Vs SoftwareManual H 5914 8500 02A

Software manual
H-5914-8500-02-A
Contents
Cavity Profiler VS
1
2014 Renishaw plc. All rights reserved.
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prior written permission of Renishaw plc.
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Renishaw part no: H-5914-8500-02-A

Issued:
October 2014
Warranty
Renishaw plc warrants its equipment provided
that it is operated exactly as defined in
associated Renishaw documentation.
Contents
Customer information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1
Dear customer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2
User manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
2 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1
3
Void Scanner 150 (VS150) Mk3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Cavity Profiler VS software introduction and installation . . . . . . . . . . . . . . . . . . . . . . . . 3-1

3.1
PC requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2
Setting up the VS150 software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Cavity Profiler VS projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4.1
Starting a project in Cavity Profiler VS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2
Create a new project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4.2.1
Project structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
Site manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5.1
Adding station positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2
Project settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.3
Control buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
Connecting to the VS150 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Scanning mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

7.1
Command buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2
Project tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.2.1 Stations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.2.2 Scans . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.2.3 Triangulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
Contents
Software manual Cavity Profiler VS
Contents
7.3
ii
Scan controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

7.3.1
Active scan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.3.2
Sweep separation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.3.3
Last Hit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.3.4
Red-dot pointer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.3.5
Precision mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.3.6
Start Scan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.4
Graphics window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.5
View menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7.6
Status bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
7.7
During a scan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
Processing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1

8.1
Command buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.2
Project tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8

8.2.1 Stations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
8.2.2 Scans . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9
8.2.3 Triangulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10
8.3
Graphics window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10
8.4
View menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-11
8.5
Exporting data from Cavity Profiler VS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-13
Shortcut keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1

9.1
Throughout Cavity Profiler VS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.2
Processing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.3
Scanning mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
Operational guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1

10.1
System limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
10.2
Quick-start guide for boom deployment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1

10.2.1 Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.2.2 Setting up the equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.2.3 Configuring Cavity Profiler VS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4
10.2.4 During the scan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4
10.2.5 After the scan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4
11
Troubleshooting guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
12
Further information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1
13
Licence information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1
Contents
10
iii
Contents
iv
This page is intentionally left blank.
Customer information
1.1
Dear customer
The VS150 system and accompanying software are designed to be easy to operate. However,
we would ask you to take the time to read these operating instructions carefully before using the
system, and to keep the manual with the instrument at all times.
For any feedback or comments, or if there are questions about the Cavity Profiler VS software
which are beyond the scope of this manual, contact Renishaws central Service and Support
Centre. Contact details can be found on the back cover of this manual.
Alternatively, for information on your local Renishaw approved service centre, visit our website
www.renishaw.com.
To ensure best service, please make a note of the serial number, which can be found on the
instrument.
1.2
User manual
It is important that you read this manual carefully before using the instrument.
There are three manuals available with the VS150 system:
1.
A VS150 hardware manual;
2.
This Cavity Profiler VS software manual;
3.
A WiFi box manual, supplied with this optional accessory.
This software manual describes the Cavity Profiler VS software which is supplied as part of a
standard VS150 system. It should be read in conjunction with the accompanying VS150 hardware
manual.
A short section at the end of this manual gives a brief overview of a typical deployment. Some
troubleshooting tips are also offered, which address some of the most common problems and
questions that arise from users of the VS150.
This manual has been compiled with care. However, should you discover any errors, we would be
grateful if you could contact Renishaw directly.
Reproduction in whole or in part, including utilisation in machines capable of reproduction or
retrieval, without the express written permission of Renishaw plc is prohibited. Reverse engineering
is also prohibited.
The information in this document is subject to change without notice.
Customer
information
1-1
Customer
information
1-2
2.1
Void Scanner 150 (VS150) Mk3
Introduction
2 Introduction
2-1
VS150 unit
The Void Scanner150 (VS150) Mk3 is a ruggedised field instrument designed to produce fast,
efficient 3D laser scans of underground voids where access is limited, dangerous or prohibited.
The instrument can be mounted on booms, tripods or user-customised deployment devices. The
small, lightweight size of the VS150 gives flexibility in the nature of the deployment and means
that volumes and dimensions which have previously been guessed or estimated can be accurately
quantified.
The VS150s laser employs the time of flight technique to measure ranges to rock faces and other
objects without the need to place reflectors on the target. This allows measurements to be taken
from a safe distance. Two hundred such measurements are made every second, up to a range of
150 m.
Data from the internal pitch and roll sensors are collected in addition to the scan data. This means
that all points collected can be accurately geo-referenced and multiple scans can be stitched
together. The output data can then be plotted against design drawings or as-built data to help build
an invaluable picture of the project site.
Introduction
2-2
The VS150 is controlled remotely from a PC running Renishaws Cavity Profiler VS software
which plots the data on-screen in real time. Cavity Profiler VS allows the finished scan to be
analysed, edited, transformed, combined with other datasets and exported to third-party software.
The VS150 is just one of many laser systems that have been designed by Renishaw. Other
products such as the C-ALS (Cavity Scanner), Quarryman and Boretrak have all been proved
over many years of demanding use around the world. These products complement the VS150
and provide a wide range of advanced measurement solutions within the mining, quarrying and
geotechnical industries.
Cavity Profiler VS software introduction and

installation
The control and processing software for the VS150 is known as Cavity Profiler VS. This software
enables the VS150 to be controlled remotely during field operations. It allows real-time viewing
of collected data, analysis and editing of all datasets, the integration of further scans and the
exporting of data to third-party packages.
3.1
PC requirements
Given the harsh operational conditions that the VS150 equipment tends to be used in, it is
recommended that a robust, ruggedised laptop or tablet PC is used to run Cavity Profiler VS. In
order to achieve the best results from the software, especially when dealing with large datasets
which might consist of millions of individual data points, it is recommended that the PC used to run
the software has the following minimum specifications:
Operating system
Windows 7
Processor
Intel core i5
Input
Ethernet port (WiFi capability optional)
Free disk space
5.5 MB
RAM
4 GB
Graphics (minimum)
Video card supporting Direct X 9.0 and OpenGL 2
Graphics (recommended)
Discrete NVIDIA-based video card with at least 512 MB on-board

