CLS User Manual Version 1 0

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CLS%20User%20Manual

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CHRocodile CLS
Optical line sensor for non-contact distance and thickness measurement

Operation Manual

Imprint
This documentation is under the copyright of Precitec Optronik GmbH.
It may not be reproduced or used in a manner contrary to the company’s legal interests without prior
written approval of Precitec Optronik GmbH. It is strictly intended for use in the context of service
operations. Any other use is impermissible. Any sharing of this documentation with third parties
requires the prior, expressed written approval of Precitec Optronik GmbH.
Changes in the technical details from the descriptions, data and figures in this documentation are
reserved.
Printed in the Federal Republic of Germany.

Responsible for Contents
Original Edition
Precitec Optronik GmbH
Schleussnerstrasse 54
63263 Neu-Isenburg / Germany
Telephone:
0049 (0)6102 / 36 76 – 100
Telefax:
0049 (0)6102 / 36 76 – 126
e-mail:
info@precitec-optronik.de
Website:
http://www.precitec.de/en/precitec-group-start-page/
Representatives
Please visit our website to know the current addresses of our representatives.
PRECITEC OPTRONIK's regional contacts for the Optical Measuring Technology can be found here:
http://www.precitec.de/en/contact/precitec-worldwide/

Version Control

Version –
Manual

Date

Type of Change

1.0.0.0

2014/01/29 Original edition

1.0.0.1

2014/03/13 Updated Mechanical plans and specifications

1.0.0.2

2014/05/12 Auto Reference procedure

1.0.0.3

2014/05/22 Specifications correction

1.0.0.4

2014/09/09 EMC compatibility + Jumbo packet + Medical or safety-relevant usage

1.0.0.5

2014/11/06 Ethernet connection + Status LED + Optical head specifications

1.0.0.6

Optical head specifications + Sync In additional information + CLS
2015/09/17 Explorer + 6KHz measuring mode + CLS Explorer Library coming soon +
DLL C++.

1.0.1.0

2016/03/10 New Optical Head CLS2.3

1.0.1.1

2016/07/18

Encoder interface modification + CLS Explorer Ultimate version + High
frequency mode used with CLS2.3 + Auto-reference procedure disabled

Table of Contents
Table of Contents ........................................................................................................... 4
Basic Safety Instructions ................................................................................................ 8
1.1

Warranty and Liability ...................................................................................... 8

1.2

Safety Symbols .................................................................................................. 8

1.3

Proper Use ......................................................................................................... 9

1.4

Duty of Operator and Personnel..................................................................... 10

1.5

Safety Measurements in Normal Operation ................................................... 10

1.5.1

Protection from Electronic Shock .......................................................................................... 10

1.5.2

Protection from Optic Radiation / Eye Safety ..................................................................... 10

1.5.3

Grounding the device .............................................................................................................. 11

1.6

Medical or safety-relevant usage .................................................................... 11

1.7

Storage and Transport ..................................................................................... 11

1.8

Emergency Procedures .................................................................................... 11

Product Description .......................................................................................................12
2.1

General Description .........................................................................................12

2.2

Measuring principle ..........................................................................................13

2.2.1

Optical principle ..................................................................................................................... 13

2.2.2

Principle applied to multiple points sensor .......................................................................... 14

2.3

Sensor Functionalities ...................................................................................... 15

2.4

Typical applications (Overview)...................................................................... 17

2.5

List of Deliverables ......................................................................................... 18

2.6

Connections and Interfaces ............................................................................ 20

2.6.1

ON / OFF Switch button .........................................................................................................20
4

2.6.2

Power supply jack ...................................................................................................................20

2.6.3

USB port RS232 serial communication................................................................................... 21

2.6.4

Ethernet connector ................................................................................................................. 21

2.6.5

Encoder-input .......................................................................................................................... 21

2.6.6

Trigger Input/Output / RS422 serial communication .......................................................... 22

2.6.7

Status LED ................................................................................................................................ 24

2.7

Sensor Characteristics .................................................................................... 25

2.7.1

Sensor unit characteristics ..................................................................................................... 25

2.7.2

High Frequency Mode.............................................................................................................. 26

2.7.3

Optical Heads characteristics ................................................................................................ 27

2.8

Optical Head Specifications definitions ......................................................... 28

2.9

CHRocodile CLS performance specifications: ................................................ 29

Operational Start up ......................................................................................................31
3.1

Connections and Interfaces .............................................................................31

3.2

CHRocodile CLS Explorer and Drivers installations ....................................... 33

3.3

Communication with CHRocodile CLS ............................................................ 33

3.4

CLS Explorer Library....................................................................................... 34

Measurements Start Up ................................................................................................ 36
4.1

Calibration Table ............................................................................................ 36

4.2

Dark Acquisition .............................................................................................. 36

4.3

Auto Reference procedure ............................................................................. 37

4.4

Mechanical interfacing ................................................................................... 37

4.5

Basic Settings Configuration ........................................................................... 38

4.6

Data measurement Training ........................................................................... 38

Advanced Configuration ................................................................................................41
5.1

Commands List .................................................................................................41
5

5.2

Detailed Commands Description .................................................................... 43

5.2.1

DNLD Command ...................................................................................................................... 43

5.2.2

ETR Command .................................................................................................................... 43

5.2.3

IPCN Command ................................................................................................................... 44

5.2.4

LAI Command...................................................................................................................... 45

5.2.5

NOP Command .................................................................................................................... 46

5.2.6

SCA Command .................................................................................................................... 47

5.2.7

SHZ Command ....................................................................................................................48

5.2.8

SODX Command .................................................................................................................. 49

5.2.9

SSU Command ..................................................................................................................... 56

5.2.10

STA Command .................................................................................................................... 57

5.2.11

STO Command .................................................................................................................... 58

5.2.12

THR Command .................................................................................................................... 59

5.2.13

TRE Command ....................................................................................................................60

5.2.14

TRG Command .................................................................................................................... 61

5.2.15

VER Command .................................................................................................................... 62

5.2.16

Calibration Table Download Function ............................................................................ 62

Mechanical Plans .......................................................................................................... 63
6.1

Optical Head Mechanical plans ...................................................................... 63

6.2

CHRocodile CLS unit mechanical plans .......................................................... 65

6.3

CHRocodile CLS unit mechanical interface plans.......................................... 66

Maintenance.................................................................................................................. 67
7.1

How to change fans......................................................................................... 67

7.2

Optional accessories ....................................................................................... 69

7.2.1

Fans .......................................................................................................................................... 69

7.2.2

Cables ....................................................................................................................................... 70

Trouble Shooting............................................................................................................ 71
8.1

Power off:......................................................................................................... 71

8.2

Communication error: ..................................................................................... 71
6

8.3

Distance Measurement: ................................................................................... 71

8.4

Thickness measurement: ................................................................................ 72

Technical support ......................................................................................................... 74

Basic Safety Instructions
This operation manual contains the most important instructions for the safe operation of the product.

Observe all instructions and guidelines in this documentation.
Moreover, the locally applicable regulations and codes for accident
prevention at the use site must be observed.

1.1 Warranty and Liability
The general terms and conditions of delivery for products and services in the electronics industry
along with the amendments and restrictions deriving from the general terms and conditions of delivery
for Precitec Optronik GmbH apply to all of our products.
We reserve the right to make any changes to the device’s construction for reasons of improving quality
or expanding the possible applications as well as any made for production-related reasons.
Dismantling the device voids all warranty claims. The exception to this is the replacement of parts that
are subject to wear and tear and require maintenance or calibration, to the extent that these are
expressly identified in this documentation.
Changes made to the device on own authority render liability claims void.

1.2 Safety Symbols
The following terms and symbols for hazards and instructions are used in the operation manual.

WARNING
This symbol indicates a possibly dangerous situation. Failure to heed
these instructions can result in minor injuries or cause property damage.
WARNING
High voltage hazard – indicates a hazard from electrical shock and
warns of immediate or impending danger to the life and health of
persons or of extensive property damage.

WARNING
Do not touch – indicates that touching the contact/optics surface can
cause damage/destruction of the component.

IMPORTANT
Information which the user must pay attention to/ be aware of in order to
avoid disruptions in the course of processing/ in product use.
TIP
Provides information that the user needs in order to achieve the
intended result of an action most directly and without difficulty.
PREREQUISITE
Describes all components as well as all conditions that must be present/
be fulfilled in order to the action to be successfully completed.
ADDITIONAL INFORMATION
Informs the user whenever there is additional information about a
context being described.

1.3 Proper Use
The optical sensor is intended as a stand-alone device or as part of a measurement apparatus for
measuring distance, thickness and surfaces for quality and dimensional control.
Only use the optical sensor in a dry environment. The device may only be operated within the
specifications given in the technical data.

Any use deviating from the intended and proper use is considered
improper. The user assumes liability for the consequences in these
cases.

Electromagnetic
Compatibility (EMC)

Both as an individual device and in combination with the devices
designated in this documentation, the optical sensor fulfils the
requirements of the standards DIN EN 61326-1:2013-07 and DIN EN
61010-1:2011-07, and therefore corresponds to the EU-Directive
2014/35/EU and 2014/30/EU. This declaration is valid for all units with
the CE label on it, and it loses its validity if a modification is done on
the product.
When customer-supplied devices or cables are used this can mean
that these Norms may not be fulfilled. For this reason, you should only
9

use the original devices and replacement parts and observe the
instructions for EMC-compliant installation in the handbooks that
come with them.
If the optical sensor is operated inside a facility with other devices, the
entire facility must comply with the provisions in the EC-Guidelines in
the demands of the general operating permit.

