MEL M2-iLAN Series Manuel utilisateur

HB-M2-iLAN-UDP-E.doc page 1 of 44

MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de



MIKROELEKTRONIK GMBH Intelligente Sensoren & Mess-Systeme

M2-iLAN

Laser-Scanner

M2D Laser Scanner

with integrated Ethernet-Interface

TCP/UDP

User Manual

MEL Mikroelektronik GmbH

Breslauer Str. 2

D-85386 Eching

Tel. +49 89 / 327 150-0

Fax +49 89 / 319 20 23

www.MELsensor.de March 2010

M2i-LAN Laser-Scanner manual 

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Contents

Firmware-Version .........................................................................................................................................................3

System description .......................................................................................................................................................4

Product label.................................................................................................................................................................4

Scanner head and Electronic System...........................................................................................................................4

Connections.......................................................................................................................................................................4

Ethernet Hardware........................................................................................................................................................4

Ethernet cabling............................................................................................................................................................4

Multi-Scanner Arrays ....................................................................................................................................................5

How many Scanners can work in one network segment? ............................................................................................5

Factory default IP address............................................................................................................................................5

Scanner heads..............................................................................................................................................................5

Connectors........................................................................................................................................................................6

Ethernet cable...............................................................................................................................................................6

Control cable.................................................................................................................................................................6

Status LED’s.................................................................................................................................................................6

RJ-45 connector ...........................................................................................................................................................6

Special accessories......................................................................................................................................................7

Technical Data...................................................................................................................................................................8

Integrated electronic system.........................................................................................................................................8

Communication between Electronic system and PC.........................................................................................................9

Task of the Micro controller...........................................................................................................................................9

Task of the PC-Software...............................................................................................................................................9

Communication Components........................................................................................................................................9

Adjustment of Scanners IP-Address.............................................................................................................................9

Resolve IP Address conflicts ......................................................................................................................................10

MEL Configuration Software „EthernetScanner-2008“................................................................................................11

Temporary change of the IP Address .........................................................................................................................11

Temperature monitoring..............................................................................................................................................12

Pixelauslesen : Limit of scanners viewing area...........................................................................................................12

Scanner controls.........................................................................................................................................................13

Control commands......................................................................................................................................................13

Trigger and Synchronisation operating modes ...........................................................................................................13

External Trigger (Hardware-Trigger)...........................................................................................................................13

Synchronization..........................................................................................................................................................13

Ethernet-Trigger..........................................................................................................................................................13

Digital inputs...............................................................................................................................................................13

UDP transmission mode.............................................................................................................................................14

How to set UDP transmission mode...........................................................................................................................14

Data format and interface description.........................................................................................................................15

Frame Format of TCP data transfer from scanner head to electronic unit..................................................................15

Header and payload data............................................................................................................................................15

Encoder Data, FiFO fill status.....................................................................................................................................15

0x21: info telegram: scanner status information .........................................................................................................16

Info Telegram (the scanners answer to the command 0x21)......................................................................................16

Data format: Register addresses, Commands or Data ...............................................................................................16

Scanner controls.........................................................................................................................................................17

Data format.................................................................................................................................................................18

Sync signal and Status info, encoder information (protocol version 3) .......................................................................18

Meaning of the status byte 2 depending from register 0x11 .......................................................................................19

Value = [0]: Sensor temperature.................................................................................................................................19

Value= [1]: Register contents.....................................................................................................................................19

Value = [2, 3]: Version number electronic system and camera..................................................................................19

value = [4, 5, 6, 7, 8] : operating hours counter ..........................................................................................................19

Value = [9, 10, 11]: on counter....................................................................................................................................19

Value = [12]: Digital inputs 1 , 2 + Bit for Sensors with a mirror..................................................................................19

Value = [13]: Laser control Bit 2...9.............................................................................................................................20

Value = [14]: Version number.....................................................................................................................................20

Value = [15 ...31]: not assigned..................................................................................................................................20

Value = [32 ... 63] 32 Byte Eprom Data Register........................................................................................................21