RAM, capable of supporting Direct X9.0 and OpenGL 2.0
Software prerequisites
Microsoft .Net 4.0 Framework Runtime, Visual C++ Runtime 2010

and 2012, Digiport driver (if using WiFi box) - all supplied on
installation USB drive
The PC will be connected to the VS150 via a serial cable, a USB-serial adaptor, or a wireless radio
link from the WiFi box. To enable the PC to talk through the USB-serial adaptor, the appropriate
drivers should be loaded. When using the WiFi box, appropriate software must be installed to set
up a network for communications between the VS150 and PC: see the dedicated WiFi manual for
details.
Prior to making these changes, full administrator rights will be required on the PC.
It is strongly recommended that the PC to be used with the VS150 is dedicated solely to this
task so that any settings related to administrator rights, firewalls, network settings etc will not be
changed for other purposes.
All software supplied is unprotected and so can be installed on as many PCs as required.
Software introduction
and installation
3-1
and installation
3-2
Cavity Profiler VS is optimised to work with 100% text scaling. This can be set in Control Panel
> Display. In the section Make it easier to read whats on your screen, select Smaller 100%
(default).
3.2
Setting up the VS150 software
The standard VS150 system requires no drivers or set-up procedure prior to use. The unit can be
taken straight out of the box and connected to a PC with the supplied serial cable. However, the
control software must be installed and, if there is no dedicated serial port present on the PC, a
USB-serial adaptor will be required.
All required software, dependencies and drivers are included on the Renishaw USB drive supplied
with the system.
Double-click on the install.bat file to launch the installer.
and installation
A command prompt window appears. The installer checks your operating system and installed
software to determine which dependencies are required. These dependencies are automatically
loaded. The Cavity Profiler VS installation wizard will then be launched.
3-3
Press Next and follow the prompts to load the software.
and installation
When Cavity Profiler VS is installed, the installer for the USB-serial adaptor driver will be
launched. Click Extract, then follow the prompts to load the driver.
3-4
Click Finish to complete the installation of the driver. Press any key to close the command prompt
window.
Cavity Profiler VS projects
The previous section outlined the procedure for setting up the VS150 driver and the
Cavity Profiler VS software. Once these are loaded, the VS150 is ready to be deployed. The
following sections detail the functionality of Cavity Profiler VS and the ways the software can be
used to control the instrument.
4.1
Starting a project in Cavity Profiler VS
On starting the software, the window below will appear. From this window, you can either create a
new project or open an existing project.
Click Open Project to open a dialog box from which to select a previously saved
Cavity Profiler VS project. Projects are shown as .mdp files.
Click New Project to create a new Cavity Profiler VS project. The New Void Scanner Project
window will appear. This is where the basic configuration of the project is defined. The steps to set
up the new project are outlined below.
Projects
4-1
Create a new project
Projects
4.2
4-2
1.
In the Name box, enter the name of the project.
2.
The Folder Path box shows the location where the project will be saved. By default this
is C:\Cavity Profiler Projects\VoidScanner. To change this, click the adjacent folder button
and select an alternative location for the project file on the PC. The project file will be
automatically given the name entered in step 1. The file extension is .mdp.
3.
Select a Site, either by using the drop-down list to select an existing site, or by clicking Add
to create a new site. In Cavity Profiler VS, a site contains details of a project site and saves
these details so that when further work is carried out in the same location, the information
can be readily available. See Section 5, Site manager.
4.
In the Notes box, enter any project notes. These will appear in the text reports generated
after each scan.
5.
Click Accept to connect to the VS150 and progress to Scanning mode (see Section 7,
Scanning mode).
Click the Back button to return to the previous window.
Project structure
Any Cavity Profiler VS project that has been set up will have a dedicated folder structure created.
By default this will be saved in C:\Cavity Profiler Projects\VoidScanner in a folder named according
to the entry in the Name box in the New Void Scanner Project window.
There will be three sub-folders in the project:

Exports: the default location for exported datasets. These can be accessed from within
Cavity Profiler VS by clicking Open scan reports folder on the View menu.
Logs: a log file is generated for each scan. This contains diagnostic information which will be
used by Renishaw to assist support and troubleshooting if problems arise with the hardware or
software.
Reports: each scan will generate a text report with diagnostic information from the instrument
and data collection details. These can be accessed from within Cavity Profiler VS by clicking
Open export folder on the View menu.
The main project file is an .mdp file which can be opened from within Cavity Profiler VS. This file
contains all the scan data and positional data from the project.
In addition, a .bak file will be created. This is a back-up of the main .mdp file. In the event that the
.mdp file becomes corrupted or unusable, the extension of the back-up file can be renamed to
.mdp. It can then be opened in Cavity Profiler VS in the normal way.
If any changes are made to the data in the processing stages, the .bak file will be updated
accordingly, along with the .mdp file.
It is recommended that a back-up of the complete folder structure be made as standard procedure
as soon as scanning operations are completed. This can be kept as a separate raw data back-up.
If problems are encountered with the hardware, software or with any collected datasets, then it may
be necessary to contact Renishaw or your local Renishaw approved service centre. In this case you
may be requested to send the entire zipped project folder. This will help to ensure the highest level
of support.
Projects
4.2.1
4-3
Projects
4-4
Site manager
In the New Void Scanner Project window, click Add to open the Site manager window.
5.1
Adding station positions
Initially, the Add Station position window will appear in the foreground.
Enter the station name in the Station name box.

Under Station position, enter the coordinates of the prism position as it is surveyed on the
instrument. Enter the azimuth of the instrument (usually the azimuth of the boom the instrument is
mounted on) in decimal degrees.
The Prism settings area of the window is provided to assist positioning of the VS150 when survey
observations are being taken to a prism mounted on the instrument.
There are two positions on the instrument to locate a prism. If the supplied 360 mini-prism is used
and screwed directly into one of the threads on the unit, select either Front (5/8 in thread on the
collar) or Rear (M6 1 thread on the horizontal housing) as required.
Site manager
5-1
Site manager
If a non-standard prism or other target is used, select Custom. Customised offsets from the
instrument reference point can then be entered in the Horizontal and Vertical boxes. The
horizontal offset is measured along the length of the instrument from the trunnion axis. The vertical
offset is measured from the central axis of the instrument outwards to the centre of the prism.
These offsets are explained in the illustration below showing an example of a prism mount on the
VS150.
5-2
Horizontal offset
from trunnion axis
Vertical offset from instrument centre
Instrument origin at centre of trunnion axis
Prism offsets on the VS150

The origin of all scan data is the centre of the VS150 laser, in the middle of the trunnion axis. This
position is derived from the data entered in this Add Station position window the coordinates,
the azimuth and the prism position together with pitch and roll data from the internal sensors.
All values in the Add Station position window can be entered after the survey if they are not yet
known. In this case, just enter a name and accept the default coordinate and azimuth values. Click
OK to accept the entered values.
Site manager
In the main Site manager window, the new location will appear graphically in plan view in the top
left of the window and in tabular form in the bottom half of the window as shown below. Double-click
the station in the table to edit the values.
5-3
5.2
Project settings
In the top right of the window are a number of project settings.