1.4 Duty of Operator and Personnel
The operator of the device is obligated only to allow persons to work on the device who:
 are familiar with the basic regulations concerning workplace safety and accident prevention and
who have been instructed in the operation of the device
 have read and understood the safety chapter of this operation manual and have confirmed this with
their signature.
The personnel must be trained in compliance with the regulations and safety instructions and must
have been informed of possible hazards.

1.5 Safety Measurements in Normal Operation
When it is assumed that the device can no longer be operated safety, the device or the plant must be
taken out of operation. The device must be secured against unintended use. Unauthorized
interventions will void your rights to assert warranty claims.
Any attempt to copy or analyze the software will lead without fail to the voiding of all rights to assert
warranty claims.

1.5.1 Protection from Electronic Shock
Please make sure that the live components are uncovered after
opening the housing or removing components. Touching these
components presents a potentially lethal hazard.
When service- and repair work is performed on opened devices and
modules, the main power supply must be reliably shut off (mains cable
unplugged).

1.5.2 Protection from Optic Radiation / Eye Safety
When performing service and maintenance work, make sure that you
10

do not look directly into the LED’s light. The light can harm your eyes.

1.5.3 Grounding the device
Make sure that the device is grounded in compliance with
regulations. Please make sure that the optical sensor is supplied
with power via a grounded main power input line (cold device
plug).

1.6 Medical or safety-relevant usage
If the CHRocodile Line Sensor is used in medical or safety-relevant
applications, the operator must ensure that the CHRocodile Line
Sensor is qualified for the specific application. This includes the
optical characteristics of the measured sample as well as the
influence of temperature and vibrations to the CHRocodile sensor.
Furthermore the user has to check the CHRocodile Line Sensor for
correct measurements and for exceeding the specified measuring
uncertainty.

1.7 Storage and Transport
In order to avoid damages in storage and transport, the following ground rules are to be observed:
 Maintain the storage temperature range allowed in the technical specifications
 Take suitable measures to avoid any damage from humidity or moisture, vibrations or impact
 Do not store in or near magnetic fields (e.g. permanent magnet or alternating electrical field)

1.8 Emergency Procedures
 Disconnect the plant from the main power supply
 Extinguish any flames with a Class B fire extinguisher

Product Description
2.1 General Description
The CHRocodile CLS is a multi-point optical sensor dedicated to non-contact surface measurement.
This sensor is based on Confocal Chromatic principle which authorizes high resolution and high speed
thickness and altitude measurement. The CHRocodile CLS can measure 192 points simultaneously
with a measuring rate of 2000 Lines/s corresponding to 384000 points/s.
This device consist in a sensor unit that contains a light source, an optical probe, a spectrometer and
all electronic and software for data processing and transmission.
In addition to be very fast and precise, the CHRocodile CLS has an original architecture with no
exposed optical cable. This unique architecture makes CHRocodile CLS sensor ideally adapted for
industrial control. CHRocodile CLS thus overcomes the device integrating constraints met in industrial
environment, e.g. on production line, induced by optical fiber cable presence.
Due to their length, their low capability to resist to torsional and elongation stress, their photometric
transmission intensity loss according to imposed radius of curvature, optical fiber cables are subject to
damage when the measuring device is exposed to high acceleration and/or rotational displacement.
PRECITEC is the first company to propose a confocal chromatic device, with all elements embedded
in one Optoelectronic unit (no apparent optical cables) in order to adapt to industrial changing
requirement.
The CHRocodile CLS can accommodate different types of optical head. These Optical Heads can be
mounted on CHRocodile CLS in a straight version or in a right angled version (see Fig. 2-1). The
Optical Head interchangeability is straight forward, as the operator just need to exchange Optical
Head and move to the right calibration table. Finally, data transmission is carried out by ETHERNET
communication. All CHRocodile CLS characterisctics are described in Section 2.7.

Fig 2-1: CHRocodile CLS 3D view:

a- Straight version

b- Right angled version

2.2 Measuring principle
2.2.1 Optical principle
For most industrial applications the chromatically coded distance detection method turned out to be
very well suited. CHRocodile CLS is based on this method and more precisely on the Confocal
Chromatic principle. This principle combines the properties of confocality and axial chromatism.
Axial Chromatism:
That method takes advantage from a lens optical error commonly known as axial chromatic aberration:
the axial position of the focal point depends on the wavelength (color) of the light to be focused. For
example, in the visible spectral range, the focal distance for blue light ( 400nm) is shorter than for red
light ( 700nm). The focal points of intermediate wavelengths are located in between according to a
continuous axial position variation. Thus, considering White Light passing through an optical objective
provided with axial chromatic aberration, a continuum of color along the optical axis is generated, as
an axial rainbow.
Confocality:
That method also takes advantage from confocal opto-mechanical configuration. A confocal optical
system uses illumination point source and a pinhole in an optically conjugate plane in front of the
detecting system to eliminate out-of-focus signal. As only in focus light can be detected, the image's
optical lateral and axial resolution is improved. Consequently the pinhole act as a spatial filter which
block light which is out of focus or light which come from an external light source.
Confocal Chromatic Imaging:
Considering both confocality and axial chromatism properties, a White Light illumination point is
imaged through the chromatic objective on a target object. Depending on the distance of the target
from the focusing chromatic objective, light of just a very narrow wavelength bandwidth is perfectly
focused on the target’s surface. All other spectral components of the light source are out of focus. In
the back path, from the target’s surface to the detector, the reflected light passes through the
chromatic objective, the optically conjugate pinhole which is in front of the spectrometer. The pinhole
filters all wavelengths except the narrow bandwidth which is in focus. The spectrometer analyses the
spectrum of the light reflected back by the target’s surface, and only a chromatic peak is observed
corresponding to the narrow wavelength bandwidth perfectly in focus. The analysis and the barycenter
calculation of this chromatic peak allow to determine the distance of the target surface from the
chromatic objective. (Cf. Fig. 2.2 and 2.3)

Fig. 2-2: Chromatic Confocal Imaging principle (point sensor)

2.2.2 Principle applied to multiple points sensor
Applying Confocal Chromatic Imaging to multipoint sensor consists in increasing the number of
illumination point’s source and the number of pinhole in front of the detector spectrometer. In this
configuration, the spectrometer is preferably bidimensionnal. One direction corresponds to the channel
number and the other direction carry the wavelength information. Consequently the spectrometer carry
the information of each point focused on the target’s surface, and the distance of the target surface
from the chromatic objective can be calculated for all the focused points. According to CHRocodile
CLS, the focused points describe a line composed of 192 equally separated points.

2.3 Sensor Functionalities
The CHRocodile CLS has two different measuring mode: Distance and Thickness measurement. The
principle of these two measuring mode are explained hereafter.
Mode 1

Chromatic Distance Measurement
Topographic, profile or roughness measurements are performed in Mode
1 (confocal distance measurement). In this process, 192 points along a
white light line are focused on the surface of the measured object using
an optic with a known chromatic aberration. The reflected light is more
intense for the wavelength in focus on the surface. For each of the 192
channels, reflected light is spectrally analyzed and the spectral response
is a peak centered on focused wavelengths. The 192 spectral peak
positions determine the distance to the surface of each of the 192 points
along the line. The 192 distances are simultaneously calculated and
transmitted to host computer at up to 2KHz frequency See Fig. 2-3. A
high frequency mode is now available to measure up to 6KHz. See
Section 2-7-2.

Chromatic Optical Head

Fig. 2-3: Chromatic measurement principle, distance measurement
15

Mode 2

Chromatic Thickness Measurement
Thickness measurements are performed in Mode 2 (confocal thickness
measurement). If a transparent material is within the measurement
volume of the Chromatic Optical Head, 192 points along a white light line
are focused on both the two surfaces of the measured object. The
reflected light is more intense for the two wavelengths in focus on the two
surfaces. For each of the 192 channels, reflected light is spectrally
analyzed and the spectral response is constituted of two peaks centered
on focused wavelengths. Considering the refractive index of the object,
one can determine the thickness of the object for the 192 points along the
line. The 192 thicknesses are simultaneously calculated and transmitted
to host computer at up to 2KHz frequency. See Fig. 2-4. A high frequency
mode is now available to measure up to 6KHz. See Section 2-7-2.

Chromatic Optical Head

Fig. 2-4: Chromatic measurement principle, thickness measurement

2.4 Typical applications (Overview)
A broad range of possible applications is available to this highly precise sensor.
The CHRocodile CLS is the fastest sensor based on confocal chromatic imaging principle. They are
perfectly suitable for demanding measuring tasks, like non-contact measurement of microtopography,
layer thickness measurements. It could be used both on various reflecting and scattering surfaces.
The PRECITEC confocal chromatic line sensor is very well adapted to industrial environment, as no
optical cable are connected to the CHRocodile CLS unit. The absence of optical cables, promotes
robustness and compactness of the measuring device, and also facilitates the integration and use on
a motorized moving system, such as a coordinate measuring machine (CMM). Then this new type of
sensor overcomes the industrial constraints induced by fiber optic cables that are known to deteriorate
when the measuring device is subject to high accelerations and / or rotational movements.
The CHRocodile CLS offers the ability to perform fast and accurate metrological control of production,
by being built on automatic or semi -automatic inspection machines, or by being directly integrated on
production line for 100% inspection of manufactured parts. In this, this new technology fully meets the
current needs of the industry as it is suitable for many applications:
-

The measurement of wafer in the field of semiconductor and generally microelectronics,
The measurement and online control of mechanical or optical parts,
Or even the measurement and control of glass or plastic film thickness.

