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USER GUIDE Trimble TX5 Automation Interface Version 1.00 Revision A October 2012 1 Corporate Office Trimble Navigation Limited 935 Stewart Drive Sunnyvale, CA 94085 USA www.trimble.com Oil, Gas & Chemical Trimble Navigation Limited 5475 Kellenburger Road Dayton, Ohio 45424 USA Legal Notices © 2012, Trimble Navigation Limited. All rights reserved. Trimble and the Globe & Triangle logo are trademarks of Trimble Navigation Limited, registered in the United States and in other countries. Microsoft, Internet Explorer, Windows and Windows XP are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. All other trademarks are the property of their respective owners. 2 Trimble TX5 Automation Interface User Guide Release Notice This is the October 2012 release (Revision A) of the Trimble TX5 Automation Interface User Guide. It applies to version 1.00 of the receiver firmware. For all relevant legal notices, refer to the Trimble TX5 3D Laser Scanner User Guide. Contents Introduction Available interfaces Supported application types Main components of the automation interface Mechanical interface Electrical interface Overview of the firmware/software interface Laser scan operation modes Helical scan mode Spherical scan mode Comparison of operation modes Firmware and software interface details Scan files access and scanner control Signal protocols Time synchronization Automation time CAN and real-time signal communication Data access with the LS SDK Automation adapter Introduction Automation adapter types Mounting the scanner Automation adapter electronic interfaces Automation test box Zero point clamp Ordering information Appendix Laser scanner dimensions Laser scanner power socket Establishing an ethernet connection to the scanner Adjusting the scanner's home position to the helical adapter Example wiring diagram of an automation device Trimble TX5 Automation Interface User Guide 4 4 4 6 6 7 8 10 10 16 16 17 17 18 20 20 21 26 27 27 28 31 34 37 39 41 43 43 44 45 46 49 3 Introduction The Trimble TX5 3D laser scanner provides an automation interface that allows the usage of the scanner for all kinds of automated applications. It allows you to design your own hardware and software to remotely interact with the scanner in order to fully integrate it in your processes and real time applications and flexibly adapt it to their needs. The purpose of this manual is to enable users to integrate their laser scanner into their processes and automated applications. It provides information about the functional, electrical and mechanical characteristics of the automation interface and describes the principles of controlling the scanner, integrating user-defined information into the scan data and synchronizing scan data with data from external devices via the available interfaces. It also provides information on the optional automation adapte raccessory that is a predefined fixation and interface device. For general operation and safety instructions, refer to the Trimble TX5 3D Laser Scanner User Guide. Available interfaces The automation interface consists of three main interfaces, the mechanical, the electrical and the software / firmware interface. The mechanical interface provides different kinds of mechanical connecters to mount an arbitrary fixation device below the scanner. Thus the scanner can be easily adapted to the needs of your applications. You may design your own fixation device or use the automation adapter which is available as an optional accessory. For more information, see Automation adapter, page 27. The electrical interface is used for data communication and for power supply.It provides two ways to communicate with the scanner, an Ethernet (LAN) interface for advanced communication tasks and a Real-Time capable Control Interface for data synchronization issues. This Real-Time Control Interface consists of a CAN interface to control the scanner and to place arbitrary CAN messages into the scan data stream and it is enhanced by two IO signals which allow time synchronization between scan and external data. The electrical interface provides connectors to supply the scanner with power from an external power source as well as to supply power to a connected external device. The software / firmware interface enables an enhanced scanner control, the access to the scan files on the scanner’s SD card, the integration of user-defined information in the scan data stream and the time synchronization between scan data and external data from third-party devices. Supported application types Two basic laser scanner operation modes are supported, the helical mode and the spherical scan mode. The spherical scan mode is the default scan mode and corresponds to normal 3D scan activity, the laser mirror and the laser scanner itself are rotating to acquire scan data. Using this mode, the automation interface allows you to integrate the scanner, for example, into applications within an automated industrial environment. In the helical mode, an optional operation mode, the scanner operates in 2D profiling-mode, where the rotating mirror axis is used, while the horizontal rotation axis stays locked. The scanner captures a continuous stream of scan point data and is typically moved along a track or road. By synchronizing the captured scan point data with positioning information a longitudinal profile is 4 Trimble TX5 Automation Interface User Guide generated in form of a screw line (Helix). The helical mode is particularly suitable for surveys along roads, railroad tracks and tunnels. Typical applications can be found in railway and tunnel clearance detection or in road conditions analysis by the means of mobile mapping systems. An example of the scanner producing a longitudinal profile in form of a screw line on a mobile mapping system is shown below: Trimble TX5 Automation Interface User Guide 5 Main components of the automation interface Mechanical interface The mechanical interface is situated on the scanner’s mount. The available mechanical connectors are shown below: The 3/8” central thread and the four M5 threaded holes can be used to mount a fixation device below the scanner. The two bushings with 6mm and 8mm diameter can be used to accurately position the scanner: Appropriate positioning bolts are available from manufacturers, for example Norelem Normelemente KG (www.norelem.de). 6 Trimble TX5 Automation Interface User Guide Electrical interface The electrical interface is situated on the scanner’s mount. To access it, remove the cover plate that is fixed by three PH00 Phillips screws to the scanner’s mount. Make sure not to leave the electrical interface uncovered. When it is not in use, it should be covered with the provided cover plate. The electrical interface can be accessed via 12 spring contacts. The counter piece for these spring contact can be simple copper pads of a circuit board with a diameter of 2mm. The pin assignment of the spring contacts is shown below: The distance between rail A and B is 2.54mm, the longitudinal spacing between the pins is 2.54mm. Interface Pin Signal Ethernet A1 LAN1 Rx+ A2 LAN2 RxB1 LAN3 Tx+ B2 LAN4 Tx- Real-time control A5 AUTO_CAN L (CAN-bus) A6 AUTO_CAN H (CAN-bus) B4 AUTO-IO1: Output signal trigger_Out B5 AUTO-IO2: Input signal trigger_In B6 IO3: Reserved for future use Power supply A3 GND A4 +5V, 0.5A max. Power supply for external devices B3 External power supply for scanner, +19-20V, 4A absolute maximum value 22V Trimble TX5 Automation Interface User Guide 7 For information on the signal protocols,see Signal protocols, page 18. The signal output has an internal 10-kΩ pull-up resistor to A4. Pin A4 can be used to supply power to an external device. Note – The operating time of the scanner’s battery may be reduced by if the scanner is operated with the battery only and no external power supply is connected. Overview of the firmware/software interface The diagram below shows the automation interface ports, the automation interface signal paths and the integration of the Automation Test Box as application reference: The automation test box can be connected to the automation adapter. Beside scan data, the automation data from CAN communication and event triggering is also integrated in the scan data stream by the scanner control unit. The scan data stream gets archived on the SD card storage device, which is accessible by Ethernet. The CAN communication is influenced by a scanner internal propagation delay “Z-n”, which means that every CAN message gets delayed by the scanner. The CAN propagation delay amounts typical 10ms. To get real time capable, each CAN message can be combined