Register 0x1B: Profile peak recognition threshold......................................................................................................21

HDR-shutter control, Register 0x24 (36).....................................................................................................................22

M2DF/LAN-Structure of Image Data...........................................................................................................................22

Read out complete image...........................................................................................................................................23

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Synchronization of Sensors........................................................................................................................................23

Trigger Mode ..............................................................................................................................................................23

Calculation of shutter time ..........................................................................................................................................23

Number of pixels, encoder data..................................................................................................................................23

RS-232 Monitoring......................................................................................................................................................23

115.200 Baud .............................................................................................................................................................23

Web-Server.................................................................................................................................................................25

Available Read out Functions.....................................................................................................................................25

How to set the IP address over the Web ....................................................................................................................25

Requirements for connection to scanner ....................................................................................................................26

Updating (Flashing) Firmware.....................................................................................................................................27

Hardware Requirements.............................................................................................................................................27

Software Requirements ..............................................................................................................................................27

Updating (Flashing) procedure ...................................................................................................................................27

Updating (Flashing) over the Ethernet........................................................................................................................28

Trouble Shooting ........................................................................................................................................................29

Example code for Software engineers........................................................................................................................30

Data format for register addresses and commands....................................................................................................30

3. Command: 0x21 (dump).........................................................................................................................................31

example: // read out FiFo status and sensor temperature ..........................................................................................36

Syntax of HDR shutter control ....................................................................................................................................38

Ports...........................................................................................................................................................................38

Ethernet WinSock Implementation..............................................................................................................................39

Example: (“C”) using WinSock and Scanner functions: ............................................................................................. 39

UDP Implementation...................................................................................................................................................41

IP-Programming for UDP-transmission protocol:........................................................................................................41

Maintenance....................................................................................................................................................................43

Laser Safety................................................................................................................................................................43

Laser Power................................................................................................................................................................44

Environment................................................................................................................................................................44

Sunlight.......................................................................................................................................................................44

Water..........................................................................................................................................................................44

Changes and additions...............................................................................................................................................44

-V

Hardware-Revision 4.0 with M12 connectors

FPGA Firmware-Revision 4.6

Controller Firmware Revision 2.0.59

This manual describes the installation of the scanner hardware and the use of MEL demo and calibration

software. The manual has been changed to the new version of hardware.

With the transit to the revision 4 hardware, the electronic system has been equipped with M12 connectors.

The scanner head is connected to the network with the standard Ethernet M12 connector. The power and

control connector is an M12 connector with 8 pins.

 Tipp: default values should be read from the scanner.

after a reset, the scanner restores all values to default.

to read out the default values:

1. send reset command 0x1E

2. request info telegram 0x21

default values could be different from given values in this manual.

relevant is the actual interface description available from MEL.

when you read out default values from the scanner, these may be

the almost recent values.

 Laser Safety

Please refer to the Chapter “Laser Safety and Maintenance” to find recommendations and guidelines for

use of controls, adjustments of performance and recommended practice to avoid any hazardous radiation

exposure (page 43). Use of controls or adjustments or performance of procedures other than those

specified herein may result in hazardous radiation exposure.

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With the new M2-iLAN „Ethernet“-Scanner the electronic system is integrated in the scanner head. The

system has no extra controller box, so it is highly compact, tight and rugged. The scanner head has two

M12 connectors for Ethernet and power supply & controls. Scanner heads designed for welding applications

additionally have water & air cooling fittings.

M2W-iL-models are rated up to 500°C (950° F) environment

temperature with water cooling, up to 150°C (240°F) with air cooling,

dry and clean atmosphere, non corrosive.

The product label specifies the type of scanner head, the range and

standoff distance and the serial number with production date

(YYYY.MM.XXX) (XXX= Serial number).

The scanner head has a CCD camera, a line laser projector and an electronic system for digitizing the

camera signals. The electronic system sends the camera signal to the electronic system. The camera is

controlled by the automatic control through the electronic system or in external mode by the application

software. Adjustment for shutter time, video gain and laser intensity are made through either automatic or

under “manual” control by the application software.