Other fields of applications exist, the common point is to seek a measurement system going faster and
faster, more and more compact and as flexible as possible, it is the case in laboratory environment
and even more in industrial environment. It appears clearly here that the CHRocodile CLS unit of
measurement meet these different needs.
Optical Head
Application

CLS

200µm

1mm

2.3mm

4mm

















Flatness





Roughness





Plastic and glass thickness



Thin film thickness





Coating thickness





Electronics
Micro-Electronics
Mechanics
Micro-Mechanics
Optics
Micro-Optics
Shape

Table 2.1:

Sensor applications
17

2.5 List of Deliverables
-

One operational Confocal Chromatic Line Sensor unit (see Fig. 2-6),
One operational Optical Head (see Fig. 2-7),
One set of electric cables (power supply) (see Fig. 2-8),
Power Supply Adapter (100-240VAC to 24VDC +/-10%) (see Fig. 2-8),
A CD with DLL and firmware,
Software user guide,
Operation Manual,
Qualification Test report.

Fig 2-5: CLS deliverables

aFig 2-6: CHRocodile CLS unit 3D view:

a- Straight version

Fig 2-7: Optical Head 3D view:

a- CLS0.2

Fig 2-8: Set of electrical cables:

b- Right angled version

b- CLS1

c- CLS2.3 d- CLS4

a- Power supply b- Adapter

2.6 Connections and Interfaces
All of the connection ports for the sensor unit are located at the rear of the system (see Fig 2-9):

1.
2.
3.
4.

ON / OFF Switch button,
Power supply jack
Serial interface RS232, USB port,
Ethernet interface, RJ45 port

5. Encoder-Input, Sub-D26 male connector
6. Trigger Input/Output + RS422, Sub-D15 female
connector
7. Status LED

Fig. 2-9: CHRocodile CLS rear panel: Connections

2.6.1 ON / OFF Switch button
The CHRocodile CLS has a Power switch ON / OFF button.

2.6.2 Power supply jack
The CHRocodile CLS has two pluggable screw terminal for power supply with 24VDC +/-10%.
Connect the set of power cable supply associated to the Power Supply Adapter (100-240VAC to
24VDC +/-10%) delivered with the CHRocodile CLS unit.

2.6.3 USB port RS232 serial communication
The serial RS232 is interfaced on the USB port. Serial communication are mostly used for sending
command as a hyper-terminal. As the number of channel is high with a huge amount of data, serial
communication port cannot support data transfer.

2.6.4 Ethernet connector
The CHRocodile CLS has a RJ45 standard connector for Ethernet communication.
Connect the isolated RJ45 standard connector from the CHRocodile CLS unit to an Ethernet network
(PC). Ethernet is the only port which can support the data transfer. Ethernet is also used for setting
configuration through commands (Cf. command SODX in section 5.2), for loading Calibration Table
(Cf. command TABL in section 5.2). Use shielded Ethernet cable for the data port connection.
Ethernet communication allows to transmit 6 data at 2KHz. If more than 6 data are requested, it is
possible to use Jumbo Packet configuration. In that case, you need to check network hardware for
Jumbo Packet support and use the IPCN command to configure the Jumbo Packet size. Disconnect
the sensor and configure the PC network hardware for the identical size and reconnect the sensor.

2.6.5 Encoder-input
The incremental encoder-input makes it possible to precisely assign each measurement points along
the line and axis positions without additional hardware. The CHRocodile CLS can manage with 5-axis
Encoders.
For an exact distance or thickness measurement it is necessary for every measurement value to be
assigned to the exactly correct spatial coordinates. This data must be recorded in the system and
transferred to the evaluation processing unit over the internal interface. To accomplish this, the sensor
is equipped with an encoder-interface.
Default are the encoder inputs not terminated.
Tye Sw0t02 to GND to terminate with 120 Ohm channel 0 to 2
Tye Sw3t04 to GND to terminate with 120 Ohm channel 3 to 4
If the encoder-signals are fed through the sensor and additional other devices are connected (e.g. for
axis control), the 120 Ohm termination can also be deactivated.

Signal

1
2
3
4
5
6
7

A0A0+
B0B0+
A1A1+
B1-

Input
OI
I
I
I
I
I
I

Signal to which ground
Differential encoder input 120 Ohm terminated
Differential encoder input 120 Ohm terminated
Differential encoder input 120 Ohm terminated
Differential encoder input 120 Ohm terminated
Differential encoder input 120 Ohm terminated
Differential encoder input 120 Ohm terminated
Differential encoder input 120 Ohm terminated

Sub-D26

8
9
10
11
12
13
14
15

B1+
GND

16
17
18
19
20
21
22
23
24
25
26

A3A3+
B3B3+

A2A2+
B2B2+
GND
NC

Sw0t02
+5V / 120mA
Sw3t04
A4A4+
B4B4+

I
P
I
I
I
I
P
I
I
I
I
P,O
I
I
I
I
I

Differential encoder input 120 Ohm terminated
ground
Differential encoder input 120 Ohm terminated
Differential encoder input 120 Ohm terminated
Differential encoder input 120 Ohm terminated
Differential encoder input 120 Ohm terminated
ground
Not connected
Differential encoder input with switchable 120 Ohm
Differential encoder input with switchable 120 Ohm
Differential encoder input with switchable 120 Ohm
Differential encoder input with switchable 120 Ohm
Low = termination ON, NC or 5V = termination OFF
5V /120mA supply for external encoder
Low = termination ON, NC or 5V = termination OFF
Differential encoder input with switchable 120 Ohm
Differential encoder input with switchable 120 Ohm
Differential encoder input with switchable 120 Ohm
Differential encoder input with switchable 120 Ohm
Table 2.2: Encoder interface (PIN-Configuration)

2.6.6 Trigger Input/Output / RS422 serial communication
The Trigger output use a Sub-D 15 female connector. This connector is used for trigger Input / Output
and for RS422 serial communication (Cf. Table 2-3 and Table 2-4).
The trigger options make the lighting cycle externally controllable and the synchronization between
e.g. a scanning system cycle and the CHRocodile CLS measurement rate. This means that external
triggering is possible for every measurement up to the full measurement rate of 2000Hz.
The interface contains the connection points for the synchronization and RS422 serial communication.
The serial RS422 is interfaced on the Sub-D15 female connector. Serial communication are mostly
used for sending command as a hyper-terminal. As the number of channel is high with a huge amount
of data, serial communication port cannot support data transfer.

Signal
SyncIn
GND
SyncOut
Isolated-GND
[A] RS422 (CTS)
[A] RS422 (RTS)
[A] RS422 (RXD)
[A] RS422 (TXD)
Isolated-GND
Isolated-GND
Isolated-GND
[B] RS422 (CTS)
[B] RS422 (RTS)
[B] RS422 (RXD)
[B] RS422 (TXD)

Pin
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

Table 2.3: Interface (pin configuration)

Signal

Function

Description

RS432

RS422
Interface

Isolated (Isolated-GND) RS422 Interface

Sync In

Trigger-Input

Positive slope from 0V to 5-24V causes according to the
settings of the sensor:

Sync Out

Sync. Output



starts the continuous measurement, if the command
wait for trigger was received first (TRG Command)



starts the single measurement in mode trigger each
(TRE Command)



the input is equipped with 10 kΩ pullup-resistance at
5 V.

Isolated Sync Output
Positive slope 0 V to 5 V with the start of each measurement.
The pulse duration is 50µs in general and every second one
pulse is shorted to 10µs. This is for synchronizing more
sensors when their Sync-In is connected with the Sync-Out.
Table 2.4: Interface

Remark: As the Sync-input has a weak pull-up to 5V, your trigger source definitely needs to be able to
sink that current in order to pull the input down to Gnd. So as a trigger source, you can use an open
collector transistor output, that pulls to ground or a push pull output. The input can support 24V, but
the trigger threshold is always at approximately 2V. The trigger occurs (using the standard settings,
23

but the edge can also be inverted by software command) on the rising edge, that means when the
external pulldown transistor releases the input or when the pushpull drives to 5V.

Wait for trigger – signal characteristics to Analog Out
The sensor stops after the current data telegram is transmitted and
goes into a standby mode.
The last transmitted analog value persists until the next exposure
(also see TRG command).