with a trigger signal. The trigger signal has no propagation delay and is used to integrate time stamps in the scan data stream. CAN communication and real-time trigger signals The CAN port enables the CAN communication between the scanner and an external hardware. CAN communication can be used to set a common automation time, to partially control the scanner and to integrate user defined information, like GPS or odometer data, by means of CAN messages into the scan data stream. Thus CAN communication enables the user to put all the relevant data of its automation application into one file. To reasonably use this automation data, it must be linked to the scan data. To get correspondence between scan data and automation data, each scan point and each automation message or trigger signal has an individual time stamp. Due to a scanner internal CAN propagation delay, the CAN communication is not real-time capable. In order to have a time 8 Trimble TX5 Automation Interface User Guide precise allocation between scan data and automation data, you should attach the trigger signals Trigger_In and Trigger_Out to the CAN messages. The real-time capable TTL signal Trigger_In supports the integration of time stamps for the synchronization of CAN messages and the enabling/pausing of the scan data stream recording. The real-time capable TTL signal Trigger_Out is used to trigger outgoing CAN messages, to emit the current automation status by the signal level and to emit synchronization pulses during mirror rotation. Scan file access and scanner control via Ethernet There are two main applications of the Ethernet interface: Scan files access and advanced scanner control. Being connected to the scanner via Ethernet allows accessing the scan files on the scanner’s SD card storage device. These files may be retrieved by ordinary file copy operations. The Ethernet interface also allows controlling the scanner by remotely accessing the scanner’s user interface via a web browser or by the means of the LS SDK. The LS SDK is a collection of methods that enables advanced scanner control and access to the scan data as well as to the automation data in the scan data stream. For more information, refer to the LS SDK documentation. Automation data and scan data access To get access to the scan data and to the integrated automation data stored in the scan data stream, the LS SDK offers access routines. With these access routines, the scan data as well as every automation message and every automation trigger signal can be read out from the scan file. The automation data and the scan data access take place after the scan operation has been finished. For more information, see Firmware and software interface details, page 17. Trimble TX5 Automation Interface User Guide 9 Laser scan operation modes The laser scanner supports two basic laser scanner operation modes, the spherical scan mode and the helical scan mode. In general, the automation interface is always accessible but its functionality depends on the executed laser scanner operation mode. Characteristics of the two operation modes are described below. Helical scan mode The helical mode has two sub modes, the helical TTL and the helical CAN mode. These two sub modes differ from one another in the control and communication signals. The helical sub modes have to be enabled first before carrying out a helical scan project. Enabling one of the two helical sub modes as well as setting the scanning parameters can be done via the scanner’s user interface or with the LS SDK. For more information, see Enabling the helical scan modes, page 11. When a helical mode is enabled, the horizontal rotation axis stays locked and the scanner will not turn horizontally. When switching the scanner off in helical mode, it will keep knowledge about this mode and the horizontal rotation axis is still locked when the scanner is switched on again. In both helical modes capturing of colored scans is not supported as well as setting the horizontal scan angles. Additionally to the standard scanning parameters resolution and quality, the number of the scan lines to be recorded can be set. The scanner will stop scanning when this number has been reached. It is also possible to select that the scan data stream is automatically split into several files when a certain amount of scan lines has been reached. When a helical mode has been enabled and the parameters have been set, the helical scan operation has to be initiated before starting a helical scan. This can be done by: l pressing the start button on the scanner’s user interface. l pressing the start/stop button on the scanner. l executing the start scan function of the LS SDK. l sending an automation CAN message (in both, the TTL and the CAN mode). As soon as the helical scan operation is initiated, the mirror of the scanner starts rotating, but the laser is still switched off and no scan data will be recorded. The laser will be switched on and recording starts as soon as an external start recording event is received. The scanner will continue recording data until an external pause event occurs. After having received the external pause event, the laser will be switched off again. The external start and pause recording event can be a low pulse signal in the helical TTL mode or a dedicated CAN message in the helical CAN mode. There is no limit on how often or how long scanning can be paused. Note – After having received the start signal the laser sensor needs approximately 10 scan columns to warm up. In this time the recorded scan data is unusable. Please consider this in your helical scan project. The helical scan operation ends if l the number of given scan lines has been reached. l the Stop Scan button of the user interface has been pressed. l the Start/Stop on the scanner has been pressed. 10 Trimble TX5 Automation Interface User Guide l the stop scan function of the LS SDK has been executed. l an automation CAN message has been sent. Note – In the helical scan modes the recorded scan points don’t have full 3D information and must be extended with additional positioning information (for example, positioning information from an odometer or GPS). Helical TTL mode The helical TTL mode is a compatibility mode derived from the helical mode of previous FARO Laser Scanners. In this mode, the application of the automation interface is focused on two IO trigger signals. The Trigger_In signal enables to record or pause a scan by low pulses. The Trigger_Out signal indicates if the helical TTL mode is ready for operation by a high signal level. Furthermore the Trigger_Out signal emits a low pulse on every mirror rotation for external synchronization. During the helical TTL mode, CAN communication is restricted, because the Trigger_In signal cannot be used to pre-trigger a CAN message; CAN commands to record or pause a scan are ignored. Incoming CAN messages from the automation interface are integrated in the scan data stream without a precise real-time marker. For more information, see Signal protocols, page 18. Helical CAN mode In contrast to the helical TTL mode, the helical CAN mode fully supports CAN communication. The Trigger_In signal is used to pre-trigger real-time capable CAN messages with low pulses. The Trigger_ Out signal is configurable and is able to pre-trigger outgoing CAN messages or to emit low pulses on every mirror rotation. Comparable with the helical TTL mode, the Trigger_Out signal indicates the ready to record status by a high signal level. The signal level is set, after a helical mode was set and the scan operation was started. For more information, see Signal protocols, page 18. Enabling the helical scan modes The helical mode may be enabled by the LS SDK or via the user interface of the scanner’s operating software. Enabling with the LS SDK With automated applications, the helical mode is typically enabled by the means of the LS SDK. For more information, refer to the LS SDK documentation. Enabling via the scanner’s user interface Enabling the helical mode via the scanner’s user interface is especially useful for testing the helical mode and the automation test box (see Automation test box, page 37). You may enable the helical scan mode via the scanner’s user interface on the integrated touch screen or by accessing the user interface remotely with a web browser via Ethernet or WLAN. To begin, create a new scan profile with the helical mode enabled. The way of creating a so called helical scan profile differs from the way of creating normal scan profiles. To create a helical scan profile, go to Manage / Service and then click Command Prompt. Enter the command HelicalGrey Trimble TX5 Automation