at the time of the event low byte (actually shows the direction of movement along the X axis) 3 rd byte: 0 4 th byte: User-configurable register No. 1 (HR66) low byte 5 th byte: User-configurable register No. 1 (HR66) high byte 6 th byte: User-configurable register No. 2 (HR67) low byte 7 th byte: User-configurable register No. 2 (HR67) high byte page 15 from 37

16 Format of the data frame in the event mode at HR25 = 4..5: 0 th byte: Distance at the time of the event low byte 1 st byte: Distance at the time of the event high byte 2 nd byte: Absolute position on the X axis at the time of the event low byte 3 rd byte: Absolute position on the X axis at the time of the event high byte 4 th byte: User-configurable register No. 1 (HR66) low byte 5 th byte: User-configurable register No. 1 (HR66) high byte 6 th byte: User-configurable register No. 2 (HR67) low byte 7 th byte: User-configurable register No. 2 (HR67) high byte Format of the data frame in the event mode at HR25 = 6..9: 0 th byte: Distance at the time of the event low byte 1 st byte: Distance at the time of the event high byte 2 nd byte: Absolute position on the X axis at the time of the event low byte 3 rd byte: Absolute position on the X axis at the time of the event high byte 4 th byte: Absolute position on the Y axis at the time of the event low byte 5 th byte: Absolute position on the Y axis at the time of the event high byte 6 th byte: User-configurable register No. 1 (HR66) low byte 7 th byte: User-configurable register No. 1 (HR66) high byte 11 DETAILED DESCRIPTION OF THE SENSOR PARAMETERS 11.1 Basic parameters for reading (HR0-HR13) Regster Name of register Register description number Used by the polling program to determine the type of device. For an LD3 0 Device ID laser sensor this parameter is always equal to 5 Device version identifier (High byte of register) Contains the value of the device version 1 Software version ID (Low byte of register) Contains the value of the program version 2 Serial number (High word of parameter) Contains the value of the sensor factory number 3 Serial number (Low word of parameter) 4 Start of measuring range Contains the value of the start of measuring range 5 Measuring range Contains the value of the entire measuring range of the sensor 6 Current distance Contains the value of the current measured distance This parameter stores the value of the current sensor distance, when the 7 Latched distance latch command comes from the discrete input, or from the software latch 8 Number of the busy buffer (HR15) This parameter indicates the number of the buffer to which the entry is made. For more details see section 12 DESCRIPTION OF BUFFERING MODES. 9 Number of records in buffer 1 Contains the value of the number of records in buffer 1 10 Number of records in buffer 2 Contains the value of the number of records in buffer 2 11 Absolute position along the X axis In the absolute buffering mode, it contains the position along the X axis 12 Absolute position along the Y axis In the absolute buffering mode, it contains the position along the Y axis 13 Sampling frequency (measuring rate khz) This parameter displays the current measurement frequency of the sensor, which depends on the reflectivity of the measurement object. page 16 from 37

17 11.2 Control and configuration parameters (HR15-HR22) Regster number 15 Name of register Software latch / Software synchronization SYNC 16 Sensor control command: 17 Minimum sampling frequency of the sensor (khz) 18 Holding the result during the time of no signal (ms) 19 Sensor status when starting up 20 Shift point 0th 21 Laser power 22 Average filter coefficient 23 Noise Filtering Algorithm Register description - When recording the number 1 in this register, there is a recording of the current measured distance into register HR7. - In the relative buffering on the SYNC synchronizing input mode, entering the number of 2 to this register generates a record of the current distance in the ring buffer. Using the ModBus protocol,this register allows to control the sensor: 0-Operation mode - this command switches the sensor from the energysaving mode to the operating mode. 1-Energy-saving mode - this command switches the sensor from operation mode to energy-saving mode. 2-Buffer Reset - this command resets the buffering counters HR9 and HR10 to zero. 3-Set 0 - this command automatically calculates and records the shift of the 0th point to the HR20 register, so after the 0-th setting, the sensor will read the current position of the 0th.. 4-Restore factory settings - this command restores the factory settings of the sensor. Depending on the reflectivity of the measurement object, the update frequency of the measurement result can vary from 0.12kHz to 32.68kHz. The lower the reflectivity of the object, the lower frequency of the sensor. This parameter allows setting a limit to the minimum frequency of the sensor measurement.. If a situation arises when the sensor is not able to determine the distance to the object, then it transmits a zero value. This parameter specifies the time during which the sensor will output the last measured distance value. This parameter is able to specify the initial state of the sensor at startup: 0- Operation / 1-Energy-saving This parameter contains the zero point offset value. The current distance HR (6) is calculated taking into account this shift by the formula: HR6 = The measured distance value -HR20. The laser radiation power is automatically adjusted depending on the reflectivity of the measurement object. This parameter sets the maximum permissible laser radiation power of the sensor in relative units from 0 to 100. The sensor has a averaging filter. This parameter shows the filter coefficient This parameter specifies the noise filtering algorithm: 0-Most minimal filtering 1-Minimal filtering 2-Average filtering 3-Maximal filtering 4-Most maximal filtering If a signal with a high frequency is to be measured (for example, with 3D scanning), then minimum filtering must be specified. If a high measurement frequency is not required, the maximum filtering should be set, for maximum suppression of measurement noise. 24 Noise filter coefficient This parameter specifies the noise filtering coefficient. page 17 from 37

