TLE1 REFLECTIVE LINE SENSOR WITH ETHERNET INTERFACE

Transcription

1 INTRODUCTION The TLE1 sensor integrates laser line triangulation technology with Ethernet interface. It projects a laser line on the measured surface, instead of a single point as seen on standard triangulation sensors for distance measurement. The reflected light is captured by an area CMOS, which features an enhanced detail (for material profile measurement, i.e. hole size, gap, edge) and a much more accurate distance measurement (due to the number of data points). All processing occurs in the sensor itself. No external controller or PC are required in its operation. TLE1 REFLECTIVE LINE SENSOR WITH ETHERNET INTERFACE September 2012, rev.d 1. SPECIFICATION Distance measurement range: 35 to 65 mm (50 mm ± 15 mm) Height measurement range: 10 mm (center of line ± 5 mm) Line size: 40 μm thick x 16 mm length at middle of measuring range (MR) Detector: CMOS (1280x1024 pixels) Distance Resolution: 1 μm Distance Linearity: <10 μm Height Resolution: < 20 μm Response Time: ms Laser: 670 nm, Class IM, <3mW Interface: RJ45 (Ethernet), 10/100 Mbit Communication: TCP or UDP protocol Power: POE (Power over Ethernet), from 12 (150mA) to 24 VDC (80mA) Weight: 105 g Dimensions: 100 x 70 x 25 mm

2 2. DIMENSIONS TLE1 REFLECTIVE LINE SENSOR 25 LASER WINDOW 100 LENS AND IMAGE SENSOR WINDOW 6, ,4 51,4 R 3,15 5 4X O , ,5 18 All dimensions in mm For detailed dimensions, please download 2D drawing or 3D model from or at: info@metralight.com 2

3 TLE1 REFLECTIVE LINE SENSOR 3. CONNECTION DC POWER SUPPLY: 10V TO 25V ETHERNET SWITCH CAT5/RJ45 CABLES **POE INJECTOR **POE INJECTOR TLE1 SENSOR (TCP SERVER) TLE1 SENSOR (TCP SERVER) *IP: , Port: 1024 *IP: , Port: 1024 HOST PC (TCP CLIENT) *IP: NOTES: * Example of IP address and Port settings. See further chapter (8.9 and 8.10) for details how to change IP settings. ** When multiple sensors are used, Metralight provides 8 Port Injector module, or Patch panel can be used for power connection. 3

4 4. OPERATIONAL TLE1 REFLECTIVE LINE SENSOR TLE1 sensor can measure distance, profile, hole size and other shape profiles. The standard TLE1 has four basic modes (custom modes can be implemented upon customer request). First mode is intended for measuring the distance from basic plane (distance X). Other modes are intended for measuring various objects (e. g. sheet metal) in 2 axis, see pictures below. MEASURED SURFACE Figure: MODE_O measuring mode X TOP SMR 1 EMR 65 MODE_0 is intended for measuring of distance from basic plane (distance X). Plane can be straight or curved. Result data is an average of the number of points (user defined) - user can set the length of processed line (parameters in figure). See parameters FROM_LINE, NUM_LINES for setting. Measurement range (30mm) is between SMR (Start of Measuring Range, 35mm from face of sensor) and EMR (End of Measuring Range, 65mm from face of sensor). SMR position is represented by sensor as 0, EMR is represented as (30mm). 50 MODE_1 measures X-distance of closest object s segment from face of sensor and its Y-position as well. User defines the length of processed laser line (see FROM_LINE, NUM_LINES, in MODE_0 figure) and segment size (WINDOW parameter). Sensor algorithm searches between limits, for closest segment (size defined by WINDOW). Also see SMR and EMR parameters in previous figure). MEASURED SURFACE X TOP 10mm Y 0 This mode is usually used for measuring of uneven sheet metal edge, rounded edge profile of glass, etc. See next Figure for detailed explanation. Figure: MODE_1 measuring mode 4