Interface User Guide 11 or HelicalCANGrey and click OK. HelicalGrey adds a helical scan profile with the TTL mode enabled; HelicalCANGrey adds a helical profile with the CAN mode enabled. The new helical scan profile is added to your profiles list and automatically selected as the currently used profile: helical mode is enabled and the scanning parameters are changed accordingly. Helical profiles have the status bar of the screen. icon. If helical mode is enabled, the helical icon The newly added helical profile is generated with the following default settings: l Resolution 1/8 l Quality 4x l Helical TTL mode or CAN mode l Number of scan lines to be recorded 10000 12 Trimble TX5 Automation Interface User Guide is displayed in the l Spilt scan files after 1000 scan lines l Helical Scan Position: Home Position (0°) You can change the parameters of the helical scan profile any time, but editing them differs a little bit from non-helical (spherical) profiles. Figure 8 shows the settings of a helical scan profile. You can change the profile name, the resolution and the quality as usual. To change horizontal and vertical angles and enable or disable color recording, click Helical Scan Mode Settings. The following screen appears: Helical Scan Mode – Change between Helical TTL Mode and Helical CAN mode. Helical Scan Position – Before starting a helical scan you should set the helical scan position in degrees and rotate the scanner to this position. You may select between the Home Position (0°), the Helical Adapter Scan positions A (90°) or B (-90°) or enter your own value. The user defined value must be between -180° and 180°. Positive values move the scanner in clockwise direction; negative values move the scanner in counter-clockwise direction. If you are using the helical adapter (see Helical adapter, page 29) with its helical fixations to prevent the scanner from turning within the limits of its pan axis’ backlash, first select one of the two Helical Adapter Scan Positions (A or B); then Trimble TX5 Automation Interface User Guide 13 move the scanner to the selected position by clicking the Move Scanner to Helical Scan Position button. Afterwards, lock the scanner’s position with the fixation pins of the helical adapter. Note – The pan axis drive of the scanner allows a backlash of 2° in clockwise direction when the scanner’s base is fixed and the scanner is not moving. If you are using a helical fixation device such as the helical adapter to prevent the scanner from moving horizontally, the scanner should be moved to a position that is 1° lower than the mechanical position of the device’s fixture so that the scanner is able to freely lock in place, when pushing the fixtures to their locked position. This has already been taken into account for the Helical Adapter positions A and B. When the scanner is mounted onto the helical adapter, its two fixation pins are mechanically located at 90° and 270° in relation to the scanner’s home position. This means that the scanner moves by 89° if you have selected Helical Adapter position A and by -91° if you have selected Helical Adapter position B. Pushing the helical adapter fixtures to their locked positions causes the scanner to turn by 1° in clockwise direction so that it locks in place at 90° or -90°. Take this into account if you have designed your own helical fixation device. For example, if the fixture of your device is rotated by 30° in relation to the scanner’s home position, you should move the scanner by 29°. Note – The scanner loses its knowledge about its actual horizontal position when it is switched off, and will only retrieve it when it is operated in the ordinary scan mode. This means that when switching it on in helical mode, the scanner always assumes to be at 0°, and will put this information into the scans. Number of Scan Lines – Enter an expected number of scan lines. The scanner will stop scanning when this number has been recorded. As it doesn’t matter if you end the scan prematurely, Trimble recommends entering a number higher than the number of lines you expect you will need. The expected number of columns (nc) can be calculated from the expected scan duration (t) and the chosen resolution (r): nc = 2f * t / r With the factor (f), the dependency on the measurement rate and the maximum resolution of the scanner is covered. The factor (f) is classified as: 122 kHz: f = 3.05 Hz 244 kHz: f = 6.10 Hz 488 kHz: f = 12.2 Hz 976 kHz: f = 24.4 Hz The 2 in the formula reflects the fact that one turn of the mirror creates two lines in the scan. Example: For a scan duration of 1h with 1/10 resolution and Quality 4x, the expected number of columns is: nc = 2*3.05Hz * 3600s * 10 = 219600 Split Scan Files – The scan data stream can automatically be split into several files when a certain amount of scan lines has been reached. The minimum number is 100. Smaller scan files are not supported. In the helical mode, the eye safety distance to be maintained differs from the eye safety distance of the spherical scan mode as the scanner is not turning horizontally. Here, we do not differentiate between axial or radial eye safety distances. In the helical mode, the scanner’s operating software displays two separate eye safety distances, one if the scanner is not moving (stationary) and one if 14 Trimble TX5 Automation Interface User Guide the scanner is moved e.g. along a track with at least 3 km/h (1.86mph). Both values apply for the axial and the radial distance. Please adhere to these eye safety distances. For more information on eye safety, refer to the Trimble TX5 3D Laser Scanner User Guide. Note – The calculated scan duration is the net duration of the helical scan without any data recording pauses. You can add additional helical scan profiles by duplicating the existing helical profile under Manage / Profiles or by re-entering the HelicalGrey or HelicalCANGrey command in the command prompt. To initiate the helical scan operation, press the Start Scan button on the Home screen. The mirror of the scanner starts rotating, but no scan data will be recorded. The recording starts as soon as an external start recording event was received. In the helical mode, the scan data recording cannot be started by the scanner’s user interface. Once a helical profile has been added to your profiles list, you can switch between the helical and the spherical scan mode by simply selecting a helical or a non-helical (spherical) scan profile from the profiles list. Note – If you have mechanically fixed the scanner to prevent it from turning, you must release the mechanical fixation before performing a spherical scan. Changing the home position of the scanner to a user-defined value As an advanced feature, it is possible to permanently adjust the home position of the scanner to a user defined value. This might be necessary if you are working with a self-provided helical fixation device that requires the scanner’s home position to be adjusted permanently or if the scanner is used solely as a helical scanner and always stays in the same horizontal position. The new home position will then be used as the horizontal zero point for measurements. The option to change the home position of the scanner is an advanced feature and is only available if a helical scan profile has been added to your scan profiles list as described above. You can then access this option under Manage / Service / Set New Home Position. To change the home position of the scanner, please make sure that the scanner is in its initial home position by clicking on the Move To Home Position button first; then select the rotation angle and use the buttons Move Clockwise or Move Counter-Clockwise to turn the scanner to its new horizontal position. It might be necessary to adjust the scanner’s position incrementally and Trimble TX5 Automation Interface User Guide 15 perform this step several times until the scanner has reached its correct position. As soon as the scanner is in its target position, click on the Set As New Home Position button and the current horizontal position will be set as the scanner’s new home position. To reset the scanner’s home position to its factory default at any time, click the Reset To Factory Default button. Note – The scanner needs to turn horizontally in order to change its home position. If you have mechanically fixed the scanner to prevent it from turning, you must release the mechanical fixations before adjusting the home position. Spherical scan mode Spherical scan mode is the default scan mode where the scanner mirror is rotating and the horizontal rotation axis is turning in order to capture 3D scan data of the environment. Spherical