18 11.3 Configuration parameters for the buffering modes and DI discrete inputs (HR25- HR27) Regster number Name of register Register description 25 Configuring buffering modes and DI digital inputs This parameter specifies the buffering mode and configures the discrete inputs according to the selected mode. If the relative buffering by time (HR25 = 0) is selected, this parameter 26 specifies the period at which the measured distance will be recorded in the 1) HR25 = 0: Sampling time (0-0.1ms 1-0.2ms) ring buffer. 2) HR25 = 1..9: Pulse divider for the 1st axis In all other buffering modes, this parameter specifies the impulse divider for the 1st positioning X axis. 27 Pulse divider for the 2nd axis The parameter specifies the pulse divider for the 2nd positioning Y axis. For a more detailed description of these parameters, see section 12 DESCRIPTION OF BUFFERING MODES Analog Output Settings (HR29-HR31) Regster number 29 Analog Output Type 30 Lower limit of the parameter 31 Upper limit of the parameter Name of register Register description This parameter specifies the range of the analog output: 0-analogue output is disabled, the output current is 0; 1-analog output range 0..5mA; 2-analog output range 0..10mA; 3-analog output range 0..20mA; 4-analog output range 4..20mA; This parameter specifies the distance at which the analog output should have the minimum value of the selected range. This parameter specifies the distance at which the analog output should have the maximum value of the selected range If the upper limit of parameter-hr31 is set less than the lower limit of parameter-hr30, the analog output will work in inverse mode. The sensor is configured with only a current output. If a voltage output is required, it is sufficient to install a shunt on the analog output and receive voltage from it. For example, to obtain a voltage of 0..10V, it is necessary to set the shunt to 2kΩ for a range of 0..5mA or 1kΩ for a range of 0..10mA or 500Ohm for a range of 0..20mA. Adding a shunting resistor to obtain a voltage output page 18 from 37

19 11.5 Parameters for configuring discrete outputs (HR32-HR41) Regster number Name of register 32 DO1 setting: Low point value 33 DO1 setting: Upper point value 34 DO1 setting: Lower point hysteresis 35 DO1 setting: Upper point hysteresis 36 DO1 setting: Output state in the absence of a signal 37 DO2 setting: Low point value 38 DO2 setting: Upper point value 39 DO2 setting: Lower point hysteresis 40 DO2 setting: Upper point hysteresis 41 DO2 setting: Output state in the absence of a signal Register description Parameters: the lower and upper limit values set the range of distance at which the discrete output will have: 1) Closed state - if the value of the lower point (HR32) is less than the upper point value (HR33). This mode will be called direct, additionally, while outside this range the discrete output will be open. 2) Open state - if the value of the lower point (HR32) is higher than the value of the upper point (HR33). This mode will be called inverse, while outside this range the digital output will be closed. This parameter specifies the hysteresis value relative to the lower point value (HR32) of the DO1 discrete output. This parameter specifies the hysteresis value relative to the upper point value (HR33) of the DO1 discrete output. This parameter determines the state of the DO1 discrete output at the time when the sensor is unable to determine the distance to the measurement object: 0-discrete output open 1-discrete output closed Parameters: the lower and upper limit values set the range of distance at which the discrete output will have: 1) Closed state - if the value of the lower point (HR37) is less than the upper point value (HR38). This mode will be called direct, additionally, while outside this range the discrete output will be open. 2) Open state - if the value of the lower point (HR37) is higher than the value of the upper point (HR38). This mode will be called inverse, while outside this range the digital output will be closed. This parameter specifies the hysteresis value relative to the lower point value (HR37) of the DO2 discrete output. This parameter specifies the hysteresis value relative to the upper point value (HR38) of the DO2 discrete output. This parameter determines the state of the DO2 discrete output at the time when the sensor is unable to determine the distance to the measurement object: 0-discrete output open 1-discrete output closed Operation diagrams: *Note: The values of the distance-related registers in the pictures are indicated in mm for greater clarity, actual data values will depend on the measuring range of the sensor. page 19 from 37