Connections

Standard Ethernet components never have shown problems in the data transmission of the Ethernet

scanners. Network connection Rx+, Rx-, Tx+, Tx- is available on a 4-pin M12-connector D-coded according

to standards. The scanner should be connected with shielded Ethernet cables CAT 5e or better. Total cable

length for Ethernet cabling is 200m according to Standard IEE 802.3

We also use Ethernet scanners in the company network without any effect on the daily office work running

through the same network. Use Ethernet switches, hubs are not recommended. When several scanners are

monitored by one PC, the graphic card and CPU must be strong enough to collect all the data provided by

the scanners. When you doubt, that the Scanner does not deliver all images, you should check the image

counter (page 15: register 0x11, status messages.) The image counter number allows sorting images, if

they arrive in wrong order. This may happen accidentally when transmitting profile data over the internet.

The Ethernet network connection is

made with M12 connectors, 4 pin D

coded. The control interface is

connected through an 8 pin M12

connector, the pin details are given

on page 6.

Ethernet cables should be double

shielded. The cables should be

according specification CAT 5e or

better.

When the Scanner is connected to

the network over a Ethernet switch,

normal (1:1 wired) patch cable may

be used. When you want to make a

direct connection from the Scanner

to the PC use a cross-wired cable.

Picture at the right side:

Connecting a scanner with switch and PC.

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-S

Up to 32 Scanners could be integrated in a network. Normally, you should use a separate network card for

the connections to the scanner(s). The use of a separate network card is optional and depends from your

network settings, network traffic on the dedicated PC and system load. You may use a Ethernet switch, a

Ethernet cable to each scanner and power supply 10 … 28 V DC.

 The Scanner sends 290 Profile points per Scan with 93.5 Hz :

oTCP-IP Header

oM2DF-LAN-Header

oProfile data

oStatus information

oReserved Bytes for additional data

oadditional Information as Encoder-Data, FiFO

oCRC

Each Profile creates a 2048 Byte Block = 93.4 x 2.048 kBytes / s = 191.28 kByte / s.

The network channel has 100 Mbit = 12.500 kBytes / sec

This will allow theoretically maximum = 12.500 / 191 = 65.4 Scanners.

The numbers of collisions in a network rises, when the network load exceeds 50%. Therefore as a realistic

figure, we assume 50 % of maximum transmission rate.

This leads to the number of 32 Scanners for maximum usage in one network segment.

Segmentation of data blocks

Limitations of the network cards like setting of the MTU (Maximum Transfer Unit), and accordingly load in

the network causes that the 2048 Bytes will not be transferred in one packet, but segmented into two

packets of 1460 k and 588 k. The user must not think about this effect, though the TCP implementation of

the operating systems cares about sorting and reconciling the TCP packets. More likely, the software

engineer designing an application must know this and wait long enough to make sure that all packets have

been received, before using the data.

 At the end of the manufacturing test the scanners are set to:

IP address 192.168.123.245

Subnet mask 255.255.255.0.

Before you integrate these units in your network, you should set the network address to a working address

which will operate in your network properly. For more technical details and background information see the

network tutorial. The set up procedure is given on page 24.

The scanner head power supply is connected with a 8 pin M12

connector. The control cable has power supply, sync signals, digital

inputs for encoders and control of firmware upload and RS-232 diagnose

interface. The pin definition is given on the next page.

The Ethernet connection is made with a 4 pin M12 connector according

to standard. The Ethernet cable connectors are male.

The connector for the control cable is male. The controls & power cable

has a female connector and at the other end is either with open leads for

clamps or with a male connector.

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MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de

Connectors

* when connecting the sync output to the command input 1, at start of the sensor (power on), the sensor is brought to

the programming mode. In this programming mode the firmware can be uploaded with the RS-232 connection or over

the Ethernet network.

** when the sync output is connected to the command input 2, at start of the sensor, the sensor will activate the RiP

mode and communicate only at the default IP address.

Please note: when both command inputs were connected to sync out, the sensor will go to the programming mode.

