Absolute Tracker Solutions
Absolute Tracker Solutions
Absolute Tracker Solutions
Contents
Introduction 3
Our trackers and sensors 4|5
Our technical foundations 6|7
Introduction to 6DoF 8|9
6DoF tracker system 10 | 11
6DoF probing 12 | 13
Introduction to laser scanning 14 | 15
6DoF laser scanners 16 | 23
Introduction to 3D measurement 24 | 25
3D tracker systems 26 | 31
Automation 32 | 35
Reflectors and other accessories 36 | 37
Software 38 | 39
Accuracy 40 | 41
Specifications 42 | 45
Service and support 46 | 47
Leica T-Mac
The key component of laser tracker automated solutions, designed to allow unmatched high-accuracy control of robot
systems for both inspection and production.
Leica T-Probe
High-accuracy 6DoF probing brings unbeatable inspection of hidden points to AT960 systems.
Leica B-Probe
Entry-level 6DoF probing that allows simple hidden-area measurement with AT403 systems.
Reflectors
A range of retroreflector types and sizes facilitate the central functionality of all tracker systems – high-accuracy point
measurement at a distance of up to 160 metres.
Absolute accuracy
• The Absolute Interferometer (AIFM) combines the accuracy of an absolute
distance meter (ADM) with the speed of an interferometer
• Scanning accuracy to within as little as 50 microns
• Reflector single-point accuracy to within 20 microns
• Patented Absolute Encoders ensure angular accuracy performance with
no referencing before use
• Systems calibrated in ISO 170250-certified laboratories for accuracy
specified in line with ISO 10360-10 standard
Absolute productivity
• Non-contact measurement data collected at up to 1.2 million points and
300 lines per second
• Orient-to-Gravity for levelling and alignment tasks
• Ultra-large measurement volumes of up to 320 metres in diameter
• Real-time architecture with dynamic performance delivers 1000 Hertz data rate
• Hidden-point measurement with a wireless probe can reduce measurement
process time by up to 80 percent
Absolute reliability
• Integrated MeteoStation environmental monitoring unit
• IEC-certified IP54 sealed unit for challenging environments
• Wide operating temperature range of -15 to 45 degrees Celsius
• Integrated mini variozoom delivers a constant field of view in any
light conditions
• Full 24-month factory warranty and guaranteed ten years of serviceability
Absolute portability
• All-in-one integrated design
• Built-in WiFi with true access point functionality
• Portable design weighing as little as 7.3 kilograms
• Independent hot-swappable battery power supply
• Convenient flight cases for simple transportation
Absolute innovation
Groundbreaking technology
The Absolute Tracker range is the pinnacle of over 200 years of technical innovation, and our research and
development teams continue to break new ground with every passing year.
From this functionality comes the capability to measure hidden areas by essentially allowing the line of sight of the
tracker to see around a corner with an extended probe accessory. At a more advanced level, it allows the introduction of
a scanner that the tracker can lock onto, allowing it to act as a global positioning reference that can then be translated
into accurate measurement of every one of the millions of points collected by the scanner.
z
roll 1000 Hz
pitch x D
V
y H
yaw
D: distance
V: vertical angle
H: horizontal angle
• Horizontal and vertical angle measurements plus distance measurement make up the 3D location data,
while a constellation of targets around the sensor deliver orientation information.
• A high-end probe tracked with an advanced 6DoF system can deliver accuracy almost identical to that
possible with a retroreflector.
• The non-contact scanning sensors powered by 6DoF tracking allow for significant productivity
improvements, through full-surface point cloud digitisation at high speed.
• Full 6DoF measurement is possible over a large measurement volume up to 60 metres in diameter with an
extended range tracker model.
• A 6DoF tracker is the foundation of automated inspection and production systems that allow for accuracy
performance independent of robot accuracy.
• Precisely calibrated mini variozoom camera technology allows for the measurement of rotation angles to
within just 0.01 degrees at a distance of up to 30 metres.
Key applications
The application of 6DoF systems requires the use of a high-end laser tracker like the Leica Absolute Tracker
AT960, and can be used in two key application contexts.