20 Owing to these parameter settings, it is possible to set various algorithms for the operation of discrete outputs DO1 and DO2. An example of a system of automatic movement for a measurement object at a given distance: The task is to automatically move object 2 on which the sensor is mounted, following the moving object 1 moving in the same direction. The allowed range of distance between two objects is mm. We use the LDX-440/800 sensor model (the beginning of the measuring range is 440mm, the measuring range of the sensor is 800mm). The DO1 discretl output is configured to signalize the absence of a signal, to inform of an error. The DO2 discrete output is configured for on / off. engine displacement of object 2 with a sensor. Diagram of operation and configuration of registers: *Note: The values of the distance-related registers in the pictures are indicated in mm for greater clarity, actual data values will depend on the measuring range of the sensor. page 20 from 37

21 An example of a system for automatically maintaining the distance to a measurement object (two directions of motion): The task is to hold object 2 on which the sensor is mounted at some distance from the object of movement No. 1, which has the ability to move in both directions (forward / reverse). The acceptable range of distance is mm. We use the LDX- 135/400 sensor model (the beginning of the measuring range is 135mm, the measuring range of the sensor is 400mm). The DO1 discrete output is configurable for engine on / off in the forward direction. The DO2 discrete output is configurable for engine on / off in the reverse direction. Diagram of operation and configuration of registers: *Note: The values of the distance-related registers in the pictures are indicated in mm for greater clarity, actual data values will depend on the measuring range of the sensor Communication settings parameters (HR42-HR70) Regster number Name of register 42 Device address in the ModBus network (Slave address) Register description For RS232 and RS485 interfaces, this register specifies the address of the sensor in the ModBus network, for the virtual COM port (USB) and Ethernet, the sensor address is static and equal to 1 page 21 from 37

22 11.7 RS232 Settings (HR43-HR44) Regster number Name of register Register description 43 RS-232 port speed (baud) This parameter sets the RS232 port speed 44 RS-232 port parity (High byte of register) The high byte of this parameter specifies the parity of the RS232 port RS-232 port stop bit (Low byte of register) The low byte of this parameter specifies the stop bit of the RS232 port 11.8 RS485 Settings (HR46-HR48) Regster number Name of register Register description 46 RS-485 port speed (baud) This parameter sets the RS485 port speed 47 RS-485 port parity (High byte of register) The high byte of this parameter sets the parity of the RS485 port RS-485 port stop bit (Low byte of register) The low byte of this parameter sets the stop bit of the RS485 port 48 Delayed response from RS-485 port (ms) Some controllers require a response delay from the requested device to transfer the RS485 port driver from the transmit mode to the receive mode. This parameter sets the response delay time for the RS485 port 11.9 Ethernet configuration (HR50-HR57) Regster number 50 Ethernet port Name of register Ethernet IP1 sensor address (High byte of register) Ethernet IP2 sensor address (Low byte of register) Ethernet IP3 sensor address (High byte of register) Ethernet IP4 sensor address (Low byte of register) Ethernet M1 subnet mask (High byte of register) Ethernet M2 subnet mask (Low byte of register) Ethernet M3 subnet mask (High byte of register) Ethernet M4 subnet mask (Low byte of register) Ethernet IP1 gateway address (High byte of register) Ethernet IP2 gateway address (Low byte of register) Ethernet IP3 gateway address (High byte of register) Ethernet IP4 gateway address (Low byte of register) 57 Ethernet: On / Off Register description This parameter specifies the port number, typically for the ModBus TCP / IP port number is 502 These parameters set the IP address of the sensor on an Ethernet network These parameters set the subnet mask These parameters set the gateway address This parameter allows you to control the on / off of the Ethernet port, since the Ethernet port has a high power consumption CAN Configuration (HR61-HR70) Regster number 61 Name of register CAN interface speed (1 = 5000 baud) 62 CAN interface type 63 Lo identifier 64 Hi identifier Register description This parameter allows setting the CAN interface speed from 5000bd bd, the step of change of speed is 5000bud. This parameter sets the type of CAN interface: 0 - CAN 2.0A with a simple identifier 1 - CAN 2.0B with an extended identifier This parameter sets the sensor identifier on the CAN bus. When using CAN 2.0A, only the HR63 register (Lo identifier) is counted as an identifier. When using CAN 2.0B, both registers are taken into account as identifiers page 22 from 37