2.6.7 Status LED
LED Status
No Signal
RED LED
Flashing GREEN LED
BLUE LED
Flashing BLUE / GREEN LED
GREEN LED

CHRocodile CLS Status
Power OFF
Power ON, Firmware badly configured
Power ON, Firmware is configuring
Power ON, Firmware is configured / Continuous Measurement
Power ON, Triggering session
Power ON, Waiting for Trigger
Table 2.5: Status LED definition

2.7 Sensor Characteristics
2.7.1 Sensor unit characteristics
Optical sensor
Measuring principle (1)
Measuring data

Confocal Chromatic

(1)

Distance, Thickness

Number of Channel (1)

192

Light source

LED
391 x 100 x 114 mm (L x H x T) (2)

Dimensions (sensor unit)
Weight

4 kg

Data Transmission
100 – 2000 Hz (up to 6KHz (3))

Measuring rate
Interfaces

Ethernet, RS232, RS422

Communication Protocol

Ethernet

Synchronization with ext. devices

Trigger-input / Output (TTL)

Encoder-inputs

Yes (5 axis)

SDK

Via a DLL, compatibility .NET and C++

Windows XP, Windows 7, Windows 8

Data Processing / Calculation

Embedded processing unit

Standard to be met
Power Supply

24VDC +/-10% / 40W with separate main supply unit 100 to 240VAC – 50Hz to 60Hz

Operating Temperature

+5 °C to +50 °C

Storage Temperature

-20°C to +70°C

CE marking / EMC

Compliant with applicable regulation

RoHS

Compliant with applicable regulation

Protection Class

IP50 (DIN 40050/ IEC 144)

Optical Head Specifications

See Table 2.8

Table 2.6: Sensor Characteristics
(1) See section 2-3: Sensor Functionnalities
(2) See Fig 6-2 Sensor unit mechanical plan in section 6.2 CHRocodile CLS unit mechanical plan
(3) See section 2.7.2: High frequency mode

2.7.2 High Frequency Mode
A high frequency mode is now available. This optional mode gives access to frequencies
measurements above the 2KHz nominal frequency and allows to measure up to 6KHz.
Using this measurement mode has several impacts:
-

Reduction of the measuring range based on the selected frequency,

Decrease the number of transmitted data,

Change the center of the measuring range depending on the frequency,

Need for a DARK procedure when changing frequency.

1- Measuring range and number of transmitted data:
The following table defines the accessible measuring range and number of transmitted data as a
function of the selected frequency.

CLS0.2

CLS1

CLS2.3

CLS4

Maximum number
of transmitted data

Up to 2KHz

200 µm

950 µm

2300 µm

3900 µm

3KHz

120 µm

580 µm

1400 µm

2380 µm

4KHz

85 µm

425 µm

1000 µm

1740 µm

5KHz

65 µm

320 µm

760 µm

1320 µm

6KHz

50 µm

240 µm

580 µm

1000 µm

Measuring Range

Frequency

Table 2-7: Measurement range based on the frequency measurement

2- Need for a DARK procedure when changing frequency:
When changing measuring frequency, it is sometimes necessary to perform a Dark procedure to
ensure the performances of the sensor. A systematic Dark procedure must be done in the following
cases:
-

When changing frequency from a high frequency (> 2 KHz) and a low frequency (<= 2 KHz),

When whanging frequency from a high frequency (> 2 KHz) to any other frequency,

Only the transition from a low frequency (<= 2 KHz) to another low frequency (<= 2 KHz) does not
requires any Dark operation.
To achieve a Dark refer to section 4-2.

2.7.3 Optical Heads characteristics
Optical Head
CLS0.2

CLS1

CLS2.3

CLS4

Line Length (1)

0.96mm +/0.01mm

1.91mm +/0.02mm

1.53mm +/0.02mm

4.78mm +/0.04mm

Working Distance (1) (2)

5.3mm +/0.4mm

18.5mm +/0.5mm

15.6mm +/0.5mm

36.4mm +/0.6mm

Pitch along the line (1)

5 +/- 0.05µm

10 +/- 0.1µm

8 +/- 0.08µm

25 +/- 0.25µm

2µm

4µm

3.2µm

10µm

+/- 44deg

+/- 33deg

+/- 20deg

Measuring Range (1)

200µm

950µm

2300µm

3.9mm

Axial Resolution (Rmin) (4) (5) (6)

20nm

80nm

200nm

320nm

Accuracy (4) (5)

80nm

300nm

780nm

1.2µm

Min. Measurable
Thickness (4) (7)

20µm

75µm

200µm

300µm

Max. Measurable
Thickness (4) (7)

280µm

1.35mm

3.1mm

5.5mm

Axial Resolution (4)

60nm

200nm

500nm

800nm

70.35mm (8)

93.3mm (8)

99.5mm (8)

120mm (8)

37mm (8)

54mm (8)

58mm (8)

Weight

190g

430g

390g

510g

Model

Right angled or
Straight (9)

THICKNESS
MODE

DISTANCE
MODE

GLOBAL SPECIFICATIONS

Specifications

Spot diameter (1)
Max Object Slope (1) (3)

MECHANICAL
DIMENSIONS

Length
Diameter

Table 2.8: Optical Head Specifications
(1) See section 2.8: Optical Head Specifications definitions
(2) Bottom of the optical probe to middle of the measuring range
(3) Decreasing accuracy on the limits
(4) See section 2.9: CHRocodile CLS performance Specifications
(5) Measurement on perpendicular mirror at 20°C with optimal Signal to Noise ratio.
(6) Axial Resolution varies with intensity signal in %. Axial Resolution = 10 x Rmin x I-0.5
(7) Refractive index n=1.5
(8) See Fig 6-1: Optical Head Mechanical plan
(9) See Fig 6-2: CHRocodile CLS unit mechanical plan

Optical Heads are interchangeable: the same CHRocodile CLS unit can store up to 5 different
calibration tables corresponding to different Optical Heads. The Optical Head is totally passive,
only the CHRocodile CLS unit has an internal Light Source and Electronic board which can be
considered as heat and electrical sources. However the Optical Head is highly isolated from these
heat and electrical sources in order to avoid any thermal expansion which could affect the
accuracy of the sensor measuring process. Considering this opto-mechanical architecture the
CHRocodile CLS unit has no visible optical cable and the user don’t need to take care with this
particularly sensitive component.

2.8 Optical Head Specifications definitions

Acceptance Angle:
related to M.S

W.D
M.R

M.S
P

S.D

L
W.D : Working Distance

S.D: Spot Diameter (Size)

M.R : Measuring Range

M.S: Max Object Slope (specified for specular
object. On diffuse object, it is possible to
measure on slope up to 85°)

L: Line length
P: Pitch between measuring spot

Fig 2-10: Optical Head Specification definition

2.9 CHRocodile CLS performance specifications:
Axial Resolution:
Axial resolution corresponds to the static noise (standard deviation 1) on altitude or thickness
measurements. It is an experimental specification. It is measured on 1000 continuous points along the
measuring range for each channel along the line. Axial resolution as a function of object position inside
measuring range is calculated for each channel along the line. By default axial resolution specification
corresponds to the minimum value (Rmin). (See Fig. 2-11),
Channel p
Axial Resolution (nm)

Rmin
0
0

Position in the
Measuring Range

Fig 2-11: Axial Resolution as function of object position in Measuring Range for one channel

Accuracy:
Accuracy corresponds to the altitude deviation for each channel along the measuring range between
the CHRocodile CLS and a calibrated interferometric reference sensor. Consequently, accuracy is an
experimental specification. Accuracy as a function of object position inside measuring range is
calculated for each channel along the line. By default accuracy specification corresponds to the
maximum of absolute value (Amax). (See Fig. 2-12),
Channel p
Accuracy (nm)
Amax

0
Position in the
Measuring Range
Fig 2-12: Accuracy as function of object position in Measuring Range for one channel
29

Minimum and Maximum Measurable Thicknesses:
The minimum and maximum measurable thickness specification is given for n=1.5 refractive index. It
is measured on a standard sample in the center of measuring range for each channel. T=n.(D1-D2)

D1
D2

Tmin

D1
Tmax
D2

Fig 2-13: Minimum and Maximum measurable thicknesses

Operational Start up
3.1 Connections and Interfaces
All of the connection ports are located at the rear of the CHRocodile CLS (Cf. section 2.6 Connections
and Interfaces):
 the connection ports for the serial interfaces RS232/RS422
 the connection for the encoder
 the interface port for synchronization with external devices and
 the power supply jack.

3.1.1 CHRocodile CLS Stand Alone device:
The device can be used as a stand-alone device in order to perform selective distance or thickness
measurements.
Power supply
The CHRocodile CLS has two pluggable screw terminal for power supply with 24VDC +/-10%.
Connect the set of power cable supply associated to the Power Supply Adapter (100-240VAC to
24VDC +/-10%) delivered with the CHRocodile CLS unit.
Ethernet connector
Connect the isolated RJ45 standard connector from the CHRocodile CLS unit to an Ethernet network
(PC). Use shielded cable for the data port connection (minimum category 5 cable).
The default CHRocodile CLS IP address is: 192.168.170.2
Configure the PC Ethernet port to the following address: 192.168.170.X (X≠2)
To configure the Ethernet port of your PC, you must open the ‘Network connection properties’ menu.
After selecting the right Ethernet card (connected to the sensor), click on ‘network protocol (TCP/IPv4)’
and click ‘Properties’. Set the IP address of the PC and the mask. For a standard use the mask should
be set to 255.255.255.0.
If you need to configure the sensor to another IP address (different than 192.168.170.2), contact your
vendor. This could be useful in case of multiple CHRocodile CLS connection on 1 computer.
ON / OFF Switch button
Switch on the Power button.
31

3.1.2 CHRocodile CLS integrated on measurement system:
In addition to the Power supply and Ethernet connector used for stand-alone device, the CHRocodile
CLS need to be connected to other interfaces to be integrated into complex measurement
configuration systems. The other possible interfaces are described hereafter:
-

The USB port (Serial interface RS232),

The Sub-D15 female connector (Trigger Input/Output and Serial interface RS422),

And the Sub-D26 male connector (Encoder-input),

Encoder-input
The incremental encoder-input makes it possible to precisely assign each measurement points along
the line and axis positions without additional hardware. The CHRocodile CLS can manage with 5-axis
Encoders.
For an exact distance or thickness measurement it is necessary for every measurement value to be
assigned to the exactly correct spatial coordinates. This data must be recorded in the system and
transferred to the evaluation processing unit over the internal interface. To accomplish this, the sensor
is equipped with an encoder-interface.
Default are the encoder inputs not terminated.
Tye Sw0t02 to GND to terminate with 100 Ohm channel 0 to 2
Tye Sw3t04 to GND to terminate with 100 Ohm channel 3 to 4
If the encoder-signals are fed through the sensor and additional other devices are connected (e.g. for
axis control), the 100 Ohm termination can also be deactivated. Since the device has to be opened to
do this, you should contact Precitec Optronik before beginning any work of this kind.

