Skip to main content
                     
As-Built As-Built - Revit As-Built - AutoCAD VirtuSurv - VirtuSurv 2018 As-Built - Modeler            
BuildIT BuildIT - Projector BuildIT - Construction BuildIT - Metrology              
CAM2 CAM2 - SmartInspect CAM2 - 2018 CAM2 - Measure 10 CAM2 - Measure Q CAM2 - Measure X CAM2 - Measure 3/4 CAM2 - AnthroCAM CAM2 - 2019    
Cobalt 3D Imager 3D Imager - Cobalt                  
Computers Computers - All Computers                  
FARO Aras 360 & CAD Zone FARO CAD Zone - Fire & Insurance FARO CAD Zone - Crime & Crash FARO CAD Zone - CZ Point Cloud FARO CAD Zone - First Look Pro FARO 360 - Reality FARO 360 - HD FARO 360 - Blitz FARO 360 - Genius    
FARO Zone FARO Zone - 2D FARO Zone 3D - 2018 FARO Zone 3D - 2019              
FaroArm/ScanArm FaroArm/ScanArm - Quantum S FaroArm/ScanArm - Quantum M FaroArm/ScanArm - Quantum E FaroArm/ScanArm - Edge FaroArm/ScanArm - Fusion FaroArm/ScanArm - Prime FaroArm/ScanArm - Platinum FaroArm/ScanArm - Legacy Quantum FaroArm/ScanArm - Titanium FaroArm/ScanArm - Advantage
FaroArm/ScanArm FaroArm/ScanArm - Digital Template                  
Gage Gage - Bluetooth Gage - Plus Gage - Standard Gage - Power            
Hand Held Scanner 2D Hand Held Scanner - ScanPlan 3D Hand Held Scanner - Freestyle3D 3D Hand Held Scanner - Freestyle3D X 3D Hand Held Scanner - Freestyle3D Objects            
Language Quality HT MT AT NT INT - Internal          
Languages Language - English Language - Japanese Language - German Language - Chinese Language - Spanish Language - Italian Language - Portuguese Language - French    
Laser Projector RayTracer - RayTracer Laser Projector - Tracer M Laser Projector - Tracer SI              
Laser Radar Imaging Laser Radar - VectorRI                  
Laser Scanner 3D Laser Scanner - Focus S 3D Laser Scanner - Focus M 3D Laser Scanner - Focus3D 3D Laser Scanner - Focus3D X 3D Laser Scanner - Focus3D X HDR 3D Laser Scanner - Focus3D S 3D Laser Scanner - Photon      
Laser Tracker Laser Tracker - Vantage Laser Tracker - ION Laser Tracker - Vantage S Laser Tracker - Si Laser Tracker - X Laser Tracker - Xi Laser Tracker - Vantage E Laser Tracker - Vantage S6 Laser Tracker - Vantage E6  
Legacy Software Legacy Software - CAM2 Gage Legacy Software - Gage Software Legacy Software - Insight              
Photonics Scan Head - Digi-Cube Scan Head - Xtreme Scan Head - 3D-Contour Scan Head - 3D-Ultralight Scan Head - 3D-XB Controller - LEC Series Controller - Maestro 3000 Nutfield - Nutfield Hardware Nutfield - Nutfield Software Scan Head - Blink Focuser
Photonics WinLase - Pro WinLase - LAN WinLase - 6              
PointSense PointSense - Basic PointSense - Pro PointSense - Building PointSense - Plant PointSense - Heritage PointSense - Revit CAD Plugin - TachyCAD Building CAD Plugin - TachyCAD Archeology CAD Plugin - TachyCAD Interior CAD Plugin - PhoToPlan Basic
PointSense CAD Plugin - PhoToPlan CAD Plugin - PhoToPlan Pro CAD Plugin - PhoToPlan Ultimate CAD Plugin - DisToPlan CAD Plugin - MonuMap CAD Plugin - hylasFM CAD Plugin - VirtuSurv      
RevEng RevEng - RevEng                  
ScanArm ScanArm - Design ScanArm 2.0 ScanArm - Design ScanArm ScanArm - Forensic ScanArm ScanArm - Design ScanArm 2.5C            
SCENE SCENE - Capture and Process SCENE - WebShare Server and 2Go SCENE - WebShare Cloud SCENE - WebShare 2Go App SCENE - 2018 SCENE - 7.x SCENE - 6.x SCENE - 5.x SCENE - 4.x SCENE - LT
SCENE SCENE - 2019                  
Serial FaroArm Serial FaroArm - Silver Serial FaroArm - Gold Serial FaroArm - Bronze              
Structured Light Scanners Cobalt Design - M Cobalt Design - S Cobalt Design - Dual              
Visual Inspect Visual Inspect - App Visual Inspect - CAD Translator                

CAM2

2019

2018

FARO® Knowledge Base

Super 6DoF TrackArm Set-up with CAM2

CAM2-Beauty.png

Overview

The purpose of this article is to advise how to set-up the FARO® Super 6DoF TrackArm system, using the CAM2® Locate TrackArm wizard.