23 65 CAN operation types 66 User-configurable register 1 67 User-configurable register 2 68 User-configurable register 3 69 User-configurable register 4 70 Number of bytes transmittable in the frame This parameter specifies the type of sensor operation on the CAN bus: 0-On request the sensor responds to a data request (Remote frame) containing the sensor identifier 1-On event the sensor responds to the event of writing data to the buffer This parameter allows the configuration of the CAN data frame to transmit any desired sensor parameter in the address range This parameter allows the configuration of the CAN data frame to transmit any desired sensor parameter in the address range This parameter allows the configuration of the CAN data frame to transmit any desired sensor parameter in the address range This parameter allows the configuration of the CAN data frame to transmit any desired sensor parameter in the address range This parameter specifies the length of the CAN data frame in the range from 1..8 bytes 12 DESCRIPTION OF BUFFERING MODES The sensor has the ability to set events, by which the values will be written to the buffer - "buffering". Buffering can be "relative" - when only the value of the measured distance is written to the buffer sequentially with each event, and "absolute" when the value of the measured distance and the absolute position along one or two positioning axes X, Y are written with each event. Relative buffering events: According to the given period of time; According to the external SYNC sync input or by software synchronization: HR15 = 2; According to the signals of the DIR / STEP (1 axis); According to the A / B (1 axis) encoder signals; Absolute buffering events: According to the DIR / STEP (1 axis) signals; According to the A / B (1 axis) encoder signals; According to the DIR / STEP (2 axes) signals; According to the DIR / STEP signals and encoder A / B (2 axes) signals; According to A / B (2 axes) encoder signals; In the absolute buffering mode, the event for writing a new value to the buffer is the change in the position of one or two axes, while writing to the buffer occurs every time the sensor measurement is updated. Depending on the selected buffering mode, the digital inputs of the sensor (DI1, DI2, DI3, DI4) can have the following assignments: synchronization SYNC - synchronizing input, on the rising edge of which taking into account the pulse divider (HR25), the current distance (HR6) is written to the buffer; latch - the current distance (HR6) is recorded to the HR7 register (Latch Distance) on the rising edge of the signal; 0-setting - on the rising edge of the signal, the zero point is automatically calculated and recorded in the HR20 register, so after the 0th setting, the sensor will read the current position of as the 0th. energy saving - on the rising edge of the signal, the sensor goes into energy saving mode; STEP - the step signal (it is registered on the falling edge); DIR - direction signal; A - signal A from the QEP incremental quadrature encoder; B - signal B from the QEP incremental quadrature encoder; page 23 from 37