Trigger Input/Output
The trigger options make the lighting cycle externally controllable and the synchronization between
e.g. a scanning system and the CHRocodile CLS measurement rate. This means that external
triggering is possible for every measurement up to the full measurement rate of 2000Hz.
The interface contains the connection points for the synchronization and RS422 serial communication.

Serial interface RS232 and RS422
The serial RS232 and RS422 are interfaced on respectively the USB port and the Sub-D15 female
connector. Serial communication are mostly used for configuring the sensor by sending command as a
hyper-terminal. As the number of channel is high with a huge amount of data, serial communication
port cannot support data transfer.
32

3.2 CHRocodile CLS Explorer and Drivers installations
3.2.1 CHRocodile CLS Explorer installation:
CHRocodile CLS Explorer is a Man-Machine interface which allows to configure, to visualize
measurement, to update firmware, to load calibration table, to save data etc…
Two versions of CLS Explorer are now available:
- Premium version is delivered with the CLS sensor,
- Ultimate version allows to perform sample scanning.
Refer to CHRocodile_CLS_Explorer_User_Manual to obtain more specifics information.

3.3 Communication with CHRocodile CLS
There are three possible way to communicate with the CHRocodile CLS: via the CHRocodile CLS
Explorer software, via the CHRocodile CLS DLL and using the ASCII commands sent to the
CHRocodile CLS via serial interface (RS232 or RS 422) or Ethernet. Up to 3 CHRocodile CLS can be
connected and controlled by a single computer (Windows XP, Windows 7 or Windows 8 OS, 32 and
64bits). CHRocodile CLS is automatically detected through Ethernet network (broadcast mode).

3.3.1 Via CHRocodile CLS Explorer:
Premium version of CHRocodile CLS Explorer software is delivered with the sensor and is useful to
configure sensor, to visualize continuous measurements, to perform statistic and to save data.
Additionally to these functionalities, Ultimate version of CHRocodile CLS Explorer allows to perform
3D scanning acquisition. In order to use the Ultimate version you need:
-

A 2-axis scanning system,
An interface DLL allowing to interpret the standard commands of your 2-axis system (move,
free run etc…). This slight DLL has to be written by the customer following interface
specifications given by PRECITEC (Cf. CHRocodile_CLS_Explorer_User_Manual),
A non-free license (USB key).

A demo license can be activated remotely, in order to allow customer testing the Ultimate version.
As demo license has a limited duration, it is preferable to activate this demo license when the interface
DLL is ready.
In order to obtain further detailed on CHRocodile CLS Explorer functionalities, please refer to
CHRocodile_CLS_Explorer_User_Manual.
33

3.3.2 Via CHRocodile CLS DLL:
DLL may be used to interface the sensor with a general-purpose user program. The CHRocodile CLS
DLL is intended for .NET compatible language. A new DLL intended for C++ compatible language is
now available and allows to use most of CLS functionalities. Refer to C++ DLL documentation.
A CD containing the DLLs, some code examples and the operating Manual is delivered with the
CHRocodile CLS. Sensor configuration, processing and data transmission can be performed through
CHRocodile CLS DLL.
The CHRocodile CLS .NET DLL functions are described in section 5.4. Also refer to
CLS_SDK_Manual to obtain detailed information. CLS .NET DLL functions have the same properties
as the ASCII Commands. Consequently, what can be done using ASCII commands can be done using
the CHRocodile CLS .NET DLL.

3.3.3 ASCII command communication
The ASCII commands can be sent to the controller via the RS232 or RS422 interface using a specific
command structure described on section 5.2.
Serial interface communication can be used to configure the sensor, but cannot be used to receive
measurement data, due to the high amount of data simultaneously transmitted by CHRocodile CLS.
Only Ethernet allows unlimited data transmission at measuring rate up to 2KHz (or 6KHz in high
frequency mode).
As an example, the Windows™ « Hyper Terminal »™ utility can be used to send the commands and
configure the sensor via the RS232 or RS422 communication port.

3.4 CLS Explorer Library
The ClsExplorerLibrary DLL is a library of tools to ease the development of applications based on CLS
sensors. ClsExplorerLibrary is compatible with any version subsequent to Visual studio 2010.
This Development Kit is a very quick and easy way to evaluate and use CHRocodile CLS Sensor. In
just a few minutes you can start testing, configuring, integrating your new devices, and developing
your customized applications.
The Development Kit is composed of some source code examples and a lot of useful tools. It also
includes a license USB key.
ClsExplorerLibrary DLL has two available license levels: a free demo license, and non-free premium
license which have been designed to save you both time and money by speeding up the integration of
34

our products into your applications. A ClsExplorerLibrary DLL ultimate license will be available in
September 2016 with the possibility to integrate sample scanning functionalities.
Please refer to CLS Explorer Library Manual.

Measurements Start Up

4.1 Calibration Table
The CHRocodile CLS unit can store up to 5 different calibration tables corresponding to different
Optical Heads. In order to start measurement you need to download or select the calibration which
correspond to the used Optical Head (Cf. section 5.2 in user manual). Calibration table consists in a
Look Up Table which give the correspondence between the peak position (Barycenter data) and the
Altitude data.
The global calibration table contains 192 single calibration tables for each of the 192 points (or
channel) in the line. Consequently, each channel are calibrated independently at factory.
The calibration table depends on both spectrometer and optical head. Consequently a calibration table
is specific to one set of CHRocodile CLS sensor (CHRocodile CLS unit + Optical Head), it can’t be
used on another set even if you are using the same optical head type (i.e same measuring range).

Fig 4-1: Example of calibration table for a single channel

4.2 Dark Acquisition
Even when there is no surface in the probe’s measurement range, the signal on the detector is not
zero. This non-zero values for each pixel on the detector is due to electronic dark and mostly to flare
corresponding to unwanted back-reflected light on optical lenses surfaces. This Dark signal which
limits the measurement dynamics of the sensor can be remove from the useful signal.

In order to eliminate the influence of this undesirable light, a dark reference is performed on the sensor
(Cf command DRK in section 5). The Dark reference acquisition must be done when no object is in the
measurement range.

4.3 Auto Reference procedure
This procedure is no longer necessary. It has been disabled from CLS
Explorer version 1.0.1.1. The use of this procedure can modify the
calibration of your sensor, consequently if required, this procedure
must be done by PRECITEC, as a maintenance operation.

4.4 Mechanical interfacing
After completing the operational startup, i.e. connecting with the power supply, proceed with
initializing, then communication is ready and mechanical interfacing should be done.
Mechanical interfacing consists in:
-

Connecting the Optical Head which suit to your application to the CHRocodile CLS unit. The
Optical Head is simply screwed on the CHRocodile CLS unit (Cf. Figure 4.2),

And, fixing the CHRocodile CLS on your system using the interface threaded M4 holes (x11)
located on the soleplate of the Line sensor (Cf. section 6.3).

Screw optical head
on sensor unit
Fig 4-2: Interchangeable optical heads
37

4.5 Basic Settings Configuration
In order the CHRocodile CLS to be operational for startup some basic parameters should be set up.
Basic setting configuration consists in selection of:
•

Measuring Range: The CHRocodile CLS could accept 5 calibration tables, and each
calibration table corresponds to a unique Optical Head. Consequently, depending on the
Optical Head which is mounted on the CHRocodile CLS unit, the operator must select the right
Measuring Range or Calibration Table. (Cf. command $TABL in section 5.2)

•

Measuring Mode: The CHRocodile CLS has two measuring mode: Altitude and Thickness
measurement. Depending on the application, operator must select the right Measuring Mode.
(Cf. command $MOD in section 5.2)

•

LED Intensity Level: The LED intensity Level can be adjusted from 0 to 100%. As for
Measuring Rate, this adjustment essentially depends on object reflectivity. Adjust LED
intensity in order to obtain a high signal intensity on the 192 channels of the line sensor. The
goal is to obtain the higher intensity without saturation. On homogeneous target, each
channel’s intensity is mostly the same, this is not the case on inhomogeneous target and in
that case, it is recommended to adjust intensity in order to obtain the maximum intensity close
to saturation. In order to adjust LED intensity, use the LAI command or the equivalent .NET
DLL function (Cf. sections 5.2 and 5.4).