5 TLE1 REFLECTIVE LINE SENSOR X RESULT 10mm WINDOW TOP SENSOR FACE LASER LIGHT SHEET METAL PROFILE 0 CLOSEST SEGMENT Y RESULT MODE_1 examples on the left shows measuring of sheet metal edge distance. Measuring line (see FROM_LINE, NUM_LINES, ) is processed and closest segment (size specified via WINDOW) is presented as result. Figure: MODE_1 measuring sheet metal edge distance TOP TOP MODE_2 is primary intended for measuring of object EDGE in both axis (X distance, Y position). Measured object has to be presented from sensor top side. WINDOW parameter specifies the size of segment (portion of projected line), used for calculating of X distance. X RESULT In MODE_3 object is placed from opposite side of sensor (bottom side). 10mm 0 Y RESULT SEGMENT (WINDOW) Figure: MODE_2 measuring object edge Figure: MODE_3 measuring object edge 5

6 5. INTERFACE TLE1 sensor has two LEDs. Green LED indicate power, blue LED indicates presence of object in measurement area. Pressing and holding of Reset IP button during sensor power-up resets IP address to default value. IP address is stored in EEPROM memory (see memory map below). Standard CAT5 cable is used for connection of sensor. Power is carried over unused wires of the cable. Default IP setting: Port 1024 IP GATEWAY SUBNET MASK TLE1 REFLECTIVE LINE SENSOR RJ45 (ETHERNET) INTERFACE GREEN (POWER) LED BLUE (OBJECT IN) LED RESET IP BUTTON Figure: RJ45 connector, LEDs, Reset IP Button (BACK VIEW) 6. USER S VOLATILE PARAMETERS Volatile parameters need to be updated from default values each time after power-up. This guaranties the same sensor initial state after power-up. Changes of volatile parameters (see command set below) has immediate effect to sensor behavior. Status byte of DATA command indicates if parameters are default or were modified after power-up. START_LINE (volatile) Sensor process data starting from this line. (see picture). NUMBER_LINES (volatile) Sensor process NUMBER_LINES starting from START_LINE (see picture). THRESHOLD (volatile) Block low light level, e.g. reflection and ambient light. LSRPWR (volatile) Sets power of laser diode. 6

7 TLE1 REFLECTIVE LINE SENSOR TINT (volatile) Integration time, higher the value longer the Integration time (more light is collected). WINDOW (volatile) Averaging window size for MODE1 (calculate moving average for WINDOW number of values between START_LINE and START_LINE+NUMBER_LINES). DATA command returns highest number as X position (closest object) and it s position on chip as Y axis. 7. USER S EEPROM PARAMETERS TLE1 Sensor contains 256 EEPROM memory pages, each page has 256 bytes (total 64 kb). Some pages are factory reserved for Ethernet interface settings, default values of parameters, etc. User can edit values in this area, but always with respect to it s dedicated function. See memory map for details. Default values of volatile parameters are load from EEPROM memory after sensor power up. Figure: EEPROM memory map 7

8 TLE1 REFLECTIVE LINE SENSOR 8. COMMAND SET 8.1 DATA Hex: <0x1X>, where X specifies amount of requested data. Sensor response: 2 X x DATA (multiple of 5bytes packet, min 5 bytes) Example 1 PC request: <0x10> (request for 1 data) Sensor response: <0x13> <0xDF> <0x00> <0xF9> <0x85> // X Data=0x13DF=5087μm (X distance) // Y Data=0x00F9=249 (Y line position ) // Status byte=a0 see below Example 2 PC request: <0x12> (request for 4 data) Sensor response: 4x 5 bytes (see above) DATA FORMAT: <X HIGH BYTE> <X LOW BYTE> <Y HIGH BYTE> <Y LOW BYTE> <AUX BYTE> For X and Y data description see Operational section of this document. AUX BYTE FORMAT (8 bits): OIN ZERO_CNT OVER410_CNT 0 USER_PAR_CHG 0 0 MODE Bit # Bit Name Description 7(MSB) OIN Object detected in measurement range 6 ZERO_CNT Indicates Line in processing window which has 0 pixels over threshold 5 OVER410_CNT Indicates Line in processing window with signal width>410 pixels 4 0 Reserved 3 USER_PAR_CHG User s parameters changed after power-up 2..0 MODES Measuring mode, see Operational section Table: AUX BYTE structure 8.2 DATA_STREAM_start Hex: <0x21>, continuous DATA stream start, Sensor response: data stream (X bytes) 8.3 DATA_STREAM_stop Hex: <0x20>, continuous DATA stream stop, Sensor response: no response 8