24 Regster number The main registers when working with buffering: Name of register Access type Factory settings Value Range Basic parameters for reading 8 Number of the busy buffer RO Number of entries in buffer 1 RO 10 Number of entries in buffer 2 RO 11 Absolute position along the X axis RW Absolute position along the Y axis RW Management and settings 15 Software latch / 1-Software latch RW - Software synchronization SYNC 2-Software synchronization SYNC 16 Sensor control command: RW - 0-Operation mode 1-Energy-saving mode 2-Buffer Reset 3-Set 0 4-Restore factory settings Configuring the buffering modes and DI discrete inputs 0-Relative buffering by time DI1-do not use/di2-latch/di3-inst 0th/DI4-energy saving. 1-Relative buffering on the SYNC synchronizing input DI1-STEP/DI2-latch/DI3-inst 0th/DI4-energy saving. 2-Relative buffering on the STEP/DIR signals DI1-STEP/DI2-DIR/DI3-inst 0th/DI4-energy saving. 3-Relative buffering on the A / B QEP encoder DI1-A/DI2-B/DI3-inst 0th/DI4-energy saving. 4-Absolute buffering of the 1st axis: STEP/DIR 25 Configuring buffering modes and DI digital inputs RW 1 DI1-STEP/DI2-DIR/DI3-inst 0th/DI4-energy saving. 5-Absolute buffering of the 1st axis: A/B QEP DI1-A/DI2-B/DI3-inst 0th/DI4-energy saving. 6-Absolute buffering of the 2nd axis: STEP/DIR & STEP/DIR DI1-STEP1/DI2-DIR1/DI3-STEP2/DI4-DIR2 7-Absolute buffering of the 2nd axis: STEP/DIR & A/B QEP DI1-STEP/DI2-DIR/DI3-A/DI4-B 8-Absolute buffering of the 2nd axis: A/B QEP & STEP/DIR DI1-A/DI2-B/DI3-STEP/DI4-DIR 9-Absolute buffering of the 2nd axis: A/B QEP & A/B QEP DI1-A1/DI2-B1/DI3-A2/DI4-B2 26 1) HR25 = 0: Sampling time (0-0.1ms 1-0.2ms) 2) HR25 = 1..9: Pulse divider for the 1st axis RW Pulse divider for the 2nd axis RW Buffer 1 RO Buffer 2 RO Relative Time Buffering (HR25 = 0) In this mode, the sensor generates 1 common ring buffer with a size of measurements (HR100-HR40099). The buffer is circular, i.e. rewritable when the last cell is reached. The HR26 register specifies the period of writing to the buffer. The main registers of the mode: - HR25 register - sets the buffering operation mode, should be equal to 0; - HR26 register (Sampling time) - sets the recording period to the buffer: (0-0.1 ms ms); - HR8 register (Number of the busy buffer) - always equal to 0; - HR9 register (Number of records in buffer 1) - shows the current number of records ; - HR100-HR40099 registers of the circular buffer - contain measurement data; - HR16 register (Sensor control command) - when the number 2 is written to this register, the sensor erases the HR9 buffer; page 24 from 37

25 Discrete input functions: DI1- not used; DI2- latch; DI3- set 0th; DI4- energy saving; Diagram of operation mode: 12.2 Relative buffering on the SYNC synchronization input (HR25 = 1) In this mode, the sensor generates 1 common ring buffer with a size of measurements (HR100-HR40099). The register HR26 sets the impulse divider for the SYNC input (0-without divider, 1-divisor = divisor = 65536). In addition to synchronization via the SYNC external input, this mode allows one to make and program synchronization via the ModBus protocol, for this one needs to record the number 2 in the HR15 register. Thus, it is possible to synchronize several sensors located, for example, on a common RS485 bus, giving a broadcast command of writing the number 2 to the HR15 register. The impulse divider (HR26) is not taken into account during program synchronization. Main registers of the mode: - HR25 register - sets the buffering operation mode, should be equal to 1; - HR26 register (Pulse divider for the 1st axis) - sets the impulse divider for DI1: ( ) - HR8 register (Number of the busy buffer) - always equal to 0; - HR9 register (Number of records in the buffer 1) - shows the current number of records ; - HR100-HR40099 registers of the circular buffer - contain measurement data; - HR16 register (Sensor control command) - when the number 2 is written on this register, the sensor clears the HR9 buffer meter; - HR15 register (SYNC software synchronization) - when the number 2 is written on this register, the sensor records the current measured distance (HR6) in the buffer; Discrete input functions: DI1- SYNC synchronization; DI2- latch; DI3- set 0th; DI4- energy saving; page 25 from 37