•

Measuring Rate: Instead of adjusting intensity, it is also possible to adjust the measuring rate.
The Measuring Rate is related to data transmission frequency. The CHRocodile CLS
maximum measuring rate is 2KHz. The higher the Measuring Rate is the lower the signal
intensity is. Consequently, depending on the object reflectivity under measurement, the
Measuring Rate (measuring frequency) must be adjusted in order to remove saturation or too
low intensity signal. In order to adjust measuring frequency, use the SHZ command or the
equivalent .NET DLL function (Cf. sections 5.2 and 5.4).

4.6 Data measurement Training
When mechanical interfacing is done, the object to be measured must be positioned inside the
measuring range of the CHRocodile CLS.
This procedure is valid for Altitude and Thickness mode, i.e. to perform topographic measurement on
reflecting object or to perform thickness measurement on transparent object.
Measuring Altitude procedure consists in:

Adjusting the axial position of the target in order the target is centered inside the optical
sensor measuring range. To do this, one can move the optical head or the target along the
optical axis. Thus, it is recommended to fix the optical head or the target on a translation plate.

Adjusting the Line on the area to be measured. The first measuring channel is at the opposite
from the soleplate, and the channel n° 192 is close to the soleplate. Consequently depending
on your configuration, you will possibly need to mirror the measured line from left to right.
Target

Translation plate
Target

Translation plate

Fig 4-5: Axial position adjustment
When the target is correctly positioned in front of the optical head and basic configuration is
correctly set, it is possible to collect the needed data using the SODX command or the equivalent
.NET DLL function (Cf. sections 5.2 and 5.4). In order to record the data corresponding to the 192
channels of the Line sensor, the Ethernet cable must be connected with the right IP address to
enable the communication between CHRocodile CLS and the computer.
When the sensor is configured to measure simultaneously the 192 channel’s data, then it is
possible to perform an area scan:
-

In order to scan the target, one can move the optical head or the target along the axis which is
perpendicular to the measuring line. Thus, a translation system is required. The Altitude or
Thickness data is recorded during the scan. In order to synchronized the data acquisition with
the moving session, one need to connect the trigger in/out to the translation system. The
command TRG, enables an exact alignment of the sensors sampling intervals with the
movement of a scanning axis.

However, if scan velocity is not constant, the pitch between each recorded line is not constant
and the global topography will be distorted. To overcome this image deformation it is important
39

to assign precisely each measurement points along the line and axis positions. To do so, one
need to connect the incremental encoder-input. The CHRocodile CLS can manage with 5-axis
Encoders.

Advanced Configuration

5.1 Commands List
command

arguments

comments

Continue (Measuring)

CTN

()
“Dark
n: Index of the lowest measuring
take dark reference and save to flash
rate
x: lowest frequency in Hz, floating
point

DRK

DNLD

answer on query

<1..3>

<0..4> [<0..3>] encoder position
< -2147483648
..
4294967295, ?>

reference”

Download spectrum. Currently for packet connections only.
“Encoder
$ENC

Position“ :

-index of axis
-optional:
-position (treated modulo 2^32)

Function

Defined functions:
ENC

•

0: Set / Read Pos.

•

1: set count source (0..9: A0, B0, A1, B1,
…; 10: SyncIn; 11..14: n.a., 15: Quardr.)

•

2: set preload value

•

3: set preload event

- Query currently supported for position only.

ETR

IPCN

see detailed description

<0,1>,
[eight numbers
<0..255>]
<0…100, ?>

<1..16>

LAI

NOP

“Encoder Trigger“,
see detailed description
Configure TCP address and subnet mask. 1st arg: DHCP
on/off, args 2.5: fixed IP addr. args 6..9: mask (only if
DHCP off, i.e. 1st arg = 0)
“Lamp
intensity”
LED version: set on-time of LED between 1-100% of the
exposure time.
Set number of peaks to evaluate.
WARNING: see detailed description below.

SCA

distance or thickness value [µm] for output value 32768

<0 .. 15, ?>

SEN

SHZ

SODX

SSU

<0..17> <0..17> <0..17> <0..17> … <0..17> (max 16
“Set output data extended” definition of the output telegram
…
<0..17> times)
by enumeration of the indices of the data.
(max 16 times)
or
-

Stop serial data output

Upload table to device (or read back in case of '?'). See
below for details.

<0..4094, ?>

THR

TRG
3141
WHT

Start serial data output.

This mode will be stored in the EEPROM when executing
the SSU command, so on the next power up the CHR will
not begin to send measurement data until the output is
restarted by the “STA” command

STO

VER

“Save Setup”, saves Setup Parameters to Eeprom Memory

This mode will be stored in the Eeprom when executing the
SSU command. If stored the CHR will begin immediately to
output data telegrams on the next power up.
-

TRE

probe“

<32 .. 2000, ?> Hz
“Set sample rate in Hz”.
x meaning the exact sample rate in
Hz in floating point format

STA

TABL

„optical
index of used optical probe

„threshold“ threshold for peak detection in the confocal
modes (0 and 1)
“Trigger Each” – Mode
”Wait For Trigger” Stops the sensor after completion of the
current data telegram and puts it in a waiting state.
output version data

Int.
ok![CR/LF]
White Reference
or
Int.
too
weak![CR/LF]
or
Int. too high![CR/LF]

Table 5.1: Commands list

5.2 Detailed Commands Description
5.2.1 DNLD Command
Short description:
Clients use this command to request a spectrum from the device. Since acquiring spectra can
take up several sample periods, a DNLD request from the client causes the device to first
respond with a DNLD response that does not contain any spectrum data. It just acknowledges
the request. Later, when the spectrum is available, the device sends one or more command
packets (“update” packet) containing the real spectrum data. Data packets may arrive in the
meantime, i.e. between the response and the spectrum. Update packets are structured exactly
like command (response) packets, only with the “update” flag set.
Currently, DNLD command does not function for ASCII command connections.

5.2.2 ETR Command
This command groups several functions related to encoder triggering.
WARNING: The settings will not be saved in the EEPROM by the $SSU command.
The encoder trigger is implemented as a state machine. In the idle state, it waits for the
encoder counter of the selected axis to pass the start position (in either direction)
where it generates the first trigger event. Then the trigger interval value is added to the
current position and when this position is reached, the next trigger event is generated.
This step is repeated until the stop position is encountered.
The generation of trigger events is now stopped. If Triggering during return movement
is selected, the state machine waits for the stop position to be passed once again and
generates trigger events similarly to the forward movement (the trigger interval is now
subtracted instead of added) until the start position is reached. The state machine then
goes back to the idle state. If no Trigger during return movement is selected, the state
machine waits for the start position to be passed over (during return movement) and
then passes to the idle state.

5.2.3 IPCN Command

Short description:
This command allows to configure TCP/IP address and subnet mask.
Command syntax:
$IPCN

Command

Description

NET

$IPCN 1

Configured as DHCP client

Client.Network.DhcpMode = true;

$IPCN 0 192 168 170 2 255 255 255 0 0

Configured as static IP address

$IPCN

IP Address = 192.168.170.2

Client.Network.DhcpMode = false;
Client.Network.IPAdress = "192.168.170.2";
Client.Network.SubnetMask = "255.255.255.0";

$IPCN

Subnet Mask = 255.255.255.0
MTU = 0 (no jumbo packets)
MTU argument gives the maximum
transferable unit which can be anything
between 1500 and 9000 bytes per TCP
packet (jumbo packets).

5.2.4 LAI Command
Short description:
This command allows to adjust LED intensity in order i.e. to remove saturation.
Command syntax:
$LAI
Param: is Led intensity (0...100%)

Command

Description

$LAI 95

Write Led intensity 95%

Client.LedIntensity = 90;

Response: $LAI 95[CR]ready[CR/LF].
$LAI ?

Read Led Intensity

float Led = Client.LedIntensity;

Response: $LAI ?

NET

95ready[CR/LF].

5.2.5 NOP Command
Short description:
This command allows to set the number of peak to evaluate.
WARNING: In confocal mode, if less than NOP peeks are detected, all thicknesses signals will be invalidated because peek identification is not possible.

Command syntax:
$NOP
Param: is Number of Peak from 1 to 16

Command

Description

$NOP 3

Write Number of Peak (3)

Client.NumberOfPeaks = 3;

Response: $NOP 3[CR]ready[CR/LF].
$NOP ?

Read Number of Peak

int Number = Client.NumberOfPeaks;

Response: $NOP ?

NET

3ready[CR/LF].

5.2.6 SCA Command
Short description:
The command Scale allows to query of Full Scale in micrometers.
A distance value of 32768 on the serial interface would mean a distance in (Full Scale) micrometers. To convert the integer distance value (d) received
from the serial interface to a value in micrometers (D), use the formula:
D[µm] = d[integer] / 32768 * Full Scale.
Command syntax:
$SCA

Command

Description

$SCA ?

Read Full Scale

Response: $SCA ?

NET
int FullScale = client.Scale;

3320ready[CR/LF].

5.2.7 SHZ Command
Short description:
The command SHZ set sample rate in Hz
It is possible with this command to realize any sample rates between 100Hz and 2000Hz.
If the value is not accepted, the sensor responds with the string "not valid".
Due to the nature of the internal time base, not every sample rate can be realized exactly. In order to give the user the possibility to know the exact
frequency, to which the sample rate has been "rounded", the frequency can be queried with "?" and will be returned as ASCII floating point number with 6
decimals.

Command syntax:
$SHZ
Param: is sample rate (100Hz…2000Hz)

Command

Description

$SHZ 1000

Write Sample Rate (1000 Hz)

Client.FreeSampleRate = 1000;

Response: $SHZ 1000[CR]ready[CR/LF].
$SHZ ?

