Laser Tracker (ver. English)

Introduction
Laser Tracker is a kind of PCMM (Portable Coordinate Measuring Machine), for large size object measurement survey.

The applicable object could be like:
Airplane
or :
Submarine

or:
Windmill blades


So it is not hard to image how far this instrument can measure. Generally speaking, the maximum measuring distance of laser tracker is 50-80m.

The accuracy level of laser tracker is about 0.025mm at 5 meter long, 0.075-0.090mm at 80m. Take daily life object to make comparison, 0.075-0.090mm is about the diameter of a hair.

The appearance of this kind of  instrument is as following shown:

Faro Laser Tracker

https://www.faro.com/zh-cn/products…

Leica Laser Tracker

http://www.hexagonmi.com/products/l…

API Laser Tracker

https://www.apisensor.com/products/…

The principle of this instrument is to put one retroreflector on the object to be measured.

Tracker will emit laser beam to the retroreflector, then the retorreflector will reflect the laser beam of laser tracker, tracker will calculate the distance by time deviation between sent and received beam(ADM mode: Absolute Distance Meter) and/or by wave path difference/interference between sent and received beam (IFM mode: InterFerence Meter ).

Then cooperate with azimuth and elevation encoder of tracker, the spherical coordinate of retroreflector will be defined. the spherical coordinate will be transferred to Cartesian coordinate system.

That is the principle of laser tracker.

Connect Mitsubishi Q series PLC with Ethernet by using C#

PLC setting

1. Open GX work 2 to set the protocol type and port of PLC.
2. Write the setting to PLC

PC setting

1.Open VS IDE
2.Select C#
3.refer Socket library
using System.Net.Sockets;
4.there are two types of protocol of PLC, TCP and UDP. Here we introduce both

5. TCP connection

5.1 Create TCP object

Socket mysocket = new Socket(SocketType.Stream, ProtocolType.Tcp);

5.2 Create IP object

byte[] address = { 192, 168, 3, 39 }

IPAddress addr = new IPAddress(address);

5.3 Connect to PLC

the first parameter is IPAddress object, the rear one is port number of PLC, it can be set in GX work2.

mysocket.Connect(addr, 1001);

5.4 Checking
create a bool object to check the connection is successful or not.

bool result = mysocket.Connected;

6. UDP connection

6.1 Create UDP object

Socket mysocket = new Socket(SocketType.Dgram, ProtocolType.Udp);

6.2 Create IP object

See section 5.2

6.3 Connect to PLC

the first parameter is IPAddress object, the rear one is port number of PLC, it can be set in GX work2.

mysocket.Connect(addr, 1025);

6.4 Checking

create a bool object to check the connection is successful or not.

bool result = mysocket.Connected;