Automation
With a sensor like the Leica T-Mac or a laser scanner such as the Absolute Scanner AS1 or Leica T-Scan 5, a
6DoF system can be used to drive a fully automated inspection or even production system that is completely
independent of the accuracy of the robot system being used.
Offering simple but sophisticated high-speed dynamic measurement as standard and compatible with Hexagon’s best-
in-class metrology sensors, the system represents a single-unit solution for reflector, probe and non-contact scanner
inspection, as well as real-time machine-controlled production.
Combining high-end performance with unmatched usability, this is the ideal solution for applications spanning
aerospace, automotive, shipbuilding, manufacturing and many more sectors. The AT960 sets a new standard in the
world of portable industrial metrology.
Together with the Leica Absolute Tracker AT960, the Leica T-Probe creates a flexible top-performance probing solution
with a range of up to 30 metres from the tracker. Small, light, user-friendly, cable-free, battery powered and more
accurate than any other handheld probe in the world, the T-Probe gives you more than six degrees of freedom: it gives
you the right way to measure.
Scanline 150 mm
Laser scanners work in conjunction with a global 1.2 million pts/sec
Scanline 220 mm
millions of individual data points that together represent
150 000 pts/sec
the geometry of the scanned surface and features.
Scanline 468 mm
Standoff 700 mm
• Overall speed of data acquisition is defined by its data-points-per-second capability, scanning path width and the
density of points per scan line.
• Complex parts with lots of curvature, varying textures or a range of features such as holes, slots and struts will
benefit from scanning with a higher data-point density that can record finer-grained details but may take longer.
• For larger, more uniform surfaces with fewer fine details, a scanner with a wider scan line and therefore faster
measurement process speed may be a better fit.
• Optical filters can allow scanners to overcome the effects of ambient light by ignoring wavelengths of light except
those in the range of the laser being used.
• Automatic exposure control allows laser intensity to be automatically adjusted in real time to account for changes in
material colour and reflectivity that would otherwise make a part difficult to digitise.
Key applications
Laser scanning in an industrial metrology context can be used for several distinct purposes, which fall within two broad
categories.
Reverse engineering
It can be useful to take an existing physical part, measure it to determine its characteristics and then process the
data to create a CAD model. This method is often used in cases where the product design process involves significant
manual operation, such as in automotive design. Some applications in this field can even be performed directly from the
point cloud scan data or the mesh model without the need to create a full CAD model.
And all that from a scanner built on a uniquely modular hardware architecture that allows it to be mounted on different
high-accuracy metrology positioning devices depending on the application. Use the AS1 with the Absolute Positioner AP21
and the Absolute Tracker AT960 for larger-scale or automated applications, or mount the same scanner on an Absolute
Arm for scanning small-to-medium sized components without the requirement of maintaining line-of-sight to a tracker.
There aren’t two different flavours of AS1 scanner. The exact same scanner unit can be used with an Absolute Arm and an
Absolute Tracker. Demounting and remounting takes only seconds and is performed entirely by the user with no special
tools. This ground-breaking level of interoperability comes thanks to Hexagon’s patented kinematic joint, which allows for
the quick mounting of probes and sensors on a range of products with no need for a time-consuming realignment.
Applications
There are many ways in which the unique modular concept of the AS1 can be applied to benefit users, primarily
by reducing the level of investment required to implement quality control processes across multiple parts of the
manufacturing process.
Automotive Aerospace
On the automotive shop floor, the same AS1 scanner module In an aerospace context, the same AS1 module can be
can be moved as needed between an Absolute Arm used for switched back and forth as required between scanning
interior quality control and an AP21 and Absolute Tracker in ribs inside the wing structure with an Absolute Arm
the pilot plant performing flush and gap inspection. and the outside surface of the wing with an AP21 and
Absolute Tracker.
Based on the ‘flying-dot’ operating concept, the LAS delivers excellent performance for freeform surface inspection. By
automatically adjusting laser intensity without user intervention, the best possible readings are achievable with a single
pass of the scanner.