scan mode fully supports CAN communication. Here, the Trigger_In signal is used to pre-trigger real-time capable CAN messages with low pulses. The Trigger_Out signal is configurable and is able to pre-trigger outgoing CAN messages or to emit low pulses on every mirror rotation. The Trigger_Out signal level during a spherical scan is low. Trigger-out events are pulsed high. For more information, see Signal protocols, page 18. If helical mode is enabled you may switch back to the spherical mode by selecting a non-helical scan profile in the scanner’s user interface or by setting the scan mode property accordingly with the LS SDK. A scan operation can be started or stopped by the scanner’s user interface, the start/stop button on the scanner or the LS SDK. In contrast to the helical mode, the Trigger_Out signal level is low in this mode so that the current operation mode can be identified by the Trigger_Out signal. The spherical scan mode does not support pausing the scan data recording. Contrary to the helical modes, as soon as the scan operation has been started and the mirror starts rotating, scan data is recorded. Comparison of operation modes The laser scanner automation operation modes are compared below: I/O Helical modes TTL mode Spherical scan mode CAN mode CAN Restricted to un- Fully supported communication triggered CAN messages Fully supported Input signal Trigger_In Record/pause scan data recording Pre-trigger of CAN messages integrated as real-time markers in the scan data stream Pre-trigger of CAN messages integrated as real-time markers in the scan data stream Output signal Trigger_Out Laser mirror index/helical ready status Pre-trigger of CAN messages/helical ready status Pre-trigger of CAN messages 16 Trimble TX5 Automation Interface User Guide Firmware and software interface details Scan files access and scanner control There are two ways to set up the scanner parameters and to control the scanner via Ethernet: by remotely accessing the scanner’s user interface with a web browser or by the means of the LS SDK. With automated applications, the scanner is typically controlled and set up with the LS SDK. Establishing an Ethernet connection to the scanner To remotely control the scanner via Ethernet, connect your controller device, for example a PC, with an Ethernet cable to the scanner. Establish a connection by setting the IP address and subnet mask of your controller device or the scanner. A connection can only be established if the scanner and the controller device have compatible IP addresses and subnet masks (for more information, see Establishing an ethernet connection to the scanner, page 45). Note – The scanner runs in a 100Mbit/s (fast Ethernet) network environment only. To establish an Ethernet connection to the scanner, your network (that is, the network switch or switching hub) must be set up accordingly. If you have a direct Ethernet connection between the scanner and your controller device and experience problems with the connection, you may have to manually set the speed of your device’s network adapter to 100Mbit/s full duplex. Scan files access Once you are connected to the scanner, you should be able to remotely access the scan files on the scanner’s SD card by simple file operations. If you are using Windows®, open Windows Explorer and enter the following address into its address bar: \\ETHERNET_IP_ADDRESS_OF_SCANNER\Scans (e.g. \\172.16.17.117\Scans). You should have access to the scan files now. You may download them to your remote device by simple file operations. Scanner control If you have established an Ethernet connection between the scanner and your controller device, you are able to setup and control the scanner by the means of the LS SDK interface or by remotely accessing the user interface of the scanner with a web browser. Scanner control by remotely accessing the scanner’s user interface The option to manually control the scanner by remotely accessing its user interface with a standard web browser equals the standard control of the scanner via its integrated touch screen. If your controller device is connected to the scanner by Ethernet, open your web browser and enter the scanner’s Ethernet IP address followed by port 8400 (for example, http://172.16.17.117:8400) into the address bar to access the user interface of the scanner’s operating software. The Home screen of the operating software should appear in your web browser and you will be able to control the scanner as usual. Note – Adobe Flash Player must be installed on your system to run the user interface. Do not use a proxy server for the network connection. With some web browsers, such as Internet Explorer, you may need to allow blocked content to run the operating software. Trimble TX5 Automation Interface User Guide 17 [snap] If your scanner is equipped with a WLAN antenna, you may also remotely access the scanner’s user interface via WLAN. For more information, refer to the Trimble TX5 3D Laser Scanner User Guide. Scanner control with the LS SDK The LS SDK provides an advanced interface to control the scanner with its main functionality. It allows integrating all the basic scanner operations into your own application, like starting or stopping a scan, changing the scan resolution or adjusting the scan angles. Please read the LS SDK manual for more information. Signal protocols For Trigger_In and Trigger_Out, high level signals are greater than 2.7V; low level signals are lower than 0.8V. All signals must not be used to deliver more than 1mA. See Example wiring diagram of an automation device, page 49. For CAN communication, CAN signal levels are ± 0.8V, as described in the CAN specification. Please ensure also that it is terminated by 120 Ohm. Helical TTL mode protocol The Trigger_Out signal level goes high (>2.7V) if the scan operation has been initiated and if the scanner is ready to record scan data. To start the scan data recording, a low level (<0.8V) pulsed input trigger is required. The minimum low pulse width is 12us. The following low level input trigger pauses scan data recording and so on. The scan data recording always starts with a complete scan line; the pausing ends with a complete scan line. During an enabled scan data recording, each mirror rotation is indicated by a low pulsed trigger out signal at the mirror encoder index. The trigger out signal has a low pulse width of 0.1ms. The diagram above describes the helical mode signals Trigger_In and Trigger_Out. In helical TTL mode the Trigger_In input signal corresponds to the AUTO_IO2 signal and the Trigger_Out output signal corresponds to the AUTO_IO1 signal in Table 1. The Trigger_Out signals, if the scanner is in helical TTL or the following described helical CAN mode and ready to record. Per default the Trigger_ Out signal is low. If the helical TTL or the helical CAN mode was activated and the scan has started, the scanner signalizes the ready to record state by driving the Trigger_Out pin high (refer to marker 1 in the diagram above). In the spherical scan mode the Trigger_Out pin keeps constantly low. To start and pause the recording of scan data, the low active Trigger_In signal is used. The first low active pulse on the Trigger_In signal starts the helical scan (see marker 2: “Trigger_In Pin” and “Helical On” internal signal in the diagram above). The low pulse is generated by driving the Trigger_ In signal to ground (pin 3 or 6 of the automation connector). The low pulse width must be longer than 12us. To be tolerant against signal bouncing, the scanner has an integrated de-bouncing mechanism. Therefore, a stop trigger condition is only accepted 1 mirror rotation (at mirror sync) 18 Trimble TX5 Automation Interface User Guide after the start trigger was asserted. If the scan data record has started, the scanner gets blinking red. Besides indicating to be ready for a helical scan, Trigger_Out also signals the movement of the mirror over the encoder sync index during a helical scan. The Trigger_Out signal generates low pulse, if the mirror reaches the encoder sync index (see marker 3: “Trigger_Out” Pin and “Mirror Encoder Sync” signal in the diagram above). To pause the helical scan, a second low pulse on the Trigger_In signal is needed. The helical scan pauses immediately after the next mirror encoder sync index (see marker 4/5: “Trigger_Out Pin”, “Mirror Encoder Sync” signal and “Helical On” internal signal in the diagram above). If the scan has paused/stopped, the scanner stops blinking red and the laser is switched off. Helical CAN mode protocol The Trigger_Out signal level goes high, if the scan operation has been initiated and if the scanner is ready to