Read Sample Rate

float SampleRate = Client.FreeSampleRate;

Response: $SHZ ?

NET

1000ready[CR/LF].

5.2.8 SODX Command
Short description:
Select Output Data (extended)
SODX directly selects the data words that will be included in the output
For example SODX 83, 16640, 16641 will output the sample counter, the distance and the intensity.

specifying

their

indices.

Command syntax:
$SODX [A0] [A1]…[AN]
[Ax] is optional parameters
Signal ID's scheme
Bit:

Global
Exposure
Information

Peak Signal

Statistics=0

Measuring
mode

Global Exposure Signal ID's
0

Peak
Number

Peak Signal
Offset

Table 5.4: SODX command: Signal Identity’s scheme.

Global Exposure Information:
Definition: Bit 8 = 0 (Bit 8 to 15 = 0)
Type:
Float
Command

Description

$SODX 64

StartTime (in nanoseconds)

sodx.GlobalSignalStartTime = true;
(Acquisition Format : UInt32)

StartPositionX(X encoder position on
beginning of exposure)

sodx.GlobalSignalStartPositionX = true;
(Acquisition Format : UInt32)

StartPositionY(Y encoder position on
beginning of exposure)

sodx.GlobalSignalStartPositionY = true;
(Acquisition Format : UInt32)

StartPositionZ(Z encoder position on
beginning of exposure)

sodx.GlobalSignalStartPositionZ = true;
(Acquisition Format : UInt32)

StartPositionU(U encoder position on
beginning of exposure)

sodx.GlobalSignalStartPositionU = true;
(Acquisition Format : UInt32)

StartPositionV(V encoder position on
beginning of exposure)

sodx.GlobalSignalStopPositionV = true;
(Acquisition Format : UInt32)

StopPositionX(X encoder position on
end of exposure)

sodx.GlobalSignalStopPositionX = true;
(Acquisition Format : UInt32)

StopPositionY(Y encoder position on
end of exposure)

sodx.GlobalSignalStopPositionY = true;
(Acquisition Format : UInt32)

Response: $SODX 64[CR]ready[CR/LF].
$SODX 65
Response: $SODX 65[CR]ready[CR/LF].

$SODX 66
Response: $SODX 66[CR]ready[CR/LF].
$SODX 67
Response: $SODX 67[CR]ready[CR/LF].

$SODX 68
Response: $SODX 68[CR]ready[CR/LF].
$SODX 69
Response: $SODX 69[CR]ready[CR/LF].

$SODX 70
Response: $SODX 70[CR]ready[CR/LF].
$SODX 71
Response: $SODX 71[CR]ready[CR/LF].

NET

$SODX 72
Response: $SODX 72[CR]ready[CR/LF].
$SODX 73
Response: $SODX 73[CR]ready[CR/LF].

$SODX 74
Response: $SODX 74[CR]ready[CR/LF].
$SODX 75

StopPositionZ(Z encoder position on
end of exposure)

sodx.GlobalSignalStopPositionZ = true;
(Acquisition Format : UInt32)

StopPositionU(U encoder position on
end of exposure)

sodx.GlobalSignalStopPositionU = true;
(Acquisition Format : UInt32)

StopPositionV(V encoder position on
end of exposure)

sodx.GlobalSignalStopPositionV = true;
(Acquisition Format : UInt32)

FirstExposureCount

sodx.GlobalSignalFirstExposureCount = true ;
(Acquisition Format : UInt16)

ExposureFlags

sodx.GlobalSignalExposureFlags = true;
(Acquisition Format : UInt16)

RealExpTimeNs(Effective exposure
period in nanoseconds)

sodx.GlobalSignalRealExposureTime = true ;
(Acquisition Format : UInt32)

RealLightingTimeNs(Effective lighting
period in nanoseconds)

sodx.GlobalSignalRealLightningTime = true;
(Acquisition Format : UInt32)

TriggerLostCounter (Accumulates
trigger events that have occurred
during exposure and therefore have
been ignored.
NumberOfValidPeaks (Number of
peaks that have been found in the
spectrum)
SampleCounter

sodx.GlobalSignalTriggerLostCount = true ;
(Acquisition Format : UInt16)

Response: $SODX 75[CR]ready[CR/LF].

$SODX 76
Response: $SODX 76[CR]ready[CR/LF].
$SODX 77
Response: $SODX 77[CR]ready[CR/LF].

$SODX 78
Response: $SODX 78[CR]ready[CR/LF].
$SODX 79
Response: $SODX 79[CR]ready[CR/LF].

$SODX 80
Response: $SODX 80[CR]ready[CR/LF].

$SODX 83
Response: $SODX 83[CR]ready[CR/LF].

sodx.GlobalSignalNumberOfValidPeaks = true;
(Acquisition Format : UInt16)
sodx.GlobalSignalSampleCounter = true ;
(Acquisition Format : UInt32)

Peak Signal:
Definition: Bit 8 = 1 (Bit 8 and 14 = 1)
Type:
For geometrical quantities like thickness or distance
Integer 16bit, scaled as fraction of measurement range, without refractive index (optical thickness) Distance and thickness values are given as:
d[µm] = value * $SCA[µm] / 32768.
In order to get the geometrical thickness, the value has to be multiplied by the index of refraction of the material.
For non-geometrical quantities (like intensity)
Truncated 16bit integer value

Statistics are not supported by CLS. Statistics are supported by CLS
explorer. Consequently the respective bit 11 to 13 are set to 0.
Corresponding to .NET function:
sodx.AltitudePeakSignalOffset1 = eSodxPeakSignalOffset.Average;
See Following Example

Example:

Command
$SODX 28840
Response: $SODX 28840[CR]ready[CR/LF].

Description
Altitude,

2nd

NET
peak

sodx.Altitude = true;
sodx.AltitudePeak2 = true;
sodx.AltitudePeakSignalOffset1 = eSodxPeakSignalOffset.Average;

Additional information:

Peak Signal Offset (Bits 0 to 2)
Signal ID Offset

Signal Name

Remarks

Peak Value

Scaled peak distance

PeakIntensity

Intensity of peak

CCDSaturation

max. CCD illumination of related spectrum

PeakPos

CCD pixel pos

PeakValue Median

median of peak value (CHRocodile 2 only)

PeakWidth

confocal mode only: given in CCD pixels

reserved

Peak Number (Bits 3 and 4)
Bits 3 and 4 are used to define the Peak Number which will be processed to calculate the demanded data. The following
quantities are available:
54

Measuring Mode (Bit 9)
Thickness: If bit 9 is set to 1, then the resulting value is thickness corresponding to the difference of the peak as defined in
bits 3 and 4 and the next peak. This facility is used to request thicknesses directly.
NOTE
This difference value is not corrected for the index of refraction. Consequently, in order to obtain the real thickness data, one
must divide the result by the refractive index.
Altitude: If bit 9 is set to 0, then the resulting value is the Altitude corresponding to the peak number defined in bits 3 and 4.

Statistics (Bit 11 to 13)

Statistics are not supported by CLS. Statistics are supported by CLS explorer. Consequently the respective bit
11 to 13 are set to 0. Corresponding to .NET function:
sodx.AltitudePeakSignalOffset1 = eSodxPeakSignalOffset.Average;

5.2.9 SSU Command
Short description:
The command SSU saves Setup
Saves current setup to non-volatile memory (EEPROM). The Setup will be restored upon next power up.
Command syntax:
$SSU

Command

Description

$SSU

Saves current setup

NET
Client.SaveSetup();

Response: $SSU [CR]ready[CR/LF].

5.2.10

STA Command

Short description:
The command STA starts serial data output
This mode can be stored in the EEPROM. If stored, the CHRocodile CLS will begin immediately to output data telegrams on the next power-up
Command syntax:
$STA

Command

Description

$STA

Starts serial data output

NET

Response: $STA [CR]ready[CR/LF].

5.2.11

STO Command

Short description:
The command STO stops serial data output
This mode can be stored in the EEPROM, so on the next power up the CHRocodile CLS will not begin to send measurement data until the output is
restarted by the "STA" command.
Command syntax:
$STO

Command

Description

$STO

Stops serial data output

NET

Response: $STO [CR]ready[CR/LF].

5.2.12

THR Command

Short description:
The command THR lets you specify an intensity threshold for the distance detection.
It may be useful to specify a high threshold to reject all noise spikes during a measurement or to specify a low threshold to get a (noisy) result from very
black surfaces. When the signal is below the threshold, 0 is output for distance and intensity. The threshold is in arbitrary units which may be subject to
change in future software versions.
At faster sample rates, lower settings for threshold can be used than at slower sampling rates. The reason is, that at slower sampling rates, the stray light
of fiber and coupler is integrated longer on the detector. Even though this signal is automatically subtracted as "dark reference", the statistical variations of
this signal are stronger, the higher the dark signal becomes. If a typical value for good noise suppression and maximum sensitivity at 2kHz sampling rate
could be 20, at 100Hz 50 would be needed.
If the sensor doesn’t detect a signal which passes the threshold, 0 is output for distance and intensity.
Command syntax:
$THR
Param: is intensity threshold
Command

Description

$THR 35

Write Intensity Threshold

client.Threshold = 35;

Response: $THR 35[CR]ready[CR/LF].
$THR ?