The activation of the Programming mode or RiP mode is made only when the sensor is switched on and had no

power before for a few 10 seconds.

*** colors are given as an example.

Tipp: the Scanner could be connected with one single*, highly flexible, cable for robotic applications. The cable used

is a Ethernet cable specially made for the use with robots. The power supply is taken over two unused wires in the

network cable, following the idea of the IEEE 802.3af standard. Details are given in the TE-M2-iLAN-connection-E.pdf.

Cables following this definition are available from MEL on request.

* single cable attachment: connection with a single cable specified for use with robots.

** PoE: Power over Ethernet, standard IEEE 802.3af.

D’

’s

Status LED’s Meaning color*** OK when

Power Power OK Green LED is lit

Eth-Link Ethernet Link in Function Yellow Blinking

100 Mbit Ethernet Link Activity Orange Blinking

System Hardware Self test OK Orange Blinking

FPGA FPGA Self test OK Orange LED is lit

J-

-4

Pin Signal Connector A Pin “Crossed” B Signal

1 Transmit data + Green +White 1 Red + White Receive data +

2 Transmit data - Green 2 Red Receive data -

3 Receive data + Red + White 3 Green +White Transmit data +

4 Not used - Blue 4 Blue Not used -

5 Not used + Blue + White 5 Blue + White Not used +

6 Receive data - Red 6 Green Transmit data -

7 Not used + Brown+ White 7 Brown+ White Not used +

8 Not used - Brown

Colors are given as

an example.

Cables could have

different colors.

8 Brown Not used -



Tipp: the M12-Ethernet cable has male connectors at both ends. The M12-control cable has either a female

connector at the electronic box and a male connector or open wires at the other end.

Pin-Nr. Signal Colors *** Remarks

1 Tx+ Green+white Transmit data Ethernet +

2 Rx+ Red+white Receive data Ethernet +

3 Tx- Green Transmit data Ethernet -

4 Rx- Red Receive data Ethernet -

Ethernet

M12 round

4-pin

D-coded

female Shield Connect to case!

Pin-Nr. Signal Colors*** Remarks

1 + 24 V DC White Supply for Electronic box

2 Digital input 1 Brown Encoder and command input 1*

3 GND Green Ground

4 Digital input 2 Yellow Encoder and command input 2 **

5 Sync out Grey Sync signal output (Master)

6 Sync in Orange Sync signal input (Slave); Hardware-Trigger

7 TxD Blue Rs-232 Diagnosis out

8 RxD Red RS-232 Programming data input

M12 round

8-pin

A-coded

male

Shield Connect to pin 3 (ground)

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↑M2-RS232-ProgBox

M2-W-iLAN-80/40/55 →

Scanner head with air / water cooling option

Nr Description MEL

Part name

MEL

order

number

1 M2-RS232-Programming Adapter Box

Adapter to RS-232 interface, for Firmware-Upload, power switch and

default-IP- Address. Requires + 24V power supply!

