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The following provides more detail on each of the above steps.
1. Establish communication with the sensor.
The sensor broadcasts UDP packets. By using a network monitoring tool, such as Wireshark, you can capture and observe the packets as they are generated by the sensor. See Appendix E for the UDP packet format. The default source IP address for the sensor is 192.168.3.043, and the destination IP address is 192.168.3.255. To change these IP addresses, see page 11.
2.Create an internal calibration table either from the calibration data included
This table must be built and stored internal to the
Alternatively, the calibration data can be found in the included db.xml file found on the CD included with the sensor. A description of the calibration data is shown in the following table.
db.xml Calibration Parameters
| Parameter | Unit | Description | Values |
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| rotCorrection | degree | The rotational correction angle for each laser, | Positive factors rotate to the left. | |
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| as viewed from the back of the unit. | Negative values rotate to | |
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| the right. | |
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| vertCorrection | degree | The vertical correction angle for each laser, | Positive values have the laser | |
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| as viewed from the back of the unit. | pointing up. | |
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| Negative values have the laser | |
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| pointing down. | |
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| distCorrection | cm | Far distance correction of each laser distance | Add directly to the distance value | |
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| due to minor laser parts’ variances. | read in the packet. | |
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| distCorrectionX | cm | Close distance correction in X of each laser due to |
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| minor laser parts variances interpolated with far |
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| distance correction then applied to measurement in X. |
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| distCorrectionY | cm | Close distance correction in Y of each laser due to |
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| minor laser parts variances interpolated with far |
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| distance correction then applied to measurement in Y. |
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| vertOffsetCorrection | cm | The height of each laser as measured from | One fixed value for all upper | |
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| the bottom of the base. | block lasers. | |
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| Another fixed value for all lower | |
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| block lasers. | |
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| horizOffsetCorrection | cm | The horizontal offset of each laser | Fixed positive or negative value | |
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| as viewed from the back of the laser. | for all lasers. | |
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| Maximum Intensity |
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| Value from 0 to 255. Usually 255. | |
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| Minimum Intensity |
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| Value from 0 to 255. Usually 0. | |
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| Focal Distance |
| Maximum intensity distance. |
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| Focal Slope |
| The control intensity amount. |
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The calibration table, once assembled, contains 64 instances of the calibration values shown in the table above to interpret the packet data to calculate each point’s position in 3D space. Use the first 32 points for the upper block and the second 32 points for the lower block. The rotational info found in the packet header is used to determine the packets position with respect to the 360° horizontal field of view.
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