Read Intensity Threshold

float Thr = client.Threshold;

Response: $THR ?

NET

35ready[CR/LF].

5.2.13

TRE Command

Short description:
The command TRE is a Trigger each.
Trigger each mode. Every exposure will be started by a rising edge of the sync-in-input. The exposure time of the detector is determined by the selected
sample rate ($SHZ).
Command syntax:
$TRE
Command

Description

$TRE

Trigger each

NET
client.TriggerEach();

Response: $TRE[CR]ready[CR/LF].

5.2.14

TRG Command

Short description:
The command TRG is a Wait For Trigger. The command enables an exact alignment of the sensors sampling intervals with the movement of a scanning
axis.
It stops the sensor after completion of the current data telegram and puts it in a waiting state. This state is left by a trigger event (rising edge on the Sync
in, Encoder Trigger).

Command syntax:
$TRG
Command

Description

$TRG

Wait For Trigger

NET
client.TriggerStartStop();

Response: $TRG[CR]ready[CR/LF].

5.2.15

VER Command

Short description:
The command VER give the Version of CHRocodile CLS.
The command sends back an ASCII string which gives information on the serial number of the CHRocodile CLS (SN: ...), the DSP software (DSPsoft: ...)
and the microcontroller software (C: ...).
Command syntax:
$VER

Command

Description

$VER

Read Versions

NET
string versions = client.Version;

Response:$VER 73;C:V5.95/240909;
DSPsoft:V5.95/160909ready[CR/LF]

5.2.16

Calibration Table Download Function

It is also possible to upload calibration tables using the CHRocodile CLS Explorer with the ultimate version (Cf. section 3.2.1). Calibration table is
downloaded at factory and this should not be done at customer site.

Mechanical Plans
6.1 Optical Head Mechanical plans

a- CLS02

18.5

b- CLS1

36.4

c- CLS4

d- CLS2.3

Fig 6-1: Optical Head Mechanical plans: a- CLS0.2 b- CLS1 c- CLS4 d- CLS2.3

6.2

CHRocodile CLS unit mechanical plans

a- Straight version

b- Right angled version

Fig 6-2: CHRocodile sensor unit mechanical plans: a- Straight version b- Right angled version

6.3 CHRocodile CLS unit mechanical interface plans

Fig 6-3: Line sensor mechanical interface: Soleplate
The two version of the CHRocodile CLS unit (straight version and right angled version) have a
common soleplate. Consequently mechanical interfaces are the same for both versions.

Maintenance
7.1 How to change fans
The goal of this document is to explain how to change the heat sink’s fans as a replacement. Inside
the CHRocodile CLS, there are two fans which allow to dissipate heat induce by light source and
electronic boards. In case of fans malfunctioning, temperature inside the CHRocodile unit will
increase. A thermal switch has been integrated inside the line sensor unit. This thermal switch is a
protection against high temperature which could damage the device, and it consists in power off the
line sensor unit when too high temperature occurs. Therefore, when the line sensor CHRocodile turns
off unexpectedly, check the fan operation.

Fig 7-11: Fan: COPAL F310-12LB

Step by step procedure

Fig 7-12: Steps 1 and 2
67

1. Remove the 2 FHC M2 screws on the top of the box on the fan side
2. Pull the fan support. You will see some wire connected.

Fig 7-13: Steps 3 to 5
3. Disconnect the two fans for an easier access
4. Remove the 4 CHC screws of the fan you need to replace
5. Remove the fan to replace

Fig 7-14: Steps 6 and 7
6. Repeat the steps in reverse with a new fan. The wire going out of the fan must be directed to
the other fan. Watch out the arrow direction on the fan
7. Place the wires and connector in the space between the 2 fans (see the bottom view below)
68

Fig 7-15: Steps 8 and 9
8. Connect back the fan wires to the body
9. Install back the fan support in the body. Check, and readjust the fan wire (if necessary), they
still must be in the room between the 2 fans. Then fix the support with 2 FHC M2 screws. The
fan replacement is done.

7.2 Optional accessories
7.2.1 Fans
It is recommended to buy the fan reference F310-12LB. You can ask to your CHRocodile CLS vendor
to supply additional fans, or you can buy it directly to COPAL Company. In case of malfunctioning of a
fan, a protection thermal switch power off the line sensor unit (in case of high temperature). Thus it is
preferable to have fans in stock in order to proceed to a rapid replacement.

Fig. 2-9: Fan: COPAL F310-12LB

7.2.2 Cables
The following list of cables are available at your PRECITEC vendor site.
-

Sub-D-15 cables (for trigger in/out)

Sub-D26 cables (for encoders input)

Ethernet cables (Use shielded cable)

Power supply cables

Trouble Shooting
8.1 Power off:
The Status LEDs are off when the power supply cable is connected:
-

Check the CHRocodile CLS Switch button is ON.

Check the power cordon.

8.2 Communication error:
No possible Ethernet communication between CLS and your computer:
-

Check the Ethernet cable is plugged correctly in RJ45 sensor unit connector.

Check the IP configuration for your PC and the CHRocodile CLS unit (Cf. $IPCN command in
section 5.2.2).

If you are using a switch, then try to connect directly from your LAN network to the sensor unit.

If possible, a Peer-to-Peer connection is recommended.

8.3 Distance Measurement:
Case 1: The target is positioned in front of the sensor, and no distance measurement is collected for
all channels.
-

Set the measuring frequency to minimum ($SHZ100 or equivalent .NET DLL function).

Set the LED intensity to maximum ($LAI100 or equivalent .NET DLL function).

Check if a white light line emitted from the optical head is focused on the target.

Check if the target is inside the measuring range of the 192 channels (Cf. section 2.9.1).

Check if the target surface is normal to the optical head axis. The maximum angle between
target surface and optical axis is given by the maximum measurable slope (Cf. section 2.9.1).

Check if the measuring mode is Distance mode.

Check if the distance is transmitted ($SODX 16640 or equivalent function),
71

Then, check and store the raw signal (this file could be demanded by PRECITEC technical
support team). The raw signal should show a peak for channels which contribute to the
measurement.

Case 2: The target is positioned in front of the sensor, and distance measurement is valid only for
some channels:
-

Set the measuring frequency to minimum ($SHZ100 or equivalent .NET DLL function).

Set the LED intensity to maximum ($LAI100 or equivalent .NET DLL function).

Check if the sample topography variations along the line are fitting with optical head
measuring range; i.e. - Peak to Valley altitude variation should be less than measuring range , - maximum local slope on target should be less than maximum measuring slope -, - target is
not homogeneous and show high reflectivity variations along the line -

Set a mirror in place of your target and store the raw signal for each channels (this file could
be demanded by PRECITEC technical support team).

8.4 Thickness measurement:
Case 1: The target is positioned in front of the sensor, and no thickness measurement is collected for
all channels.
-

Check that the target thickness is inside minimal and maximal measuring thickness range,

Check the target transparency,

Set the measuring frequency to minimum ($SHZ100 or equivalent .NET DLL function).

Set the LED intensity to maximum ($LAI100 or equivalent .NET DLL function).

Check if a white light line emitted from the optical head is focused on the target.

Check if the two surfaces of the target are inside the measuring range of the 192 channels (Cf.
section 2.9.1).

Check if the target surface is normal to the optical head axis. The maximum angle between
target surface and optical axis is given by the maximum measurable slope (Cf. section 2.9.1).

Check if the measuring mode is Thickness mode.

Check if the Thickness is transmitted ($SODX 17152 or equivalent function),

Then, check and store the raw signal (this file could be demanded by PRECITEC technical
support team). The raw signal should show two peaks for channels which contribute to the
measurement.

Case 2: The target is positioned in front of the sensor, and thickness measurement is valid only for
some channels:
-

Set the measuring frequency to minimum ($SHZ100 or equivalent .NET DLL function).

Set the LED intensity to maximum ($LAI100 or equivalent .NET DLL function).

Check if the sample thickness variations along the line are fitting with optical head measuring
range; i.e. - Peak to Valley thickness variation should be inside minimal and maximal
measuring thickness range -, - maximum local slope on both target surface should be less
than maximum measuring slope -, - one or two target surface(s) are not homogeneous and
show high reflectivity variations along the line -

Set a mirror in place of your target and store the raw signal for each channels (this file could
be demanded by PRECITEC technical support team).

If after reading the previous section you didn’t succeed in resolving your problem, please contact your
vendor for technical support. In order to help to be more efficient, we recommend to fill the following
technical support datasheet and if necessary prepare the files which are demanded in previous
section.

Technical support

Technical Support
Date :

CUSTOMER :

PRECITEC Number:

PRODUCT IDENTIFICATION
Sensor Unit Serial Number :

Optical Head Serial Number :

Firmware Serial Number :

PROBLEM IDENTIFICATION
Type :
Software
Optic
Mechanic
Electronic
Description :

Photos:

Attached files :
Photos
Raw data
Diagnostic file

Source Exif Data:
File Type : PDF
File Type Extension : pdf
MIME Type : application/pdf
PDF Version : 1.7
Linearized : No
Page Count : 74
Warning : Duplicate 'Im279' entry in dictionary (ignored)
Author :
Create Date : 2016:07:18 16:18:13+02:00
Creator :
Modify Date : 2016:07:18 16:18:13+02:00
Producer : Foxit Reader PDF Printer Version 7.3.0.1225
Subject :
Title :

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