26 Diagram of operation mode: HR26 = 3, i.e. recording in the buffer will occur every 4th rising edge at the SYNC synchronization input. Example of using the mode: An example of synchronous operation of several sensors from external SYNC synchronization Example of synchronous operation of several sensors on only one RS485 interface during the broadcast of the number 2 in the HR15 register 12.3 Relative buffering by the STEP / DIR signals (HR25 = 2) In this mode, the sensor generates 2 linear buffers: buffer1 and buffer2, which are responsible for their direction of motion (DIR = 0 or DIR = 1). The size of each buffer is 20,000 measurements. When changing the direction of movement - DIR, the value of the HR8 register changes, indicating the number of the busy buffer, while the count of the number of records of the newly busy buffer (HR9 or HR10 - depends on the direction of the DIR) at the time of the direction change is reset, and the buffer of the released buffer retains its value, until the next DIR change. Owing to this double buffering, it is possible to separate data from different directions of motion. Main registers of the mode: - HR25 register - sets the buffering operation mode, should be equal to 2; - HR26 register (Pulse divider for the 1st axis) - sets the impulse divider for DI1: ( ) - HR8 register (Number of the busy buffer) - indicates the number of the buffer to be written; - HR9 register (Number of records in the buffer 1) - shows the current number of records ; - HR10 register (Number of records in the buffer 2) - shows the current number of records ; - HR100-HR20099 registers - linear buffer 1; - HR20100-HR40099 registers - linear buffer 2; - HR16 register (Sensor control command) - when the number 2 is written to this register, the sensor clears the meters for HR9 and HR10 buffering; page 26 from 37

27 Discrete input functions: DI1-STEP; DI2-DIR; DI3-set 0th; DI4-energy saving; Diagram of operation mode: Usage example: This mode is applicable for creating a laser scanning system based on CNC machine tools (milling, laser, etc.) with DIR/STEP signals. This scanning mode is implemented in the configuration program that comes with sensor in the package. For a more detailed description, see document "INSTRUCTIONS FOR CREATING A 3D LASER SCANNER BASED ON A CNC MACHINE". A schematic showing the connection of the laser sensor to the CNC system 12.4 Relative buffering by the A / B QEP encoder (HR25 = 3) This mode is completely analogous to the previous one, with the only difference being that the rotation direction change is determined not by the DIR signal, but by the combination of the A / B encoder signals. Main registers of the mode: - HR25 register - sets the buffering operation mode, should be equal to 3; - HR26 register (Pulse divider for the 1st axis) - sets the impulse divider for DI1: ( ); - HR8 register (Number of the busy buffer) - indicates the number of the buffer to be written; - HR9 register (Number of records in the buffer 1) - shows the current number of records ; page 27 from 37

28 - HR10 register (Number of records in the buffer 2) - shows the current number of records ; - HR100-HR20099 registers - linear buffer 1; - HR20100-HR40099 registers - linear buffer 2; - HR16 register (Sensor control command) - when the number 2 is written to this register, the sensor clears the meters for HR9 and HR10 buffering; Discrete input functions: DI1-A; DI2-B; DI3-set 0th; DI4-energy saving; 12.5 Absolute buffering of axis 1 : STEP / DIR (HR25 = 4) In this mode, the sensor generates 1 common ring buffer with a size of measurements - for each measurement, two registers are allocated: the 1st distance and the 2nd absolute position along the X axis. A buffer entry occurs every time the measurement is updated under the condition that a position change along the X axis occurs. Main registers of the mode: - HR25 register - sets the buffering operation mode, should be equal to 4; - HR26 register (Pulse divider for the 1st axis) - sets the impulse divider for DI1: ( ); - HR8 register (Number of the busy buffer) - always equal to 0; - HR9 register (Number of records in buffer 1) - shows the current number of records ; - HR11 register (Absolute position along the X axis) - shows the current position along the X axis, this register has write access to set the required value; - HR100-HR40099 registers of the circular buffer - contain measurement data; - HR16 register (Sensor control command) - when the number 2 is written to this register, the sensor erases the HR9 buffer; Discrete input functions: DI1-STEP; DI2-DIR; DI3-set 0th; DI4-energy saving; Diagram of operation mode: page 28 from 37