The site name is listed in the Name box. This can be edited if required.
Select Metres or Feet from the Unit type drop-down list.
Use the Coordinates drop-down list to select the coordinate format used on the site. The
choices are: XYZ, NEZ and ZA (South African grid).
Site manager
5.3
Control buttons
Control buttons along the bottom of the window give the following options.
5-4
Click Back to return to the previous window without saving any entered site information.
Click Add station to add a new station position. Cavity Profiler VS currently allows only one
station per project.
To delete a station position, select the position from the table and click Delete station.
Cavity Profiler VS currently allows only one station per project. This station can be edited, but
not deleted.
To export the list of station positions in the displayed list, click Export stations.
Click Accept to accept the details entered in the Site manager window and return to the
previous window.
Connecting to the VS150
From the New Void Scanner Project window, click Accept to connect to the VS150.
It is also possible to connect to the VS150 from within an existing project that was opened from the
Open Project window. In this case, the project will open in Processing mode and the Connect to
scanner button can be used (see Section 8.1, Command buttons).
Cavity Profiler VS will attempt to automatically connect to the VS150. An on-screen busy spinner
will appear, indicating that the software is working.
If the software does not manage to automatically connect to the VS150, a further window will
appear as shown below.
Make sure that the VS150 is powered up and check all connections or WiFi links.
Connecting to the
VS150
6-1
Connecting to the
VS150
6-2
Click Retry Autodetect to let the software find the correct data ports. If using a USB-serial adaptor,
see Section 3.2.1, Installing the USB-serial driver.
Alternatively, select the correct data port from the drop-down list and click Connect Manually.
If the connection is successful, Cavity Profiler VS will progress to the Scanning mode window.
Scanning mode
Scanning mode provides the controls required to operate the VS150 and define the scanning
operations. Use this mode whenever the instrument is in position ready to scan. The Scanning
mode window is divided into a number of areas which are described below.
Scanning mode
7-1
7.1
Command buttons
The command buttons at the top of the window provide functionality as detailed below.
Site manager
Processing mode
Click the Site manager button to access the Site manager window. See Section 5, Site
manager.
Click the Processing mode button to access the point cloud processing functionality. See
Section 8, Processing mode.
Scanning mode
7.2
Project tree
The project tree lists all elements of the Cavity Profiler VS project that have been collected. Each
element can be selected and then acted upon using the buttons directly underneath.
7-2
Display details
Show/hide scan
Show/hide
triangulation
Delete item
7.2.1 Stations
Station element
Cavity Profiler VS currently allows only one station per project. This station is displayed at the top
of the project tree.
All scans under the station are assumed to be related to this fixed station position. If the VS150
is moved between scans in a single project, the data may be erroneous. The station position is
defined at the start of the project from the Site manager window.
Select the station then click the Display details button to display the Edit Station position window
as shown below.
If the VS150 is moved to a new station position, a new project will need to be set up in the
Cavity Profiler VS software.
7.2.2 Scans
Scanning mode
Edit the coordinates, azimuth or prism position within the Edit Station position window as
required. All data under the station in the project tree will shift or rotate accordingly.
7-3
Each scan is listed as an element under the appropriate station position from which it was
observed. Select a scan then click the Display details button to display the scan details window as
shown below.
This window lists the points collected in the scan. The columns denote point number, XYZ
coordinates, signal intensity and whether the points are currently visible or invisible (i.e. if they are
deleted or filtered).
Click OK to close the window.
To toggle a scan on and off in the graphics window, select it then click the Show/hide scan button.
To delete a scan, select it then click the Delete item button.
Scanning mode
7.2.3 Triangulations
7-4
Triangulation element
Under each scan element will be triangulation elements that is any surface models that have
been created using this scan. Select a triangulation then click the Display details button to display
a summary of the triangulation and volume calculation as shown below.

To toggle a triangulation on and off in the graphics window, select it then click the Show/hide
triangulation button.
7.3
Scan controls
The scan controls area of the window allows you to configure the scan according to the project
requirements, site environment and time constraints.
The available functions are outlined below.
Active scan
The Active Scan drop-down list offers a choice of two scan patterns:

Horizontal: in a horizontal scan, the horizontal axis of the VS150 will repeatedly spin through
360. After each horizontal spin, the vertical axis will rotate at the user-defined sweep
separation between 0 (looking directly away from the probe) and 135 (looking back along the
probe).
Vertical: in a vertical scan, the vertical axis of the VS150 will repeatedly rotate through the full
360 range of its motion. After each vertical rotation, the horizontal axis will rotate at the userdefined sweep separation, starting and finishing at 0.
7.3.2
Sweep separation
During a standard horizontal or vertical scan, one axis will rotate repeatedly while the other axis
increments at user-defined intervals between each of these spins. This interval the Sweep
separation will determine the density of the scan: a smaller value will give a smaller distance
between each scan line, and thus a greater number of points covering the scan area.
Enter an angular value in degrees into the box. The minimum value is 0.5.
This interval setting will affect all scans.
Note that due to the mechanics of the scanner, the actual increment may differ slightly from the
selected value.
7.3.3
Last Hit
Select the Last Hit check box to toggle Last Hit mode on and off.
The Last Hit option can be used if there are particles between the instrument and the target which
are partially blocking the path of the laser. This may be water vapour or dust in the air which can
cause the laser to reflect back to the instrument before it hits the intended target. Activating this
mode will instruct the VS150 to ignore any interference from the particles in the air and instead to
concentrate on returns from the true target.
The Last Hit option should not be used to shoot to reflective targets, as incorrect results can be
returned.
7.3.4
Red-dot pointer
Select the Red-dot pointer check box to toggle the VS150s red-dot pointer on and off.
Scanning mode
7.3.1
7-5
Scanning mode
7.3.5
7-6
Precision mode
Select the Precision mode check box to toggle precision mode on and off.
Precision mode slows the rotation of the scanner by approximately 25%. This will increase the
number of points being collected by around 25%. This mode is mainly intended for very large voids
where the spacing between each point on a scan line can become very large on the most distance
surfaces. Slowing the scan speed will increase this point density along the scan line, with the tradeoff of a slower scan.
Note that the spacing between each scan line is determined by the sweep separation value (see
Section 7.3.2, Sweep separation.
7.3.6
Start Scan
Click the Start Scan button to begin the scan defined in the scan controls area of the window. Once
the scan has started, this button becomes the Cancel Scan button that can be used to stop the
scan.
The VS150 will finish the current horizontal or vertical sweep and then park. All data up to this point
will be saved. The Start Scan button will then reappear.
7.4
Graphics window
In Scanning mode, the graphics window displays the current instrument position, the VS150
nugget, and all scans taken in the current project. If there is a scan in progress, the on-screen data
will update in real time.
Graphics window
The VS150 nugget reflects the current position and orientation of the VS150. During the scan, the
animated laser head will reflect the current vertical and horizontal movement of the unit itself.
Scanning mode
Any scans taken during the current project can be made visible or invisible on-screen by turning
them on or off in the project tree.
7-7
VS150 nugget
On the right of the window is the scale bar, where the colour of the points is shown as either range
or signal strength, depending on the settings in the View menu (see below for details).
To navigate around the graphics window, use the following controls:

Pan: drag with the right mouse button or CTRL + cursor keys
Rotate: drag with the left mouse button
Zoom: rotate the mouse wheel, or drag with the mouse wheel, or press both buttons and drag
with the trackpad. CTRL + to zoom out, CTRL + = to zoom in
7.5
View menu
The View menu also has a number of options which configure or modify the graphics view:

Plan: view from above
Bottom plan: view from below
Front (Looking SN): view from the south, looking north
Back (Looking NS): view from the north, looking south
Left side (Looking WE): view from the west, looking east
Right side (Looking EW): view from the east, looking west
Zoom to fit: zoom out to view the full extents of the data
Reset rotation centre around current scan: change the point around which the data is
rotated
Scanning mode
Colour scans by intensity: colour scans according to signal strength using one of three
colouring options: Regular, Hue, or Greyscale.
Colour scans by range: colour scans according to range from the VS150 using one of three
colouring options: Regular, Hue, or Greyscale.
Colour scans by height: colour scans according to height using one of three colouring
options: Regular, Hue, or Greyscale.
Colour scans by solid colour: Opens a colour dialog box. Select one colour for all points.
Grid options: opens a window offering configuration options for the grid. By default, the grid
automatically resizes to cover the extents of the data, with a suitable grid spacing. Clear the
Auto Size Grid check box to enter manual values for the grid extents. Enter a value in the Grid
Granularity box to define the grid spacing.
Show grid: toggles the grid display on and off.
Orthographic view: toggles between orthographic and perspective viewing modes.

Perspective view allows you to zoom inside a triangulated surface to analyse the interior of the
model.
Change background colour: opens a dialog box allowing you to select the background colour.
The default colour is black.
7-8
Change point size: opens the Choose Point size window. Use the slider to select the size of
data points on-screen.
Scanning mode
7-9
7.6
Status bar
Prior to any scanning operations, the status bar at the bottom of the window shows the current
project.
Once a scan is in progress, the status bar will display the following information:
Range: raw ranges sampled from the points being collected.
Pitch and roll: values from the pitch and roll sensors captured when the scan was started.
Azimuth: user-defined azimuth entered in the Add Station position or Edit Station position
window.
Voltage: current voltage read from the VS150 power source.
Time remaining: hours, minutes and seconds left to complete current scan. Due to slight
variations in the motors, these figures will be an estimation and will be revised during the
course of the scan.
Scan progress: number of sweeps completed compared to the total sweeps in the scan. Also
the percentage of the scan completed.
7.7
During a scan
Once a scan has been started, no further user intervention is required. The VS150 will progress
through the scan according to the configuration selected.
During a scan, the scan controls area of the window will be disabled. The status bar will update in
real time to reflect the current scan time remaining, voltage and a sampled range value.
Scanning mode
7-10
The scan can be cancelled at any time by clicking the Cancel Scan button. The VS150 will
complete the current sweep, and then return to its parked position.
All points collected are displayed in real time in the main graphics window. The current sweep is
highlighted in relation to the rest of the scan. Standard controls can be used to pan, rotate and
zoom the data for visual analysis during the scan.
On completion of a scan, the VS150 laser head will park in its original position.
A scan report window will appear as shown below, summarising the scan.
Click OK to close the scan report window.

A more detailed report is also saved as a .txt file in the Reports sub-folder of the main project. This
is directly accessible from within the software by clicking Open Scan Reports Folder on the View
menu. These full reports outline details such as the probe serial number, firmware versions, time of
scan and so on. One such report is illustrated below:
Processing mode
Processing mode is accessed by clicking the Processing mode button when in Scanning mode.
This part of the software offers functionality for viewing, analysing, editing and exporting data
collected with the VS150 in the Scanning mode of Cavity Profiler VS.
Processing mode
8-1
The Processing mode window is divided into a number of areas which are outlined below.
8.1
Command buttons
Command buttons along the top of the window provide functionality as detailed below.
Processing mode
8-2
Open project
Save project
Open project: opens a file dialog box from which an existing Cavity Profiler VS project can
be selected.
Save project: save changes made to the current Cavity Profiler VS project.
Connect to scanner

Connect to scanner: switches back to Scanning mode (see Section 7, Scanning mode).
Before switching modes, a scan must be selected from the project tree.
Take snapshot

Take snapshot: takes a screenshot of the current graphics window and saves it as a .png file
in the main project folder.
Surface and calculate volume

Surface and calculate volume: creates a triangulated surface of a single scan, then
calculates a volume. Select a full horizontal or vertical scan from the project tree, then click the
Surface and calculate volume button. On calculation of the volume, a summary will appear as
shown below.
Processing mode
8-3
The surface will appear in the graphics window and, in the project tree, a surface will appear
which can be toggled on and off. See Section 8.2, Project tree.
Decimate filter

Despike filter
Decimate filter: enables filtering of a scan by percentage decimation. Select a scan from the
project tree, then click the Decimate filter button to open a Decimate Level window.
Use the slider to determine the percentage of points to retain. Click OK to accept. The scan will
remain filtered until the Decimate filter button is clicked again to toggle the filter off.
Processing mode
Despike filter: enables filtering of a scan by the distance of point from its nearest neighbours.
Select a scan from the project tree, then click the Despike filter button to open a Despike
Range window.
8-4
Use the slider to determine the points to remove. Click OK to accept. The scan will remain
filtered until the Despike filter button is clicked again to toggle the filter off.
Toggle grid
view on/off
Toggle rotation
origin on/off
Toggle grid view on/off: toggles the grid on and off in the graphics window. The grid can be
configured by clicking Grid Options on the View menu.
Toggle rotation origin on/off: toggles the rotation point icon on and off in the graphics window.
Measure the distance between two points