The LAS is automatically recognised by the laser tracker for seamless changes between reflector, probe and scanner
measurement, while users can also select preset scanning modes from the main button to apply the right setup for
each section of the part. The unit features a guide light, three line-of-sight indicators and haptic feedback in addition
to the LED and audio indicators, giving even the most inexperienced operators complete confidence in their handling.
Rated IP50 for dust ingress protection and with a battery power option, the LAS is the handheld scanning solution that
can go anywhere.
The LAS-XL redefines what it means to be productive when it comes to ultra-large-volume surface scanning. A scanline
width of up to 600 millimetres and standoff at up to 1000 millimetres make this a scanner built for magnitude and speed.
Just let the scanner do the work, with minimal station changes and accuracy to within 150 microns.
Working on the ‘flying dot’ scanning principle, multi-surface scanning is effortlessly handled. Dealing with deep recesses
and hidden areas is no longer a chore. For the first time, the Leica Absolute Scanner LAS-XL brings extra-large-scale fast
3D digitisation into the world of high-accuracy metrology.
A 3D laser tracker equipped with an automatic target-lock function like PowerLock can reduce measurement process
times by as much as 30 percent by detecting reflector targets within the tracker’s field of view with no need for opera-
tor intervention – particularly useful after line-of-sight is broken, as can happen often within a busy work environment.
And with new Enhanced Wave Form Digitiser technology, accurate measurement of single 3D points can even be made
without a target – the calculation is made directly to the point of measurement, with metrology-grade accuracy.
1000 Hz
z
D
x V
y
H
D : distance
V: vertical angle
H: horizontal angle
• Horizontal and vertical angle measurements combined with a distance measurement allow the computation of the
location of a point within three-dimensional space with distance accuracy to within as little as 10 microns.
• Measuring with reflectors allows the user to explore the full measurement volume of a laser tracker – measurement
can start immediately in front of the tracker (no minimum distance) and extend to up to 160 metres away.
• 3D reflector measurement is the most accurate way to relocate the tracker in the relevant coordinate system when
moving to a new station to cover a larger measurement volume.
• Using the same measurement principle as measurement to a reflector, innovative direct scanning uses a network of
individually taken 3D data points collected directly by the tracker to create a 3D point cloud of a large surface.
• By placing the reflector on a tool, or measuring directly with direct scanning, it’s possible to follow the coordinate of
a point in real-time, allowing for fast adjustments.
Key applications
Large-volume 3D measurement with a laser tracker is a fast and accurate solution across a variety of major industrial
applications.
Quality inspection
The measurement of discrete points to check geometry is the foundation of quality inspection and can be quickly
carried out to a high degree of accuracy over great distances with a laser tracker and reflector combination. The
introduction of direct scanning adds the possibility to inspect large surfaces with ease and metrology-grade accuracy
without an operator at the point of measurement.
Based on established technology used by high-definition surveying tools, the Enhanced Wave Form Digitiser of the ATS600
combines time-of-flight and phase-shift measurement technology to deliver fast measurement over long distances with
no need for a target at the point of measurement. For the first time, the accuracy of this technology has been refined to
metrological levels, allowing for non-contact measurement with a range noise of within 80 microns (1σ) – significantly more
accurate than previous WFD-based measurement systems.
The dynamic position and orientation measurement of Automated production control systems are made
a moving sensor delivered by 6DoF tracking allows for a possible by the introduction of Hexagon’s Real-Time
range of high-productivity automated inspection systems Feature Pack, which upgrades the AT960 to meet the
based on the Leica Absolute Tracker AT960. With the deterministic measurement data-delivery requirements
right sensors, single-point, point cloud and camera- of real-time robotic control. Built on the groundbreaking
based inspection can be automated with any feasible EtherCAT (Ethernet for Control Automation Technology)
combination of robot arms, turntables, sliders, isolation protocol, such a 7DoF system can provide precise and
walls, built-in control stations and tool changers for accurate control in applications involving processes such
automatic sensor switching. The result is an automated as machining or part assembly, putting never-before-seen
system that delivers accuracy completely independent of levels of accuracy at the centre of the manufacturing
the precision of the system’s moving components. process – controlling for and improving quality as the part
is being produced rather than after.