29 12.6 Absolute buffering of axis 1: A/B QEP (HR25=5) This mode is completely analogous to the previous one, with the only difference being that the rotation direction change is determined not by the DIR signal, but by the combination of the A/B encoder signals. Main registers of the mode: - HR25 register - sets the buffering operation mode, should be equal to 5; - HR26 register (Pulse divider for the 1st axis) - sets the impulse divider for DI1: ( ); - HR8 register (Number of the busy buffer) - always equal to 0; - HR9 register (Number of records in the buffer 1) - shows the current number of records ; - HR11 register (Absolute position along the X axis) - shows the current position along the X axis, this register has write access to set the required value; - HR100-HR40099 registers of the circular buffer - contain measurement data; - HR16 register (Sensor control command) - when the number 2 is written to this register, the sensor erases the HR9 buffer; Discrete input functions: DI1-A; DI2-B; DI3-set 0th; DI4-energy saving; 12.7 Absolute buffering of 2nd axis: STEP / DIR & STEP / DIR (HR25 = 6) In this mode, the sensor generates 1 common ring buffer with a size of measurements - for each measurement, three registers are allocated: 1st -distance register, 2nd- register of absolute position on the X axis and 3rd -register of absolute position along the Y axis. Entry into the buffer occurs every time the measurement is updated, provided that a change in position along the X axis and / or the Y axis occurs. Discrete input functions: DI1-STEP1; DI2-DIR1; DI3-STEP2; DI4-DIR2; 12.8 Absolute buffering of 2nd axis: STEP / DIR & A / B QEP (HR25 = 7) This mode is completely analogous to the previous one, with the only difference being that the X axis is operated by a DIR/STEP signals, and the Y axis is operated by an incremental quadrature encoder. Discrete input functions: DI1-STEP; DI2-DIR; DI3-A DI4-B; 12.9 Absolute buffering of 2nd axis: A / B QEP & STEP / DIR (HR25 = 8) This mode is completely analogous to the previous one, with the only difference being that the X axis is operated by an incremental quadrature encoder, and the Y axis is operated by a DIR/STEP signals. Discrete input functions: DI1-A; DI2-B; DI3-STEP; DI4-DIR; page 29 from 37

30 12.10 Absolute buffering of 2nd axis: A / B QEP & A / B QEP (HR25 = 9) This mode is completely analogous to the previous one, with the only difference being that both X and Y axes work from incremental quadrature encoders. Discrete input functions: DI1-A1; DI2-B1; DI3-A2; DI4-B2; 13 DESCRIPTION OF THE CONFIGURATION PROGRAM The program is designed for configuring the sensor parameters. Additionally, in order to demonstrate the operation of the sensor as a laser scanner, the program implements the 3D scanning, visualization and data processing function Description of the main elements of the program Program operation window: page 30 from 37

31 1) The "Connect" button - calls up the "Connection settings:" menu: In this menu, the type of connection and its settings are selected. For a virtual COM port, speed settings, parity and the number of stop bits are irrelevant. 2) "About the program " button - opens a window for the description of the program version: 3) "Parameters menu:" - contains a grouped menu of sensor registers: if changed, the table "Current parameters:" (4) changes its content. This is done for the convenience of searching and displaying the required registers. page 31 from 37

32 4) "Current parameters:" table - displays the names of the parameters and their values. Double-clicking a parameter with read and write access depending on the type of parameter (numeric, enumerated or high / low bytes) brings up one of the three parameter editing windows: if the parameter has read-only access, then an information window appears: 5) "Legend" - shows / hides the values of points on a dynamic chart. 6) The "Dynamic distance chart" tab - this tab contains a dynamic distance graph, created to demonstrate the operation of the sensor. 7) "3D Scanning" tab - this tab is intended for using the sensor as a 3D scanner. 8) Status Bar - this line displays the communication status of the sensor. 9) Dynamic graph - displays the current distance change depending on a certain time range. page 32 from 37

33 13.2 Description of the 3D Scanning function The "3D Scanning" function in the configuration program is implemented to demonstrate the capabilities of the sensor. This software feature allows to: - view and edit scanned models in the form of *.srs files, as well as viewing *.stl files without the possibility of editing; - create a control program (row-wise scan) for machine tools under control of G codes; - scan objects; - produce software processing and filtering of the scanned model; - save the scanned model as *.srs, *.stl files or as a point cloud *.asc; - owing to the built-in plugin support, it is possible to create your own custom filtering and data processing, as well as saving the data in the required format; "3D Scanning" tab outward appearance: Description of the main elements of the "3D Scanning" tab: 1) Task execution indicator - informs about the progress of file downloads, the scanning process, data processing; 2) Information menu "Object parameters" - displays the geometric dimensions of the scanning object; page 33 from 37