Measure the distance between two points: enables the measurement of distance (slope,
horizontal and vertical), inclination and heading between any two points visible in the graphics
window. Click the button then select two points to measure between. On selection of the second
point, the calculated measurements will appear at the bottom of the window as shown below.
As long as the button remains activated, further pairs of points can be selected. Click the button
again to quit the measurement function.
Toggle Y
cut plane
Toggle Z
cut plane
Restore cut planes

to scan extents
Toggle X cut plane: enables cutting planes along the X axis. Cutting planes are activated
within the graphics window and are intended to screen off sections of data in order to assist
visual analysis of the scan, or to enable editing of data inside the point cloud. Use the Cutting
planes controller to adjust the position of the cutting planes.
Cutting planes controller

Within the Cutting planes controller, the Axis drop-down list will automatically adjust the
activated axis (X, Y or Z) according to the button selected. The Minimum and Maximum sliders
can then be used to adjust the two cutting planes on this axis.
More than one cutting plane can be activated at one time. If more than one cutting plane is
active, select an axis from the Axis drop-down list before adjusting the sliders.
Click the Toggle X Cut plane button again to deactivate the cutting plane.

Toggle Y cut plane: enables cutting planes along the Y axis. Use the Cutting planes
controller to adjust the position of the cutting planes. Click the Toggle Y cut plane button
again to deactivate the cutting plane.
Toggle Z cut plane: enables cutting planes along the Z axis. Use the Cutting planes
controller to adjust the position of the cutting planes. Click the Toggle Z cut plane button
again to deactivate the cutting plane.
Reset cut planes to scan extents: resets all activated cutting planes to a position
encompassing all scan data within the graphics window.
Processing mode
Toggle X
cut plane
8-5
Processing mode
8-6
Toggle delete
by rectangle

Toggle delete
by polygon
Toggle delete by rectangle: click to delete points from the graphics window. Select a rectangle
by dragging with the mouse. Once selected, press the DELETE key to delete all points within
the selection. To delete all points outside the selected region, hold down the CTRL key before
pressing DELETE. Press the ESC key to clear the selection.
Repeat as required, then click the Toggle delete by rectangle button again to deactivate this
function.
Toggle delete by polygon: click to delete points from the graphics window. Select a polygon
using multiple mouse clicks. Once selected, press the DELETE key to delete all points within
the selection. To delete all points outside the selected region, hold down the CTRL key before
pressing DELETE. Press the ESC key to clear the selection.
Repeat as required, then click the Toggle delete by polygon button again to deactivate this
function.
Toggle
restore delete
by rectangle

Toggle
restore delete
by polygon
Toggle restore delete points by rectangle: click to restore deleted points within the graphics
window. Select a rectangle by dragging with the mouse. Once selected, press the INSERT key
to restore all points within the selected region. To restore all points outside the selected region,
hold down the CTRL key before pressing INSERT. Press the ESC key to clear the selection.
Repeat as required, then click the Toggle restore delete points by rectangle button again to
deactivate this function.
Toggle restore delete points by polygon: click to restore deleted points within the graphics
window. Select a polygon by using multiple mouse clicks. Once selected, press the INSERT key
to restore all points within the selected region. To restore all points outside the selected region,
hold down the CTRL key before pressing INSERT. Press the ESC key to clear the selection.
Repeat as required, then click the Toggle restore delete points by rectangle button again to
deactivate this function.
Zoom all: zoom the graphics window to the extents of the project data.
Processing mode
Zoom all
8-7
Restrict rotation
around X axis
Restrict rotation
around Y axis
Restrict rotation
around Z axis
Restrict rotation around X axis: will allow the data to be rotated only around the X axis. Click
again to deactivate this function.
Restrict rotation around Y axis: will allow the data to be rotated only around the Y axis. Click
Restrict rotation around Z axis: will allow the data to be rotated only around the Z axis. Click
Plan view (top)
View from North
View from East
Plan view (bottom)
View from South
Plan view (Top): view the graphics window from above.
Plan view (Bottom): view the graphics window from below.
View from north: view the graphics window from the north.
View from east: view the graphics window from the east.
View from south: view the graphics window from the south.
View from west: view the graphics window from the west.
View from West
Processing mode
8.2
Project tree
The project tree lists all elements of the Cavity Profiler VS project that have been collected by the
VS150. Each element can be selected and then acted upon using the buttons directly underneath.
8-8
Display details
Show/hide
scan
Show/hide
triangulation
Delete item
8.2.1 Stations
Station element
Cavity Profiler VS currently allows only one station per project. This station is displayed at the top
of the project tree.
All scans under the station are assumed to be related to this fixed station position. If the VS150 is
moved between scans in a single project, the data may be erroneous.
The station position is defined at the start of the project from the Site manager window.
Select the station then click the Display details button to display the Edit Station position window
as shown below.
If the VS150 is moved to a new station position, a new project will need to be set up in the
Cavity Profiler VS software.
8.2.2 Scans
Processing mode
Edit the coordinates, azimuth or prism position within the Edit Station position window as
required. All data under the station in the project tree will shift or rotate accordingly.
8-9
Scan element
Each scan is listed as an element under the appropriate station position from which it was
observed. Select a scan then click the Display details button to display the scan details window as
shown below.
This window lists the points collected in the scan. The columns denote point number, XYZ
coordinates, signal intensity and whether the points are currently visible or invisible (i.e. if they are
deleted or filtered).
To toggle a scan on and off in the graphics window, select it then click the Show/hide scan button.
Processing mode
8.2.3 Triangulations
8-10
Triangulation element
Under each scan element will be triangulation elements that is any surface models that have
been created using this scan. Select a triangulation then click the Display details button to display
a summary of the triangulation and volume calculation as shown below.