record. The scan data recording can be enabled or paused by the CAN message “Record/Pause” (see Predefined CAN messages, page 24). As soon as the CAN message was received by the scanner, the CAN command will be executed. The CAN communication is influenced by a scanner internal propagation delay. The typical propagation delay between CAN message sending by the automation interface application to the CAN message execution in the scanner amounts about 10ms. The scan data recording always starts with a complete scan line, the pausing ends with a complete scan line. During a scan operation, each incoming CAN message from the automation interface is integrated in the scan data stream. A time precise allocation between scan data and automation data can be achieved by attaching the trigger signals Trigger_In and Trigger_Out to the CAN messages. Pretriggered (Trigger_In) CAN messages are thus obtaining an automation time stamp in real time for synchronization. Comparable to the helical TTL mode, in the helical CAN mode the Trigger_Out signal can emit low pulses on each mirror encoder index, if this feature was enabled by the CAN message “Mirror Index Trigger Enable” of Table 4. The mirror index pulse is followed by a describing CAN message. Beside the pulses on the mirror encoder index, each outgoing pre-triggered CAN message is generating a low pulse on the Trigger_Out signal before its transmission. The meaning of each pulse is described by a following CAN message. To enable a precise synchronization of scan data with external devices, the automation interface application can set an automation time in the scanner. The automation time has a resolution of 1µs and can be set by the CAN message “Set Automation Time” of Table 4. Due to a scanner internal CAN propagation delay, the CAN communication is not real-time capable. In order to have a time precise allocation between scan data and automation data, you should attach the trigger signals Trigger_In and Trigger_Out to the CAN messages. Spherical scan mode protocol As CAN communication is fully supported in the spherical scan mode, you can integrate CAN messages into the scan data stream in this mode, too. As with the helical CAN mode, a time precise allocation between the scan data and the automation data is only achieved by attaching the trigger signals Trigger_In and Trigger_Out to the CAN messages. Pre-triggered (Trigger_In) CAN messages are thus obtaining an automation time stamp in real time for synchronization. Comparable to the helical modes the Trigger_Out signal can emit low pulses on each mirror encoder index, if this Trimble TX5 Automation Interface User Guide 19 feature was enabled by the CAN message “Mirror Index Trigger Enable” of Table 4. The mirror index pulse is followed by a describing CAN message. Beside the pulses on the mirror encoder index, each outgoing pre-triggered CAN message is generating a low pulse on the Trigger_Out signal before its transmission. The meaning of each pulse is described by a following CAN message. To enable a precise synchronization of scan data with external devices, the automation interface application can set an automation time in the scanner. The automation time has a resolution of 1µs and can be set by the CAN message “Set Automation Time” (see Predefined CAN messages, page 24). Time synchronization Many automation applications use multiple sensors to acquire different types of data. Multisensory data acquisition demands time synchronization between the scanner and the other sensors, like GPS or odometer. For this, the scanner can be used as l l Master timer: the scanner is used as time reference. The scanner time is provided by the scanner PC. External devices can get the automation time from the scanner by CAN communication. Slave timer: an external device is used as a time reference. This device can set the automation time in the scanner by CAN communication. If the scanner is used as master timer, the common automation time can be read out via the automation interface by a triggered CAN message. The Trigger_Out signal defines the exact point in time to the consecutively transmitted CAN message by the scanner, which contains the automation time value. If the scanner is used as slave timer, the common automation time can be set via the automation interface by a triggered CAN message. The Trigger_In signal defines the exact point in time to the consecutively transmitted CAN message by the automation application, which contains the automation time value. The automation time is attached to the scan data stream to enable the synchronization between scan data and automation data integrated by the automation application. Automation time The automation time is used to distribute time stamps on trigger events and CAN messages for their time synchronization with scan data. The automation time is an extended UNIX time format for realtime capability with the following properties: l 64 bit l Resolution 1µs l Transformation 20 l Automation time T to UNIX time T : T =T /106 l UNIX time T to Automation time T : T =T *106 A U Trimble TX5 Automation Interface User Guide U A U A A U UNIX time is a system for describing points in time, defined as the number of seconds elapsed since midnight Coordinated Universal Time (UTC) of January 1, 1970. It is used widely, not only in Unix-like operating systems, but also in many other computing systems and file formats. For more information, go to http://en.wikipedia.org/wiki/Unix_time. The table below shows some of the more common UNIX time formats: UNIX time (decimal) UNIX time (hexadecimal) Point in time (UTC) 1234567890 49 96 02 D2 13 February 2009; 23:31:30 1300000000 4D 7C 6D 00 13 March 2011; 07:06:40 1500000000 59 68 2F 00 13 March 2017; 02:40:00 2000000000 77 35 94 00 18 May 2033; 03:33:20 CAN and real-time signal communication CAN data CAN communication is available in both helical and spherical scan mode. Predefined automation interface CAN messages are used to control the scanner and to integrate data into the scan data stream. The automation CAN ID field is used as a command key and the automation CAN data field is used for parameter or data. The automation CAN message format follows the CAN 2.0A standard with an 11 bit identifier and up to 8 byte of data. The scanner can handle up to 100 CAN messages per second. CAN synchronization CAN messages can be coupled with a trigger event for real-time applications. As in general bus data transfer time depends on the bus traffic and workload, all messages should be synchronized using the Trigger_In or Trigger_Out signal. The Trigger signals are part of the real-time control interface. The input trigger can be initiated before (pre-triggered) a CAN message. Triggers are placed as markers in the scan data stream for synchronization. A marker consists of the current automation time stamp as well as the current horizontal and vertical scan angle. Every incoming CAN message is placed in the data stream including the current automation time stamp. Some of the CAN messages are acknowledged by a Trigger_Out signal when they are placed in the scan data stream. This can be used for external synchronization such as “flush CAN messages”. Other CAN messages are acknowledged (ACK) by a reflected CAN message from the laser scanner. This message can be used for external synchronization. Trimble TX5 Automation Interface User Guide 21 Pre-triggered CAN messages With pre-triggered CAN messages, the input trigger is generated first. You may use this kind of CAN messages, for example to declare automation events after they have occurred. The activity of a pretriggered CAN message is shown below: When a Trigger_In signal has been generated by the automation application, the scanner realizes this event immediately and places a marker with the current time (automation time) in the scan data stream. After a user-defined time delay “Delay Trigger to CAN”, the pre-triggered CAN message can be sent by the automation application. The time delay “Scanner internal Delay” between incoming CAN messages and its integration in the scan data stream depends on bus traffic and workload. The “Scanner internal Delay” is typically 10ms. Un-triggered CAN messages Un-triggered CAN messages are used to integrate data into the scan data stream with no exact time synchronization. 