M2-RS232-ProgBox i.550.006

2 Power supply + 24V, for M2-RS232-Box (Pos. 1) Power supply 24V/250 mA i.550.007

3 Connecting cable M12-8 pin; 2.0 m; free leads Ctrl-Cbl-W-M12-o i.550.008

4 Connecting cable M12-8 pin female socket – 8 pin, 0.4 m SKK 215 i.550.009

5 Connection cable M12-4 pin, D-coded connector – 4 pin

D-coded connectors, Length 0.4 m; PTFE SKK 216 i.550.010

6 Adapter M12 – RJ45 straight, with thread M 16x1.5 Eth-Adapter-G-M12 i.550.011

7 Adapter M12 – RJ45 at angle 90°, with thread M 16x1.5 Eth-Adapter-W-M12 i.550.012

8 Connector M12-4pin-D coded; straight, auto-clamps Eth-Con-D-G-M12 i.550.016

9 Connector M12-4pin-D coded; 90° angle, screw on clamps Eth-Con-D-W-M12 i.550.018

10 Connecting cable M12 male – 4 pin; RJ-45; 1 m Eth-Cbl-M-M12-RJ45 i.550.026

11 Connecting cable M12 female – 8 pin at angle 90° - free leads Ctrl-Cbl-8pWW-o i.550.027

12 Adapter for connecting two RJ45 network cables Adaptor-2N-RJ45 i.550.028

13 Network cable RJ-45, 5m 1:1 (patch) Network cable RJ45 i.550.029

14 Cross wired network cable RJ-45, 5 m Crosslink cable RJ45 i.550.030

15 Connector M12 - 4 pin D-coded with screw on clamps Con-M12 4 pin-m-scr i.550.031

16 Cable receptacle 8 pin female with screw on clamps Con-M12 8 pin-w-scr i.550.032

17 Water / air fittings (spare parts) WaAir-Stub i.550.033

18 Ethernet cable; CAT5e, 4-pin, AWG24 flexible; PUR chloride free

blue, shielded, straight connector, M12, D-coded – RJ45, 2m Eth-Cbl-M12-RJ45-2m i.550.041

19 Ethernet cable; CAT5e, 4-pin, AWG24 flexible; PUR chloride free

blue, shielded, straight connector, M12, D-coded – RJ45, 5m Eth-Cbl-M12-RJ45-5m i.550.042

20 Ethernet cable; CAT5e, 4-pin, AWG24 flexible; PUR chloride free

blue, shielded, straight connector, M12, D-coded – RJ45 – open

leads, length = 15m

Eth-Cbl-M12-o-15m i.550.040

21 Connecting cable M12-4pin crossed Ethernet cable with RJ-45

Cable length customer specific EthRJ45-X-Cbl-M12-custom i.550.043

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Technical Data

Profiles update rate max. 93.5 Hz

Profile rate, Trigger-Mode approx. 60 Hz

Profile rate, external synchronized max. 93.5 Hz

Stability of time base 100 x 10-6

Min. / Max. Environment temperature min. 0°C (+ 32°F) max. 40°C (+ 95°F)

Min. / Max. Storage temperature min. –30°C (+ 2°F) max. 75°C (+ 167°F)

Supply current 120 mA at 24 V; Laser on

Range of supply voltage + 10 ... 30 V DC

Digital inputs Low = 0 ... 2 V High = 5 ... 30 V

Weight 300 g

Dimensions 102 mm x 74 mm x 27,5 mm

Mounting holes for 4 x M5 screw

connections 12 pin round female for Scanner head

M12 - 8 Pin male supply and controls

Synchronization and external Trigger

M12 4 Pin female = Ethernet D coded

RJ-45-Ethernet internal for service

Protection class IP 65

Vibration: the electronic unit has been specially protected against shock and vibration.

Encoder signal connection

Encoder-Data is received at the digital inputs at the control connector. The encoder information is read and

transmitted embedded in the profile information over TCP Ethernet connection. The encoder data is always

in sync to the profile relating to this encoder data.

RS-232 interface for diagnosis and firmware update

Baud rate: Monitoring 115. 200 Baud

Baud rate: Firmware-Update 57.600 Baud

The RS 232 interface does not carry profile data or scanner control information.

Software: the current release of the MEL „EthernerScanner.exe“ Demo- and configuration software is

available as download from MEL FTP-Server: ftp://melsensor.de. Call MEL hotline for further details.

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Communication between Electronic system and PC

The micro controller in the electronic system communicates over Ethernet TCP/IP with the PC. The Scanner

head delivers image data to the micro controller and the FPGA in the electronic system.

oRead out of the Scanner head

oSend Scann profile data over TCP/IP-Protocol

oReceive commands for the Scanner head with TCP/IP Protocol

oSend commands to the Scanner head

oChange and store the TCP/IP-Address on request

oSend Status information

oRun integrated Web Browser

C-

-S

oReceive profile data from Scanner

oDecode Pixel image data format (see „Data format“)

oProcess and display scan profile data

oSend commands to the Scanner head

TCP Clients and Server are components of the development environment in the software. In the readily

compiled software (*.exe File) these components exist in the form of “ports”. These ports manage data

traffic in and out to the individual elements of the application software.