To toggle a triangulation on and off in the graphics window, select it then click the Show/hide
triangulation button.
8.3
Graphics window
In Processing mode, the graphics window displays all scans within the project, including the
stations, all scans and surface triangulations. Each of these elements can be switched on and off in
the graphics window (see Section 8.2, Project tree).
On the right of the window is the scale bar, where the colour of the points is shown as either range
or signal strength, depending on the settings in the View menu (see below for details).
To navigate around the graphics window, use the following controls:

Pan: drag with the right mouse button or CTRL + cursor keys
Rotate: drag with the left mouse button
Zoom: rotate the mouse wheel, or drag with the mouse wheel,or press both buttons and drag
with the trackpad. CTRL + - to zoom out. CTRL + = to zoom in
Command buttons provide analytical and editing functionality within the graphics window.
8.4
View menu
The View menu also has a number of options which configure or modify the graphics view:

Plan: view from above
Bottom plan: view from below
Front (Looking SN): view from the south, looking north
Back (Looking NS): view from the north, looking south
Left side (Looking WE): view from the west, looking east
Right side (Looking EW): view from the east, looking west
Zoom to fit: zoom out to view the full extents of the data
Reset rotation centre around current scan: change the point around which the data is
rotated
Colour scans by intensity: colour scans according to signal strength using one of three
colouring options: Regular, Hue, or Greyscale
Colour scans by range: colour scans according to range from the VS150 using one of three
colouring options: Regular, Hue, or Greyscale
Colour scans by height: colour scans according to height using one of three colouring
options: Regular, Hue, or Greyscale
Colour scans by solid colour: Opens a colour dialog box. Select one colour for all points
Processing mode
Click any point in an activated, on-screen scan to display information about the point. The point will
be highlighted in yellow, and information will displayed at the bottom of the window showing the
coordinates, signal strength and range from the VS150.
8-11
Grid options: opens a window offering configuration options for the grid. By default, the grid
automatically resizes to cover the extents of the data, with a suitable grid spacing. Clear the
Auto Size Grid check box to enter manual values for the grid extents. Enter a value in the Grid
Granularity box to define the grid spacing
Show grid: toggles the grid display on and off.
Orthographic view: toggles between orthographic and perspective viewing modes.

Perspective view allows you to zoom inside a triangulated surface to analyse the interior of the
model
Change background colour: opens a dialog box allowing you to select the background colour.
The default colour is black
Change point size: opens the Choose Point size window. Use the slider to select the size of
data points on-screen
Processing mode
8-12
Exporting data from Cavity Profiler VS
Data can be exported from Cavity Profiler VS in Processing mode.

On the File menu, click Export. A number of export options are offered. Unless noted below, the
exported data will include only the data which is currently active (i.e. scans which are hidden will
not be exported).
Processing mode
8.5
8-13
On selecting any option, a Save As window will appear where an appropriate file name can be
entered. The default location for all export files is the export folder of the current project. A different
location can be selected if required.
The options currently available are listed below:

Open export folder: opens the export folder of the current project within Windows Explorer
LAS Points: exports the data in LAS format. Only a single scan can be exported, so click the
appropriate scan in the project tree before clicking Export
ASCII Points: outputs data in ASCII format as XYZ, intensity
Custom ASCII Points: opens a window which offers different options for configuring a
customised ASCII output
Processing mode
8-14
DXF Points
Minesight Points: saves an .srv file. Data is saved in the form

TOPO
61071.000
980.237
996.177
62.002
VS_Horizontal_05
Where VS_Horizontal_05 is the name of the scan.

Surpac Points: saves an .str file. Data is saved in the form:

s,7-Mar-2014,,SSI_ETC:styles.ssi
0,0.000,0.000,0.000,0.000,0.000,0.000
1,995.033,979.657,59.054,VS_Vertical_02
1,995.033,979.660,59.053,VS_Vertical_02
The first line in the example above is the file header. The second line is a null value which
separates each sweep with a scan. The final two lines outline point data, where VS_Vertical_02
is the name of the scan.
WaveFront OBJ Points
Maptek Points: saves an .asc file as point id, XYZ, intensity
CASS Points: saves a .cass file as point id, blank field, XYZ
DXF Loops: saves a .dxf file, with the points in each sweep joined as a polyline
DXF Triangulation: saves all visible triangulations in DXF format
DXF Surface: saves all visible triangulations in DXF format
STL Triangulation
Shortcut keys
For ease of operation, a number of shortcut keys are available within the different modes of
Cavity Profiler VS.
9.1
Throughout Cavity Profiler VS
Shortcut keys
9-1
Cancel dialog box
ESC
Left mouse button zoom control
Hold down SHIFT and drag with left

mouse button
Zoom all
CTRL + ALT + A
Zoom in
CTRL + -
Zoom out
CTRL + =
Pan
CTRL + cursor key
9.2
Processing mode
Undo last delete operation
CTRL + Z
Set rotation centre
x + click on a point
Invert point selection
CTRL
Delete selected points
DELETE
Restore selected points
INSERT
9.3
Scanning mode
Start scan
F5
Shortcut keys
9-2
Operational guidelines
10.1
System limitations
The VS150 is water-resistant (IP65) but should not be submerged.

The pitch and roll sensors are incorporated into the VS150 to monitor the position of the instrument
during its deployment and to correct the data when the unit is inclined during a scan. The unit
can produce scan data while positioned at any angle. However, readings should not be taken if
the probe itself is moving, swinging or unstable in any way. If the probe does move during a scan,
no account of this is taken in the collected data. A warning message will appear once the scan is
complete, noting that the VS150 has moved. You should then make a judgement as to whether the
scan needs to be restarted.
The internal sensors measure the inclination and roll of the VS150. When the instrument is within
1 of being vertical, the roll value becomes impossible to calculate due to the sensors position
in relation to gravity. In this case, the roll value will be forced to 0. Scans will still be accurately
levelled, but the orientation of the scan will be difficult to measure correctly. For this reason, we
recommend that, where possible, the instrument should be used at inclinations of greater than 1.
The laser ranges up to a limit of 150 metres to 90% reflective material. However, the maximum
achievable range at any given time or location will depend on a number of factors. The following
factors will limit the range to some degree and in some circumstances may prevent any readings
from being taken:

Dark, light-absorbent surfaces such as coal
Very dusty environments
Wet, slick, shiny or very smooth surfaces
An acute angle between the laser and the surface
The minimum, calibrated range of the laser is 0.5 m. At shorter distances, readings may still be
recorded, but their precision will be severely diminished.
10.2
Quick-start guide for boom deployment
The VS150 can be used for a wide variety of jobs in a variety of applications. However the following
section gives the step-by-step routine for a simple stope survey with a boom-mounted VS150 and
should be regarded as a template for any simple operations with the unit.
Operational
guidelines
10
10-1
Operational
guidelines
10.2.1 Preparation
10-2
Prior to deployment of the VS150, check the area from which the deployment will take place.
Consider:

Accessibility for personnel and vehicles
Available space to unfold the boom and lay out the cable
Potential interference from passing traffic that may disturb the equipment mid-scan
Suitable location for setting up the PC
Power supply: supplied battery, other 12 V battery, WiFi box or ac power
Size of void: can this be scanned from one location? Are all areas of interest visible and in
range from the proposed instrument location?
Atmospheric conditions: thick dust clouds, mist or high humidity, very bright lights pointing
straight at the proposed laser location
Convenient point to act as a rest for the boom
Convenient way of stabilising and securing the boom
Suitable location to operate the controlling PC
10.2.2
Setting up the equipment
If necessary, attach the boom adaptor and spigot to the VS150.