The unique direct scanning functionality of the Leica Another innovative form of inspection automation is based
Absolute Tracker ATS600 presents a simple form of on the distinctive portable form-factor of laser tracker
measurement automation that is easy to apply to a range systems, which allows for mounting on an Autonomous
of inspection applications. There’s no need for a sensor Mobile Robot (AMR). In combination with a built-in
or operator at the point of measurement, so components Overview Camera for remote monitoring, a system of
can just be brought into the tracker’s field of view and installed reflectors and automatic sensor alignment using
automatically inspected with just a few software clicks. PowerLock, an AMR-mounted tracker can be setup to
automatically cover inspection applications across a much-
expanded measurement area with no loss of accuracy.
Probing styli
Wall mounts
This future-proof solution provides manufacturers with easy and intuitive access to important information in real-time to
allow for better informed decision making. Smart measurement and smart monitoring are the future of smart manufacturing.
The SFx Asset Management solution is fully compatible with AT960, AT930 and ATS600 Absolute Tracker models. Every
model in the Absolute Tracker range now includes a year’s subscription to HxGN SFx | Asset Management PRO and a
free GPS location add-on as standard.
Major metrology software
Driving the tools of high-end inspection
Hexagon is the largest software developer in the metrology industry and offers a wide range of individually
customisable software packages. Hardware solutions from Hexagon support this with a foundation of cross-platform
compatibility, designed for perfect functionality with both the many advanced platforms developed in-house and the
best third-party programs on the market.
PolyWorks® Metrolog X4
Hexagon
Third-party
Ranging test
Comparison of measurements to a series of
calibrated stationary targets at increasing
40
distance from the tracker. This test is designed to 35
verify the performance of the distance meter.
30
20
10
This test is performed using reflectors in line with 5 2
ISO 10360-10.
Tracker model 3D 6D
AT960-XR 0 to 80 m 1.2 to 30 m
AT960-LR 0 to 80 m 1.2 to 20 m
AT960-MR 0 to 20 m 1.2 to 10 m
AT960-SR 0 to 6 m 1.2 to 5 m
AT930 0 to 80 m -
0.8 to 80 m
ATS600 -
1.5 to 60 m (direct scanning)
AT403 0.8 to 160 m 2.5 to 10 m
* Typical values
Trackers compared
Tracker size | weight 477 x 258 x 258 mm | 14.2 kg 477 x 258 x 258 mm | 14.2 kg 403 x 221 x 188 mm | 7.3 kg
Controller size | weight 249 x 148 x 59 mm | 1.65 kg 249 x 148 x 59 mm | 1.65 kg 250 x 112x 63 mm | 0.84 kg
Laser class accordance with IEC 60825-1 accordance with IEC 60825-1 accordance with IEC 60825-1
Second Edition (2014-05) Second Edition (2014-05) Second Edition (2014-05)
Overview Camera 5MP | 10-degree FOV 5MP | 10-degree FOV VGA | 10-degree FOV
2 years | extension possible with 2 years | extension possible with 2 years | extension possible with
Warranty
Customer Care Packages Customer Care Packages Customer Care Packages
Relative humidity max. 95% non-condensing max. 95% non-condensing max. 95% non-condensing
Wireless WLAN (IEEE 802.11n) WLAN (IEEE 802.11n) WLAN (IEEE 802.11n)
Battery type Lithium-ion battery | swappable Lithium-ion battery | swappable Lithium-ion battery | swappable
Power management
403 mm
477 mm
±145° 360°
Scanners compared
Scanner size | weight 347 x 147 x 172 mm | 1.19 kg 300 x 201 x 140 mm | 0.94 kg 300 x 201 x 140 mm | 0.96 kg
Controller size | weight 145 x 63 x 138 mm | 0.95 kg 226 x 146 x 91 mm | 1.9 kg 226 x 146 x 91 mm | 1.9 kg
Maximum sampling rate 1.2 million pts/sec 150 000 pts/sec 143 000 pts/sec
300 mm
300 mm
347 mm
Probes compared
T-Probe B-Probe
Cable-free operation
Acoustic feedback -
129 mm 123 mm 80 mm 54 mm
223 mm
165 mm
230 mm
310 mm
65 mm
70 mm
T-Mac models compared
Size 270 x 125 x 140 mm 231 x 199 x 110 mm 327 x 209 x 203 mm
5m ±23 µm ±45 µm
10 m ±38 µm ±75 µm
20 m ±68 µm ±135 µm
5m ±32 µm ±64 µm ±40 µm ±81 µm ±40 µm ±81 µm ±25 µm ±50 µm ±30 µm ±60 µm ±75 µm ±150 µm
10 m ±53 µm ±106 µm ±53 µm ±106 µm ±60 µm ±119 µm ±25 µm ±50 µm ±33 µm ±66 µm ±75 µm ±150 µm
20 m ±96 µm ±191 µm ±96 µm ±191 µm ±98 µm ±196 µm ±25 µm ±50 µm ±58 µm ±106 µm ±75 µm ±150 µm
Other accuracies
±60 µm
Length measurement LAS EUni:ODR:LT,MPE
±26 μm + 4 μm/m (> 8.5 m)
Speed
All accuracies stated as Maximum Permissible Error (MPE). Typical values half of MPE.