9 TLE1 REFLECTIVE LINE SENSOR 8.4 DISTANCE_PROFILE_READ Hex: <0x6X>, where X specifies number of requested profiles. Sensor response: 2 X x DISTANCE PROFILE - multiple of (2 x NUM_LINES + 2) bytes packet PROFILE FORMAT: <DIST_1_HIGH> <DIST_1_LOW> <DIST_2_HIGH> <DIST_2_LOW> <DIST_N_HIGH> <DIST_N_LOW> <PROFNUM_HIGH> <PROFNUM_LOW> When multiple profile command is sent then PROFNUM sequencialy increases (+1). Missing number indicates lost of frame (communication slowdown). Position and length of sent profile is given by the parameters FROM_LINE and NUM_LINES. This way user can select only region of interest and decrease amount of transferred data. 8.5 FIRMWARE Hex: <0xF0>, reads firmware version, Sensor response: two bytes 8.6 READ_RAW Hex: <0xD0>, Read full image (1280 x 1024), Sensor response: pixels (bytes) 8.7 READ_RAW_1/4 Hex: <0xD1>, Read downsized image (640 x 480), Sensor response: pixels (bytes) 8.8 MODE Hex: <0x3X> for MODE_X, Sensor response: command echo 8.9 LASER_ON/OFF Hex: <0x91> for Laser ON, <0x90> for Laser OFF, Sensor response: command echo 8.10 USER_EEPROM_WRITE Hex: <0xB0> <ADDR_HIGH> <ADDR_LOW> <N_BYTES-1> <BYTE_1> <BYTE_N>, Sensor response: <N_BYTES-1> ADDR range: N_BYTES range: This command can write data in one page only. It s not possible to write data in two pages. 9

10 Example 1 Parameters to write: START_LINE 0x0180 = 384 NUMBER_LINES 0x0100 = 256 WINDOW 0x0020 = 32 THRESHOLD 0x0060 = 90 TINT 0x0419 = 1049 LSRPWR 0x0080 = 128 TLE1 REFLECTIVE LINE SENSOR PC request: Sensor response: <0xB0> <0xFE> <0x00> <0x0B> <0x01> <0x80> <0x01> <0x00> <0x00> <0x20> <0x00> <0x60> <0x04> <0x19> <0x00> <0x80> <0xB0> Example 2 IP parameters to write: IP GATEWAY SUBNET MASK PC request: Sensor response: <0xB0> <0xFF> <0x00> <0x0B> <0xC0> <0xA8> <0x00> <0x10> <0xFF> <0xFF> <0xFF> <0x00> <0xC0> <0xA8> <0x00> <0xFF> <0xB0> 8.11 USER_EEPROM_READ Hex: <0xA0> <ADDR_HIGH> <ADDR_LOW> <N_BYTES-1>, Sensor response: requested bytes ADDR range: N_BYTES range: Example 1 Read sensor parameters: PC request: <0xA0> <0xFE> <0x00> <0x0B> Sensor response: <0x01> <0x80> <0x01> <0x00> <0x00> <0x20> <0x00> <0x60> <0x04> <0x19> <0x00> <0x80> Example 2 Read IP parameters: PC request: Sensor response: <0xA0> <0xFF> <0x00> <0x0B> <0xC0> <0xA8> <0x00> <0x10> <0xFF> <0xFF> <0xFF> <0x00> <0xC0> <0xA8> <0x00> <0xFF> 10

11 8.12 USER S VOLATILE PARAMETERS READ/WRITE TLE1 REFLECTIVE LINE SENSOR Command READ/WRITE Host sends (hex) Sensor response Note START_LINE READ 0x80 2 bytes, high byte first range: WRITE 0x88 XX XX Echo command NUMBER_LINES READ 0x81 2 bytes, high byte first range: WRITE 0x89 XX XX Echo command WINDOW READ 0x82 2 bytes, high byte first range: WRITE 0x8A XX XX Echo command THRESHOLD READ 0x83 2 bytes (0x00 XX) range: WRITE 0x8B 00 XX Echo command TINT READ 0x84 2 bytes, high byte first range: WRITE 0x8C Echo command LSRPWR READ 0x85 2 bytes (0x00 XX) range: WRITE 0x8D Echo command CUSTOM1 READ 0x86 2 bytes, high byte first range: WRITE 0x8E Echo command CUSTOM2 READ 0x87 2 bytes, high byte first range: WRITE 0x8F Echo command Table: User parameters read/write 11