Assemble the boom.
Attach the VS150 securely to the boom. Attach the prism to one of the prism mount locations on the
instrument.
Connect the main cable to the VS150.
Deploy the boom into the void, ensuring that the instruments sight lines within the void are
optimised and that the instrument is as far clear of the sidewalls as possible. Unspool the cable
along the boom.
Attach a second prism to the back end of the boom. The azimuth that defines the orientation of the
survey will be that from the prism on the boom to the prism on the instrument.
Use a total station to shoot in both prisms using the working mine coordinate system.
Note that the prism on the boom should be aligned with the prism on the probe. As far as possible,
ensure the probe will be upright so that the attached prism is pointing directly upwards. The prism
held on the end of the boom should then also be directly on top of the boom. Any misalignment
between the prisms will cause the calculation of azimuth to be incorrect.
Azimuth of boom taken

from observations to
prisms
Operational
guidelines
Boom
10-3
Prism on VS150
Prism on boom
Void
Tunnel
VS150 on boom viewed from above

Prism on boom
Boom
Prism on VS150
Tunnel
Void
VS150 on boom viewed from the side

If using the supplied battery, connect the main cable to the Power/Scanner port on the battery.
Connect the data cable to the Data port on the battery.
If using an alternative battery, connect the main cable to the Scanner port on the junction box.
Connect the data cable to the Data port on the junction box. Connect the power source to the
Power port on the junction box.
Connect the data cable to the serial port or USB-serial adaptor on the PC.
If using the WiFi box, connect the main cable to the Scanner port and turn the unit on. Establish a
connection between the WiFi box and the PC.
When powered up, the VS150s horizontal and vertical motors will turn and the laser head will park
in its home position.
Start the Cavity Profiler VS software.
Operational
guidelines
10.2.3
10-4
Configuring Cavity Profiler VS
In Cavity Profiler VS, create a new project. Enter a name for the project, then open the Site
manager window and add a station position.
If known at this stage, enter the prism coordinates, azimuth and prism position (if they are not
known at this stage, they can be entered once the scan is complete). Click Accept to connect to
the VS150 and enter Scanning mode.
Select the density of scan required by entering an increment. Give the scan a name as required,
then select the pattern of scan to be used most commonly Horizontal or Vertical.
10.2.4
During the scan
The scan will now progress without further user intervention. During the scan, the Scanning mode
window will display an update of the amount of scan time remaining and the status of the power
supply.
In the graphics window, the scan can be monitored in real time. Any obstructions or problems will
be immediately apparent.
The operator should take care to ensure that the boom and the VS150 are not moved during the
scan. Any movement will cause the scan to be distorted and inaccurate.
10.2.5
After the scan
On completion of the scan, the VS150 will park and the Cavity Profiler VS software will display the
text report.
A warning message will indicate if any movement was detected during the scan. If so, the operator
will need to judge whether another scan will be required.
The scan data displayed in the graphics window will allow a quick assessment of the quality of
the scan and of the amount of data collected. If required, further scans can now be begun using a
different scan increment or pattern.
If the coordinates of the prism and azimuth of the deployment were not entered prior to the scan,
these can be entered now. In the project tree, click the station and then the Display details button
to open the Edit Station position window. Edit the information as required.
If further scans are required to fill in gaps in the point cloud, these can be carried out in another
Cavity Profiler VS project. Ensure that the prism positions and azimuth that are used for each
scan are accurately located on the same coordinate system. The scans should then fit together
when exported to a third-party package.
It is recommended that the Cavity Profiler VS project be backed up onto a USB drive before the
PC is closed down.
Troubleshooting guide
The following list provides a guide to basic faults or problems which may occur during day-to-day
operation of the VS150, along with their possible causes and a recommended course of action to
take. It is strongly advised that, should any fault occur which is not listed, or if the recommended
action does not rectify the fault, contact should be made with Renishaw plc, or the nearest agent or
service centre.
Instrument does not power up when connected to power
Cause
Remedy
Reference in manual
Cables not connected
Ensure all connections are in

good condition and plugged in.
See VS150 hardware manual
Battery not charged
Ensure the battery is charged

prior to scanning operations.
Main cable or power cables

damaged
Check all pins, connectors and

cables for signs of damage.
Cause
Remedy
Reference in manual
Data cable not connected
Ensure all connections are in

good condition and plugged in.
USB-serial adaptor not

configured
Load the appropriate driver as

supplied with the VS150 system.
Section 3.2.1, Installing the

USB-serial driver
Wrong COM port selected
Ensure the correct PC COM port

is selected when attempting to
connect to the probe.
Section 3.2, Setting up the

VS150
Cannot connect to PC
No points being displayed during a scan

Cause
Remedy
Reference in manual
Zoomed in or out too far in

graphics window
Use the mouse wheel or shortcut

keys to zoom in or out.
Section 8.3, Graphics

window
Laser windows are dirty
Clean the laser windows

carefully.
Laser electronics faulty
Contact Renishaw or your local

service centre to arrange for
service.
Section 1, Customer
information
Troubleshooting
guide
11
11-1
Troubleshooting
guide
Scan incorrectly tilted
11-2
Cause
Remedy
Reference in manual
Pitch and roll sensors out of

calibration
Check the unit by scanning a flat,

square room. Check the floor is level.
If not, contact Renishaw or your local
service centre to arrange recalibration.
Section 1, Customer
information
VS150 moved during scan
Check the text report for any indication

that pitch and roll have changed during
the scan. Try rescanning the same
location. Ensure the unit is stable
throughout the scan.
Section 7.7, During a

scan
Mk2 VS150 unit has

limitations with its pitch and
roll sensors
With Mk2 VS150 units, try to keep the

roll of the unit to a minimum, especially
when deployed at inclinations close to
45.
See VS150 hardware

manual
Cause
Remedy
Reference in manual
Azimuth calculated
incorrectly
Measure the azimuth from a target on

the rear of the boom towards the target
on the VS150. Keep the instrument as
upright as possible, with the prism on
top.
Section 10.2.2, Setting

up the equipment
Boom moved between scan

and azimuth observations
The boom and the VS150 must be

stationary while the scan is taking place
and observations are made to prisms.
Section 10.2.4, During

the scan
Cause
Remedy
Reference in manual
Standing water or very

unreflective surfaces such
as coal are present
None. Laser ranging to wet or very dark

surfaces is unpredictable.
Section 10.1, System

limitations
Some surfaces in the void

are beyond the range of the
laser
Redeploy the VS150 from another

location if possible and combine the
scans to overcome range limitations.