Download a PDF of this procedure:  DV001: Super 6DoF Set-up

The Locate TrackArm Wizard guides the user through the FARO Super 6DOF set up process to align a FaroArm® or FARO ScanArm® to a FARO Laser Tracker, so that both systems are measuring within the same coordinate system.
DV001Fig1.jpg

The procedure is based on having both devices record the same 3D path simultaneously. The spatial alignment of these 3D paths is used to establish the location of the FaroArm relative to the FARO Laser Tracker, which is always treat as the master device.
DV001Fig2.jpg

The Locate Device Wizard process also controls the volumetric coverage of the 3D path to ensure that it encompasses 80% of the radial measuring volume of the FaroArm in use, thus ensuring an accurate device alignment calculation.

This process can be used multiple times, and each position’s accuracy is only relative to the Laser Tracker position. This provides a clear advantage over the standard Move Device process which can potentially accumulate errors as users continue to relocate the FaroArm.
DV001Fig3.jpg

Preparation

  • The Super 6DoF solution requires a FARO Laser Tracker and a FaroArm.
  • The FaroArm requires a SMR iProbe attached (Quantum Series) or TrackArm kit (legacy models)
    DV001Fig4.jpg
  • Laser Tracker
    • Allow the Laser Tracker to complete the Start-up checks.
    • Position Laser Tracker, and perform the normal CompIT checks
    • Position 7/8” SMR on Home position.
  • FaroArm
    • Fix the TrackArm kit / SMR probe to the FaroArm (do not locate the SMR)
    • Position the 7/8” tooling ball and nest so it can be used for calibration.

How

  • Connect the Laser Tracker to the PC, and start CAM2.
  • Once CAM2 connect the FaroArm, and accept when prompted to add the FaroArm.
    DV001Fig5.jpg
  • CAM2 will now ask whether you wish to run the TrackArm Wizard, select Yes.
    DV001Fig6.jpg
    Note: The TrackArm wizard can also be started via Devices > Locate TrackArm
    DV001Fig7.jpg
  • The Locate Device wizard will start and at this point the wizard will:
    • Automatically change to 7/8” SMR
    • Reset to Home
  • Progress information can be seen in:
    1. The Activity Feed
    2. The Guidance Panel shows images and text to assist the user.
    3. The progress buttons can be activated by pressing the corresponding colored arm button.
      DV001Fig8.jpg
  • The wizard will detect the FaroArm to be used and search for a TrackArm probe…
    1. If a TrackArm probe is not created CAM2 will automatically create one, set it active, then prompt the user to calibrate it. (Use arm as mouse to move cursor)
      • Calibrate the TrackArm probe.
        DV001Fig9.jpg
    2. If the TrackArm probe already exists, the user can choose whether to calibrate or not, by using the corresponding colored FaroArm button.
      DV001Fig10.jpg
  • Once CAM2 has established a calibrated TrackArm probe, the Wizard will guide you to complete the 3D path with both devices.
    1. As instructed by the guidance images:
      • Track the 7/8” SMR from the Tracker to the FaroArm,
      • Position the SMR onto the TrackArm bracket / probe, and check that it is secure.
        DV001Fig11.jpg
    2. If the laser beam is broken at any time...
      • Ensure the SMR is facing the Laser Tracker,
      • Press the green button to start SmartFind, hold the FaroArm still until the SMR is located and locked onto.
        DV001Fig12.jpg
    3. Follow the instruction in the Guidance Panel
      • Press the green button to start
        Note: If beam break, or an end stop warning occurs, scanning will be paused. Simply press the green button to continue.
        DV001Fig13.jpg
        Tip: Stand in front of the FaroArm, to the right hand side of its reach.
    4. Follow the instruction in the Guidance Panel
    5. Start with with your arms at a raised position, and carefully move the downwards, until the progress bar fills to 100%.
    6. The number of points captured by each device will be displayed, and audio tone will indicate that points are being captured.
      DV001Fig14.jpg
      Note: It is possible to progress with less than 100%, however this could reduce the relocation accuracy
    7. Follow the instruction in the Guidance Panel
    8. Start with the FaroArm on your right side, and move across to your left side until the progress bar fills to 100%
      DV001Fig15.jpg
      Note: It is possible to progress with less than 100%, however this could reduce the relocation accuracy
    9. Follow the instruction in the Guidance Panel
    10. Start with the FaroArm closer to the Laser Tracker, move away from the Laser Tracker, until the progress bar fills to 100%.
      DV001Fig16.jpg
      Note: It is possible to progress with less than 100%, however this could reduce the relocation accuracy.
    11. Press the red button to complete the process.
      DV001Fig17.jpg
      Note: It is possible to progress with less than 100%, however this could reduce the relocation accuracy
    12. CAM2 will now take the 3D points captured from both devices and compute the transformation from the FaroArm data to the Laser Tracker data.
      DV001Fig18.jpg
    13. The Relocation Accuracy and status will be shown.
      DV001Fig19.jpg
    14. The user can Accept or Retry by pressing the relevant colored FaroArm button.
      • Once accepted, a new FaroArm position is created, and set as active.

Best Practices for Device Mounting

  • For best results, mount the FaroArm on a heavy-duty tripod.
    DV001Fig20.jpg

Best Practices When Performing TrackArm Paths

When performing the TrackArm scan paths:

  • Move the FaroArm smoothly, at a consistent speed,and avoid rapid, erratic back and forth movement.
    DV001Fig21.jpg
  • When changing path direction, maintain a sharp direction change, and avoid large radial direction change.
  • Avoid locking the encoders.
    DV001Fig22.jpg

See Also

 

Keywords:

Help Sheet, DV001