22 Trimble TX5 Automation Interface User Guide The time activity of an un-triggered CAN message sent by the automation application is shown below: At a user-defined instant of time, the automation application can place a CAN message in the scan data stream without exact timing synchronization. After the un-triggered CAN message was transmitted by the automation application, and after a scanner internal delay, the CAN message is placed in the scan data stream including the current automation time. Trimble TX5 Automation Interface User Guide 23 Acknowledged CAN messages Acknowledged CAN messages are used to request data from scanner, for example, the automation time. This kind of CAN message can be used for flush operations synchronization, since an acknowledgement is just transmitted, if all incoming CAN messages are placed in the scan data stream. The time activity of a pre-triggered and acknowledged CAN message is shown below: First a Trigger_In event is generated by the automation application. The scanner realizes this event immediately and places a marker with the current time (automation time) in the scan data stream. After a user-defined time delay “Delay Trigger to CAN”, the pre-triggered CAN message can be sent by the automation application. The time delay “Scanner internal Delay” between incoming CAN messages and its integration in the scan data stream depends on bus traffic and workload. The “Scanner internal Delay” is typically 10ms. After the “Scanner Internal Delay”, the acknowledge CAN message is transmitted by the scanner. Predefined CAN messages Predefined CAN messages are used to control the scanner and to integrate data into the scan data stream. The available predefined automation CAN messages and data are shown below: Command CAN Trigger_ Trigger_Out ID In (Hex) ACK Direction by CAN End scan operation 1x No No Yes In: request Out: acknowledgement In/Out: 0 Initiate scan operation 2x No No Yes In: request Out: Started scan operation mode In: 0 x Out: Started scan operation mode 0x –> Spherical scan 1x –> Helical TTL scan 2x –> Helical CAN 24 Trimble TX5 Automation Interface User Guide CAN data (D7...D0) (Hex) x Command CAN Trigger_ Trigger_Out ID In (Hex) ACK Direction by CAN CAN data (D7...D0) (Hex) scan In: request Out: acknowledgement In: request Out: acknowledgement In/Out: Set automation time In: User-defined automation data In: User-defined data Yes In: request Out: Self-test result In: 0x Out: 0x –> failed 1x –> passed Yes – High pulse on CAN message ACK Yes In: request Out: Automation time at Trigger_Out event In: 0 x Out: Current automation time in No No No In: request enable/disable trigger on mirror index In: 0x –> Trigger on mirror index disabled 1x –> Trigger on mirror index enabled No Yes – Low pulse on every Yes mirror index occuring during rotation Out: Mirror index occured message Out: Automation time of occured mirror index Set 3x automation 4x time Record/pause 5x No No Yes Pre No Yes No No Yes Data message 7x 8x No No No Pre No No Self-test 9x No No Get automation time Ax Pre Mirror Index Trigger Enable Bx Mirror Index Trigger Occured Cx In/Out: 0x –> Pause scan recording 1x –> Scan recording Description of the automation CAN messages: l End Scan Operation: l l Ends the current scan operation. Initiate Scan Operation: l l Initiates the scan operation in the before chosen scan mode. Possible modes are spherical scans, helical TTL scans or helical CAN scans. The mode can be set in the scanner’s user interface or with the LS SDK. l Acknowledges the request by the started scan operation mode. l In the helical scan modes, the scan data recording is paused after initiation. Trimble TX5 Automation Interface User Guide 25 l Set Automation Time l l l l l Pauses or enables scan data recording. l Supported by the helical TTL and the helical CAN mode. Data Message l Scanner acknowledges CAN message request with the current automation time and generates a Trigger_Out event for synchronization. Can be used as flush CAN messages command. Mirror Index Trigger Enable l l l l Scanner performs self-tests and returns the result. Get Automation Time l l For the integration of user definable data in the scan data stream during scanning. Self-Test l l The automation time is used to synchronize automation data and automation events with the scan data. Record/Pause l l To synchronize the automation time in the scanner from an external device. Enables the generation of a Trigger_Out event followed by the ”Mirror Index Trigger Occurred” CAN message on each mirror index. Supported in helical CAN and spherical scan mode. Per default the mirror index trigger is disabled. In helical TTL mode a Trigger_Out event is always generated on each mirror index. The Trigger_Out event has no declaring CAN message. Mirror Index Trigger Occurred l l This CAN message is generated by the scanner on each mirror index, if the mirror index trigger was enabled by the automation application. The data of the CAN message contains an automation time stamp of the occurred mirror index. Data access with the LS SDK The LS SDK provides methods to access the scan data and the automation data in the scan data stream. For more information, refer to the LS SDK documentation. 26 Trimble TX5 Automation Interface User Guide Automation adapter Introduction The TX5 laser scanner automation adapter is a predefined interface device that is available as an optional accessory. It provides a mechanical and an electrical interface to the automation interface of the laser scanner, a standard ethernet socket, and a real-time control and power socket. The mechanical connectors on the bottom provide mounting possibilities to a zero point clamping system (see Zero point clamp, page 39) or to any other external mechanics. The automation adapter is shipped with the following equipment: l Four socket head cap screws (ISO 4762 M5 x 20) to mount the adapter to the scanner. l Automation test box (see Automation test box, page 37). l l Plug with open cable end that allows connecting to the adapter’s real-time control and power socket (see also Automation adapter electronic interfaces, page 34). Ethernet plug with open cable end that allows connecting to the ethernet socket of the automation adapter. The automation adapter is available in the following versions: l the Standard automation adapter is a standard version for automation applications in spherical scan mode l the Helical adapter is for helical applications l the TMS adapter for surveyors All versions of the automation adapter provide an ethernet socket and a real-time control and power socket. Trimble TX5 Automation Interface User Guide 27 Automation adapter types Standard automation adapter The standard version of the automation adapter features an ethernet socket, a real-time control socket, two adjustment pins for an accurate positioning of the scanner, and the electrical interface to connect to the scanner’s interface. ❶ Real-time control and power socket ❷ Ethernet socket ❸ Adjustment pins ❹ Electrical interface (connects to electrical interface of scanner) Dimensions of the automation adapter: 28 Trimble TX5 Automation Interface User Guide There are four M8 threaded holes on the bottom of the automation adapter to mount the adapter to a zero point clamping system (see Zero point clamp, page 39) or to any other mounting fixture. The bushing with the 10mm diameter can be used for a clear alignment of the adapter (and scanner) on the external mounting fixture: Helical adapter The pan axis drive of the scanner usually allows a certain backlash, if the scanner is not turning. This might disturb the scan recording operation in the helical mode. To prevent the scanner from turning horizontally, the helical adapter provides two additional retractable fixation pins that fix the scanner mechanically at 90° and hinder it from any horizontal turning. For this, the scanner has to be equipped with two special brackets with stainless steel precision inlet that will accept the fixation pins to stop the rotation of the scanner. Contact your Trimble dealer to get more information about upgrading your scanner with these brackets. Trimble TX5 Automation Interface User Guide 29 TMS adapter The TMS adapter is the standard automation adapter enhanced by a rotatable tribrach adapter to mount the scanner onto standard surveyor tribrachs. It is also equipped with two M8 threaded holes on both sides to attach the two adapter bolts that are also included in delivery. The adapter bolts are used to mount standard surveyor prisms to the TMS adapter. ❶ Tribrach adapter ❷ Demountable adapter bolts for survey prisms 30 Trimble TX5 Automation Interface User Guide Mounting the scanner Mounting the scanner onto the automation or TMS adapter The following steps are for mounting the scanner onto the Automation Adapter and the TMS Adapter. Trimble TX5 Automation Interface User Guide 31 1. Remove the cover plate from the electrical interface on the scanner’s bottom: 2. Mount the scanner onto the automation adapter so that the adjustment pins of the automation adapter fit into the two bushings on the scanner’s bottom: 3. Fasten the scanner to the adapter with the four provided screws. Note – When tightening the screws, please hold the adapter in position and do not let it rotate with the screws. 