1)
Angular Performance Transverse eT according to ISO 10360-10:2016 Annex E, with respect to an MPE for the Location Error (LDia.2x1:P&R:LT,MPE)
in accordance with chapter 6.3 of ISO 10360-10:2016 of 30 µm + 12 µm/m.
2)
In accordance with ISO 10360-10:2016 Chapter 6.4, Table 4, positions 1 to 35.
3)
Standard deviation (1σ) of a best-fit plane (78% albedo), distance 1.5 to 30 m, standard measurement mode, target aligned.
4)
Maximum deviation (MPE) of the absolute position of a plane (78% Albedo), 1.5 to 30 m, 0 to ±45° incidence angle.
5)
In accordance with ASTM E3125-17 Table 2.
6)
In accordance with ASTM E3125-17 Tables 3 and 4.
7)
At default point-to-point and line-to-line distance, measurement distance 10 m.
Patent notice
Products described in this brochure are covered by the following US patents.
AT930
US 9,377,296 B2 | US 10,054,422 B2 | US 9,638,519 B2 | US 9,612,331 B2 | US 10,036,811 B2 | US 8,279,430 B2 |
US 9,366,531 B2 | US 7,609,387 B2 | US 8,305,563 B2
AT960
US 9,377,296 B2 | US 10,054,422 B2 | US 9,401,024 B2 | US 9,638,519 B2 | US 9,612,331 B2 | US 9,720,087 B2 |
US 10,036,811 B2 | US 8,031,331 B2 | US 8,279,430 B2 | US 9,366,531 B2 | US 7,609,387 B2 | US 8,305,563 B2
AT960-XR
US 9,377,296 B2 | US 10,054,422 B2 | US 9,401,024 B2 | US 9,638,519 B2 | US 9,612,331 B2 | US 9,720,087 B2 |
US 10,036,811 B2 | US 8,031,331 B2 | US 9,864,062 B2 | US 8,279,430 B2 |US 9,366,531 B2 | US 7,609,387 B2 |
US 8,305,563 B2
AT403
US 9,322,654 B2 | US 8,279,430 B2 | US 8,772,719 B2 | US 9,366,531 B2 | US 8,305,563 B2 | US 8,981,297 B2 |
US 9,810,964 B2 | US 9,405,007 B2
AS1
US 10,302,745 B2 |US 10,330,466 B2 | US 10,323,927 B2
B-Probe
US 9,816,813 B2
That’s why every major laser tracker product in this brochure comes with a 24-month factory warranty as standard, as well
as a guaranteed 10 years of serviceability through official Hexagon service channels.
Customer Care
Packages
Owners of the Hexagon laser tracker products featured in this brochure also have the opportunity to invest in a Customer
Care Package designed to ensure equipment remains in top condition and can be relied on for accurate measurement
results throughout a lifetime of use.
Customer Care Packages include a selection of the following benefits, depending on the tier chosen.
For complete details of the benefits of each level of Customer Care Package, please contact a local Hexagon representative.
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