The Scanner communicates with the outer world using port address, IP address and a valid subnet mask.

A Gateway is ignored, the scanner opens a peer to peer connection. Therefore the set up of these

communication components needs to be complete to allow proper function of the electronic components

and data communication.

The Scanner stores data in FiFo memory, before data is sent out in a package. The transmission protocol is

TCP/IP*.

* UDP firmware version is available on request!

P-

-A

The Scanners electronic system has a default address as well as a working IP address. The default IP

address is activated, when you set the RiP-Pin. This is done, when you connect the Sync out pin to the D1

pin before starting power. The default IP address is set firmly, and can not be changed by the user.

Before delivery, the scanners were normally set to the working-IP = 192.168.123.245. When another IP

address has been set, either a note in the shipment papers or a label on the electronic box of the scanner

should show the IP address.

When you want to set a new working IP address, use a Web browser and follow the procedure on page 24.

 Please note: after transferring the new working IP address to the scanner electronic system, the

electronic system automatically restarts to make the change effective.

The Web Browser will then display a message to make you aware of the change.

When you receive this message connect to the scanner with the new IP address.

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Using the default IP address is meant for communication with one single scanner, for adjustment of a new

working IP address or other service purpose. Using the default IP address for normal operation is not

recommended.

DHCP is not supported. The Scanner must have a fixed IP address, as well as the network card to which

the scanner shall communicate. Scanner and network card must be in the same network segment. This

means, the network address should vary only in the last three digits. Computers in the network must use

unique and different network addresses. When units in the network use the same address, a conflict exists.

The communication in the network could severely have problems, when this happens.



Tipp: label the units when installing different units in a network

take notes and make a plan of the network addresses used in your network.

when a conflict exists, physically disconnect the network cable form different units to find

out the source of conflict. ... only one unit at a time...

example:

Address Scanner 1: 192.168.123.222;

Address Scanner 2: 192.168.123.223;

Address Scanner 3: 192.168.123.224;

Address Scanner 4: 192.168.123.225;

Address Scanner 5: 192.168.123.226;

Address Scanner 6: 192.168.123.227;

Address Scanner 7: 192.168.123.224; // incorrect IP-Address = conflict!

Address Scanner 8: 192.168.123.229;

Address Scanner 9: 192.168.124.228; // different network segment

Address Network card: 192.168.123.199

The subnet mask for all Scanners and the network card = 255.255.255.0

Do not get mixed: a subnet mask 255.255.0.0 may also work. The subnet mask defines the maximum

number of units in your network. When no more than 254 scanners were present in your network, the

subnet mask 255.255.255.0 will be sufficient.

In our example Scanner 7 has been set erroneously to the IP address 192.169.123.224. this address is

already taken from another Scanner – so a conflict exists. The correct IP-address would have been

192.168.123.228.

Scanner 9 is in another subnet (another network segment). For Scanner 9, the network card should be set

to IP address = 192.168.124.10.



Tipp: how to find out the IP address of the scanner?

1. Use any terminal software, connect the RS-232 diagnostic port to Com-port 1 of your PC

2. Read out the information prompt send out at start up of the scanner.

3. For details see page 22.

P-

-A

oMAC-Address 8 Byte 00-08-DC-00-00-00

oSerial number 3 Byte MM-YY-ZZZ

oScanner-IP 4 Byte 169.254.150.160:3000 = default Address

oSubnet-Mask 4 Byte 255.255.0.0

oGateway IP 4 Byte 169.254.150.1

oTCP Port 2 Byte, integer last Segment of the TCP/IP-Address (for example 3000)



Back ground: the Scanner and the network card in the PC make a “peer to peer” connection. Once the

communication between these two peers has been initiated, no other network device will be allowed to communicate

with the active scanner. This means, the scanner can communicate only with one PC at a time. Besides the

communication over TCP at any time, from any other PC a http request (Web browser) could be made.

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