32 Trimble TX5 Automation Interface User Guide Mounting the scanner onto the helical adapter Note – To mount the scanner onto the helical adapter, the scanner must be equipped with two brackets with stainless steel precision inlets. Make sure that the two fixation pins are in open position. You might have to loosen the little screws on both sides of the helical fixation first. 1. Mount the scanner onto the automation adapter (see Mounting the scanner onto the automation or TMS adapter, page 31. 2. Enable the helical scan mode (see Enabling the helical scan modes, page 11) and move the scanner to one of the two Helical Adapter Scan Positions (-90° or 90°). You may do this via the touch screen interface or by the means of the LS SDK. If using the LS SDK, you must move the scanner to 89° (helical position A) or -91° (helical position B). For more information, refer to the LS SDK documentation. 3. Wait until the scanner has finished moving to the selected position. 4. Turn the fixation pins slightly upwards with your fingers. As the pan axis drive of the scanner allows a backlash of 2° in clockwise direction when the scanner’s base is fixed and the scanner is not moving, the fixation pins of the helical adapter should now be in a position that is approximately 1° or 1mm to the left of the center of the helical bracket’s inlets. 5. If the fixation pins are in this position, use your fingers to slightly push the pins into their locked position. The scanner should then easily rotate clockwise by approximately 1° and snap in without great physical effort. If that is not the case and you are experiencing problems pushing the pins into their locked position, you may have to adjust the home position of the scanner first, before continuing with the next step. This may happen, if you have installed the helical brackets on your own. For more information, see Adjusting the scanner's home position to the helical adapter, page 46. 6. Lock the pins by tightening the screws on both sides of the helical fixation. Use a 1.50mm Torx Trimble TX5 Automation Interface User Guide 33 wrench to lock the screws: Note – To prevent damage to the worm drive of the scanner, make sure that if the scanner is locked from rotating horizontally, then enable helical mode before starting a scan. Before performing operations making it necessary to turn the scanner horizontally, like starting a spherical scan, make sure that the scanner is not locked and that the fixation pins are in open position. Automation adapter electronic interfaces Ethernet socket The automation adapter provides an IP68 sealed ethernet socket to interact with the scanner via the LS SDK, to remotely control the scanner via the user interface or to access scan data on the inserted removable SD card. The ethernet socket is an IP68 sealed socket from Samtec . You may use any standard ethernet plug to connect to the socket. If you want an IP68 sealed connection to the ethernet interface, then use the appropriate sealed plug from Samtec (www.samtec.com). Wiring of the ethernet cable The automation adapter is delivered with an ethernet plug with open cable end that allows connecting to the adapter’s ethernet socket. The wiring of this open cable is as follows: Pin Color Signal 1 White/orange TX+ 2 orange TX- 3 white/green RX+ 34 Trimble TX5 Automation Interface User Guide Pin Color Signal 4 blue Not used 5 white/blue Not used 6 green RX- 7 white/brown Not used 8 brown Not used Real-time control and power socket The real-time control and power socket is for CAN and real-time signal communication with the scanner, for supplying power to the scanner from an external power source and for supplying power to an external device. The used socket is an IP68 sealed socket from samtec with 10 pins per row. The pin assignment of the real-time control and power socket is provided below: Interface Pin Signal Real-time control 19 AUTO_CAN L (CAN-bus) 17 AUTO_CAN H (CAN-bus) 18 AUTO_IO1: Output Signal Trigger_Out 20 AUTO_IO2: Input Signal Trigger_In 5, 6, 15, 16 GND 13, 14 +5V, 0.5A max. Power supply for external devices 7, 8, 9, 10 External power supply for scanner, +19–20V, 4A. absolute maximum value 22V 1, 2 Not in use, reserved for future use Power supply Not in use 3, 4 11, 12 Trimble TX5 Automation Interface User Guide 35 Wiring of the open cable to connect to the real-time control and power socket The automation adapter is delivered with a plug with open cable that allows connecting to the adapter’s real-time control and power socket. The wiring of this open cable is as follows: Interface Color Signal Real-time control black AUTO_CAN L (CAN-bus) red AUTO_CAN H (CAN-bus) orange AUTO_IO1 brown AUTO_IO2 yellow, red/white, green, orange/white GND purple, blue +5V, 0.5A max. Power supply for external devices Power supply pink, brown/white, black/white, External power supply for scanner, +19–20V, 4A. absolute light green maximum value 22V 36 Trimble TX5 Automation Interface User Guide Automation test box The automation test box provides an exemplary hardware for helical automation applications. It is meant to be connected to the real-time control interface of the automation adapter. Basic functionality is accessible by buttons. The current automation interface status is displayed by different LEDs. The I/O interface of the automation test box enables monitoring of automation interface communication and trigger signals during operation. ❶ Status LEDs: Power and Mode ❷ Helical buttons: On/Off and Record/Pause ❸ Self-test button ❹ I/O interface ❺ Helical status LEDs: Ready and Data ❻ Self-test status LED Trimble TX5 Automation Interface User Guide 37 Buttons Button Helical buttons Description On/Off Initiate or end a scan operation (CAN message “Initiate Scan Operation” / “Stop Scan Operation”). The helical mode and the according scanner parameters should have been set up before in the scanner’s user interface or with the LS SDK. Rec/Pause Start or pause the recording of the scan data (if scan operation is running). In helical mode TTL after a start or pause pulse, the scan data recording starts or pauses synchronous to the next mirror rotation signal. In helical mode CAN after the CAN message “Record/Pause” the scan data recording starts or pauses synchronous to the next mirror rotation signal. In spherical mode the Rec/Pause button has no effect. This button does not initiate the scanner; this has to be done by pressing the On/Off button. Self-test button Run Starts a self-test of the automation interface. For more information see Predefined CAN messages, page 24. LEDs LED Description Status LEDs Helical status LEDs Power Displays the power supply status of the automation test box. Led is illuminating green if power is on. Mode Shows the scanner mode. LED is illuminating green if scanner is in TTL helical mode. If scanner is in CAN helical mode, the LED is blinking green. In spherical mode the LED is illuminating blue. Ready Indicates if scanner is in helical mode and is ready to start data recording. Data Indicates if scan data recording is in progress (green) or not (off). Self-test status LED Indicates if the self-test was successful (green) or has failed (red). If no self-test was performed, the status LED is off. During a running self-test the LED is blinking green. I/O interface The I/O interface provides automation interface signals for user interaction to monitor automation interface signals driven by the automation test box and by the scanner and to trigger events and communication driven by the user (optional). For an illustration and a short explanation of the automation interface signal paths with the integration of the automation test box, see Overview of the firmware/software interface, page 8 The pin assignment of the automation test box I/O interface is provided below: 38 Trimble TX5 Automation Interface User Guide Interface Pin Signal 1 White/orange TX+ 2 orange TX- 3 white/green RX+ 4 blue Not used 5 white/blue Not used 6 green RX- 7 white/brown Not used 8 brown Not used Zero point clamp The zero point clamp is an optional accessory for the automation adapter and enables fast and simple mounting and dismounting of the automation adapter and the laser scanner. It is a convenient solution for applications that require frequently mounting and dismounting of the scanner. The zero point clamp comes with four clamping studs to affix it to the four M8 threaded holes on the bottom of the automation adapter. Trimble TX5 Automation Interface User Guide 39 ❶ Automation adapter ❷ Clamping studs ❸ Zero point clamping system The zero point clamp is a standard product manufactured by the company LANG Technik GmbH (www.lang-technik.de/index.php?language=en). It can be purchased from Trimble or directly from the manufacturer or from one of its distributors. Originally, this standard zero point clamping system is not corrosion-resistant. If you plan to purchase it directly from the manufacturer or from one of its distributors, it is recommended to order it as a noncorrosive version. 