34 3) 3D model viewing area - created to visualize the object in the form of a 3D model. With the help of a computer mouse, it is possible to rotate, move and scale the model. 4) The tab "Expand the area" - allows you to increase the width of the viewing area of the 3D model for easy visualization; 5) The "Configuration and scanning" tab is used to configure scan settings: Description of the main elements of the "Configuration and scanning" tab: "X-Axis (number of steps per 1 mm):" specifies the number of impulses issued by the CNC controller for 1 millimeter of movement along the X axis; "X-Axis (step-divider):" specifies the actual scanning pitch in the X-axis; "Actual scanning step (mm):" shows the actual scanning pitch along the X axis in millimeters; "Y-Axis scanning step (mm):" specifies the scanning pitch on the Y-axis in millimeters; "Scan length X (mm):" specifies the scan length along the X axis in millimeters; "Scan length Y (mm):" specifies the scanning length along the Y axis in millimeters; "Object inversion" sets the scan mode in normal or inverted form; "Binding the sensor axis to X:" binds the axis of the sensor along X to the required machine axis: (X, Y, Z, A, B, C) in fact, we set the axis to which the sensor was connected; "Binding the sensor axis to Y:" binds the sensor axis along the Y axis to the required machine axis: (X, Y, Z, A, B, C); "Scanning speed (mm / min):" sets the scanning speed; extension of the control program; " Extension of the CNC file:" allows you to specify the "Create CNC file" pressing this button generates a CNC control program for the machine controller of the G-code; "Scanning" once this button is pressed, the scan mode starts, and the sensor parameters are configured according to the preset settings. Press the button again to turn off the scan mode; "Number of lines:" shows the current number of scanned lines along the Y axis; page 34 from 37

35 6) "Data processing" tab - is intended for software processing, filtering and subsequent saving to the disk of the scanned model. All data processing is implemented in the form of plugins, and hence it is possible to develop and connect to the program own plugins, with the required algorithms for processing and / or saving the scanned data (see section 13.3 Brief description of plugins operation). Description of the main elements of the tab "Data processing": "Open " this button allows you to open a previously saved file of the scanned 3D model (extension *.srs) for viewing and editing. In addition, it is possible to open the *.stl extension files for viewing, while editing and saving to other formats is not supported. "Save as " this button allows saving the scanned model in *.srs, *.stl, *.asc format (ASCII point cloud). "Installed plugins:" window for selecting the required plugin. To start the plugin, double-click on the required plugin; "Description:" contains information about the description, version and author of the selected plugin; "Load original" additionally loads the original model of the 3D object over the processed model, this allows you to visually control the geometry of the processed object relative to the original one; "Show original" shows / hides the original scanned 3D model of the object; "Show the processed object" show / hide the processed 3D model of the object; "Save the plugin action" this button saves the changes that the plugin made; "Cancel plugin action" this button cancels the changes made by the plugin; "Restore the original" this button restores the original model; page 35 from 37

36 13.3 Brief description of plugins operation This description is intended for those who have experience in programming in the Delphi environment and want to write their own plugin processing of scanned data. The program passes to the plugin a pointer on the dynamic array of coordinates of the points: Each scanned point is specified by 3 coordinates: X, Y and Z height. The plugin receiving this pointer can process this data: filter the data on the Z axis or save the received data in the required format or perform other operations required by the user. After making changes to the dynamic array along the Z axis, there is the possibility to: update the 3D model image according to the edited dynamic array; restore the data in the array, as it were before; save data for further use; For this purpose, there is a mechanism for exchanging commands and data between the program and plugins: Messages sent from the plugin to the main program: procedure CallBack(TypeD:Integer; var Data); TypeD = 0: - update the 3D model image according to dynamic array Data - has no significance TypeD = 1: - restore the data of the dynamic array Data - has no significance TypeD = 2: - save data Data - has no significance TypeD = 10: - command to set the position of the task execution indicator Data = TypeD = 11: - update window program command Data - has no significance Messages received by the plugin from the main program: procedure ReceiveData (TypeD:Integer; var Data); TypeD = 0: - clearing of the dynamic array TypeD = 1: - start the Data plugin TypeD = 2: - update pointer Data - has no significance Data - pointer to dynamic array Data - pointer to dynamic array For a more detailed introduction on writing plugins, see examples of plugins written in the Delphi programming language in the Source Code\Plugins folder. page 36 from 37