12 TLE1 REFLECTIVE LINE SENSOR 9. CODE EXAMPLE TLE1 sensor allows communication via ICMP (PING command) and TCP protocol (UDP upon customer request). All communication is controlled via commands - see Command Set. TCP terminal is recommended for first learning steps (e.g. IO NINJA from Microsoft C# Code example: using System; using System.Collections.Generic; using System.Linq; using System.Net.Sockets; using System.IO; namespace TCPexample { class Program { static void Main(string[] args) { TcpClient tcpclient = new TcpClient(); tcpclient.connect(" ", 1024); NetworkStream stream = tcpclient.getstream(); stream.write(new byte[] { 0x10 }, 0, 1); //send data request while (tcpclient.available < 5) { }; //wait for sensor response byte[] recieveddata = new byte[5]; //read sensor response stream.read(recieveddata, 0, 5); Console.WriteLine(recievedData[0] * recieveddata[1]); //display result tcpclient.close(); } } 12

13 TLE1 REFLECTIVE LINE SENSOR Java Code Example: import java.io.bufferedinputstream; import java.io.bufferedoutputstream; import java.io.ioexception; import java.net.socket; import java.net.unknownhostexception; public class MainClass { public static void main(string[] args) throws UnknownHostException, IOException { try { Socket socket = new Socket(" ", 1024); BufferedOutputStream out = new BufferedOutputStream(socket.getOutputStream()); BufferedInputStream in = new BufferedInputStream(socket.getInputStream()); out.write(new byte[]{16}, 0, 1); //send data request out.flush(); byte[] recieveddata = new byte[5]; in.read(recieveddata, 0, 5); //read sensor response System.out.println(recievedData[0] * recieveddata[1]); //display result } catch (Exception e) { System.out.println(e.toString()); } } } 13

14 10. INSTALLATION USE APPROPRIATE MOUNTING SCREWS (SEE MECHANICAL DRAWING) AVOID DIRECT SUNLIGHT!!! AND ALL OTHER LIGHT SOURCES WITH WAVELENGTH CLOSE TO 670nm (see Optical filter transmittance on figure below). ALWAYS KEEP OPTICAL WINDOWS CLEAN, FREE FROM DUST AND FINGERPRINTS, AVOID SCRATCHES ON THE OPTICAL WINDOWS. USE CORRECT VOLTAGE - SEE ELECTRICAL SPECIFICATION TLE1 REFLECTIVE LINE SENSOR Figure: Ambient light optical filter Laser Safety TLE1 Sensor is classified as Class 1M Laser device (Laser power < 3mW according to IEC or ANSI Z136.1). A Class 1M laser is safe for all conditions of use except when passed through magnifying optics such as microscopes and telescopes. Class 1M lasers produce large-diameter beams, or beams that are divergent. Figure: Class 1M Laser safety label 14

15 TLE1 REFLECTIVE LINE SENSOR 11. SAMPLE APPLICATION Metralight, Inc. provides sample applications with included source codes for custom modifications. Please contact Metralight for any SW modification/development. Metralight can provide a complete solution HW+SW and mechanical for your specific application. Figures: TLE software screenshots 15

16 12. PACKAGE, WARRANTY, CONTACTS Package components 1x Laser sensor 2x RJ45 CAT5 cable Power injector Warranty METRALIGHT provides a ONE YEAR manufacturer s limited warranty against defective materials and workmanship. Please do not attempt to open the unit, as this will void all warranties. Contacts METRALIGHT, Inc S. Amphlett Blvd., Unit # 214-M Mailstop # 1008 San Mateo, CA phone: (650) fax: (650) sales@metralight.com technical support: support@metralight.com web site: TLE1 REFLECTIVE LINE SENSOR 16