40 Trimble TX5 Automation Interface User Guide The clamping system is equipped with two fastening bores with a diameter of 12 mm. They can be used to mount the device to an external mounting fixture. The two adjusting grooves can be used to align the complete system. To mount the adapter to the clamping system, affix the four clamping studs to the automation adapter and plug it to the clamping system; tighten and lock with the tightening screw of the clamping system. Ordering information Part number Item Description ACCSS6032 Automation Provides an Ethernet socket and automation socket for the TX5 laser Adapter, scanner. Includes a test device to verify the proper function of the TX5 Automation socket. ACCSS6033 Helical Adapter Upgrade, TX5 Upgrade to convert an Automation Adapter for the TX5 laser scanner into a Helical Adapter. Two retractable pins on the adapter will hinder the scanner from rotating about the main axis while helical scanning. Includes 2 special scanner brackets with stainless steel precision inlet that will accept Trimble TX5 Automation Interface User Guide 41 Part number Item Description the pins to stop rotation of the scanner. ACCSS6034 Helical Adapter, TX5 Provides an Ethernet socket and automation socket for theTX5 laser scanner. Two retractable pins on the adapter will hinder the scanner from rotating about the main axis while helical scanning. Includes 2 special scanner brackets with stainless steel precision inlet that will accept the pins to stop rotation of the scanner. Includes a test box to verify the proper function of the Automation socket. ACCSS6035 TMS Adapter, TX5 Quick-positioning Surveyor Adapter. Provides an Ethernet socket and an automation socket as well as fixation points for 2 surveyor prisms. Adapter fits into standard surveyor tribrach. ACCSS6036-TX Automation Test box to verify the proper function of the Automation socket. Test Box, TX5 ACCSS6037 Zero Point Clamp, TX5 42 Zero Point Clamp. Allows for a quick and reproducible fixation of the TX5 laser scanner with the Automation Adapter ACCSS6032.Includes 4 fixation bolts. Trimble TX5 Automation Interface User Guide Appendix Laser scanner dimensions Dimensions are in millimeters (mm). Trimble TX5 Automation Interface User Guide 43 Laser scanner power socket The power socket of the TX5 3D laser scanner is a LEMO socket with 5 pins (part no. EZG.0B.305.CLN), the appropriate plug is a LEMO elbow (90°) plug with the part number FHG.0B.305.CLAD42ZN. The pin assignment of the socket is as follows: ❶ Not connected ❷ GND ❸ GND ❹ +19V ❺ +19V 44 Trimble TX5 Automation Interface User Guide Establishing an ethernet connection to the scanner To establish a direct connection between your controller device and the scanner make sure they have compatible IP addresses and subnet masks and that they are running in a fast ethernet (100 Mbit/s) environment. First, check the scanner’s ethernet IP address and subnet mask. For this, go to Manage / General Settings / Scanner Details in the TX5 Controller software. If you want to, you can change the IP address and the subnet mask of the scanner here. To do this, click on the corresponding buttons and enter a valid address. To be able to communicate with the scanner via ethernet, the controller device must have a static IP address and subnet mask that is compatible to the scanner’s IP address. 1. If your controller device is running: l l the Windows XP operating system, configure its IP address by navigating to the Control Panel and then select Network Connections / Local Network Connection (LAN) / Properties / Internet Protocol (TCP/IP) / Properties. the Windows 7 operating system, navigate to the Control Panel and then select Network and Internet / Network and Sharing Center. Click the Local Area Network Connection to open the Local Area Connection Status window and then click Properties. Select the Internet Protocol Version 4 (TCP/IPv4) check box and then click Properties. 2. In the Properties dialog that appears, select the option Use the following IP address and provide a valid IP address and subnet mask. Change the IP address of the controller device to an address that only differs from the scanner’s IP address by the last number. The subnet mask Trimble TX5 Automation Interface User Guide 45 of the controller device and the scanner must be identical. Adjusting the scanner's home position to the helical adapter If you have installed the helical brackets on your own, the fixation pins of the helical adapter may not fit into the inlets of the helical adapter brackets of the scanner. If this is the case, you may have to adjust the home position of the scanner by some tenths of degrees. To do this: 1. Mount the scanner with the special helical brackets onto the helical adapter (see Mounting the scanner onto the helical adapter, page 33). 2. In the touch screen user interface of the scanner, add a helical scan profile, if you do not already have one (see Enabling via the scanner’s user interface, page 11). 3. Starting from the Home screen of the TX5 Controller software, select Manage / Service / Set New Home Position to adjust the scanner’s home position. For more information, see Changing the home position of the scanner to a user-defined value, page 15. 4. If the scanner is in helical mode, you are prompted to select a non-helical profile. Select a nonhelical profile from the profiles list and go back to the Set New Home Position view. 5. Click Move To Home Position and then wait until the scanner has moved to this position. 6. Enter a value to move the scanner near to the helical adapter position (for example, 89°). Click Move Clockwise and then wait until the scanner has finished moving. 7. As the pan axis drive of the scanner allows a backlash of 2° in clockwise direction when the scanner’s base is fixed and the scanner is not moving, the fixation pins of the helical adapter 46 Trimble TX5 Automation Interface User Guide should be in a position that is approximately 1° or approximately 1 mm to the left of the center of the helical bracket’s inlets: Check this by turning them slightly upwards with your fingers. If they are not in that position, enter some tenths of degree as rotation angle, rotate the scanner by clicking Move Clockwise or Move Counter-Clockwise and check again. You may repeat this step several times until you think that the pins of the helical adapter are approximately 1° or 1 mm left to the center of the bracket’s inlets. 8. With your fingers slightly push one of the two fixation pins into its locked position. The scanner should move by approximately 1° in clockwise direction and snap in without great physical effort. If this is not the case, repeat step 7. 9. If the scanner snaps in easily and is in position, make a note of the value of the scanner’s current position displayed on the screen. Then release the pins again and make sure that the scanner is not locked from rotating horizontally. 10. Subtract 90° from the value you noted in step 9 and rotate the scanner to the position that results from the subtraction. Wait until the scanner has finished moving, and then click Set As New Home Position. Trimble TX5 Automation Interface User Guide 47 11. Now check that the new home position is correct: a. Enable the helical mode by selecting a helical profile. To do this starting from the Home screen, select Parameters / Selected Profile and then select a helical profile from the profiles list. b. Go back to the Parameters screen. c. Click Helical Scan Mode Settings. d. Click Helical Scan Position. e. Select Helical Scan Position A or Helical Scan Position B. f. Click Move Scanner To Helical Scan Position. g. Check that the fixation pins of the helical adapter are in a position that is approximately 1° to the left of the center of the bracket’s inlay. h. Push the fixation pins into locked position and check that the scanner snaps in correctly. 48 Trimble TX5 Automation Interface User Guide Example wiring diagram of an automation device Trimble TX5 Automation Interface User Guide 49