limitations
Line-of-sight blocked by
rocks, pillars, debris etc
Redeploy the VS150 from another

location if possible and combine the
scans to overcome shadowing.
Section 10,
Operational guidelines
Scan incorrectly orientated
Holes in the point cloud
Cause
Remedy
Reference in manual
Dust or moisture in the void

is interfering with the laser
Switch on the last-hit option.
Section 7.3, Scan

controls
Standing water, running

water or wet surfaces
present in the void.
None. Laser ranging to wet surfaces is

unpredictable.

limitations
Point cloud spherical either wholly or in part

Cause
Remedy
Reference in manual
Thick dust or moisture

clouds in the void are
interfering with the laser
Switch on the last-hit option. If the

problem persists, wait for dust or
moisture to clear, if feasible.
Section 7.3, Scan

controls
Troubleshooting
guide
Point cloud is ill-defined and fuzzy
11-3
Troubleshooting
guide
11-4
Further information
The VS150 hardware manual is supplied with new systems alongside this software manual and
gives full information on the VS150 system hardware and accessories.
Training notes are available which give further guidance on deployments, potential error sources
and possible problems that can be encountered during deployment.
For copies of these documents, or for further advice on the VS150 equipment and applications,
contact your local Renishaw office or service centre.
Further
information
12
12-1
Further
information
12-2
Licence information
PACKAGE LICENCE (Licence)

IMPORTANT PLEASE READ CAREFULLY BEFORE INSTALLING THE SOFTWARE
BY INSTALLING THE SOFTWARE YOU CONFIRM YOUR ACCEPTANCE OF THE TERMS OF
THIS LICENCE AS SET OUT BELOW. IF YOU DO NOT AGREE TO THESE TERMS, YOU MUST
NOT INSTALL THE SOFTWARE AND MUST PROMPTLY RETURN THE PACKAGE TO THE
PERSON WHO SUPPLIED IT TO YOU.
In consideration for your agreeing to abide by the terms of this Licence Renishaw will grant you a
licence to use the Package provided that you fully accept all of the following terms and conditions:
You:
The person, firm or company receiving a Licence.
Renishaw: Renishaw plc, New Mills, Wotton-under-Edge, Gloucestershire, GL12 8JR, United
Kingdom.
Package:
The Package consists of the Cavity Profiler VS acquisition software (including all
modules, components and any updates) (Software), together with its manuals and
other supporting materials (Documentation) and any software protection techniques
(SPT) incorporated into or issued with it.
Use:
Internal use in your business only and you agree not to resell the Package or
otherwise provide any part of it to any third party. In particular, you specifically agree
that you will not rent, lease, sub-license, loan, translate, merge, adapt, vary or modify
any part of the Package.
Licence to use
This Licence is a non-exclusive licence to use the Package with any SPT issued with it on a single
CPU at any one time.
1.
Other than as stated below this Licence is non-transferable.
2.
All intellectual property and other rights in and title to the Package belong Renishaw who is
the owner of the Package. You acknowledge that the Package is only licensed and is not sold
to you.
3.
Renishaw shall replace or repair the Software if it does not materially perform to its
specification under proper use within 90 days of delivery. Except as stated in this paragraph,
all warranties, conditions and terms implied by law are excluded. In particular, no warranty is
given that the Package is bug or error-free.
Licence
information
13
13-1
Licence
information
4.
You acknowledge that the Package has not been specifically designed for your requirements
and that you are solely responsible for determining whether the Package is suitable for your
needs and requirements.
5.
LIMITATION OF LIABILITY IN CONNECTION WITH USE OF THE PACKAGE

(a) RENISHAW DOES NOT EXCLUDE LIABILITY FOR PERSONAL INJURY OR DEATH
CAUSED BY RENISHAWS NEGLIGENCE OR WHERE LIMITATION OF LIABILITY IS
OTHERWISE PROHIBITED OR CONSTRAINED BY LAW.
13-2
(b) IF THE PACKAGE WAS SUPPLIED FREE OF CHARGE, THEN SUBJECT TO

PARAGRAPH 5(a) ABOVE, RENISHAW HAS NO LIABILITY TO YOU.
(c) IF YOU HAVE PAID FOR THE LICENCE RENISHAWS LIABILITY IS LIMITED TO (A)
THE WARRANTY CONTAINED IN PARAGRAPH 2 ABOVE AND (B) DIRECT LOSSES
UP TO A MAXIMUM OF 50,000 IN TOTAL.
(d) RENISHAW HAS NO LIABILITY TO YOU FOR ANY INDIRECT, CONSEQUENTIAL
OR ECONOMIC LOSS (INCLUDING, WITHOUT LIMITATION, LOSS OF DATA OR
GOODWILL) OR FOR LOSS OF PROFIT, WHETHER DIRECT OR INDIRECT LOSS.
BY ACCEPTING THE TERMS OF THIS LICENCE YOU AGREE THAT THE LIMITATIONS OF
LIABILITY ABOVE ARE REASONABLE.
6.
You are authorised to make a backup copy of the Package for security purposes, providing
such copy includes all licence and copyright notices contained in the original without
modification.
7.
Provided that the Software is only used on one CPU at any time you may move it from one
CPU to another but installation of any additional copies of the Software is strictly subject to
Renishaws agreement and to your purchasing from Renishaw or its authorised suppliers any
additional licences or paying such additional fees as Renishaw may require.
8.
If the Package contains electronic manuals you may print out the manuals in part or in full as
reasonably required for your proper use of the Package, provided that the print-outs or copies
are not supplied to anyone other than your employees or contractors without Renishaws
written permission.
9.
Other than as permitted by law you may not and agree that you will not access or attempt to:
(a) Access any Software in source code or unlocked coding form;
(b) Reverse engineer, decompile or modify any part of the Package; or
(c) Re-use any components separately from the Package,
without Renishaws express written permission to do so.
11. Renishaw shall have the right to terminate this Licence immediately if you fail to comply with
any of these terms and conditions. You agree that when you receive notice of termination
from Renishaw your Licence and any other rights you may have in respect of the Package
will cease and you will immediately return to Renishaw or destroy all copies of the Package in
your possession or control.
12. This Licence constitutes the entire agreement between you and Renishaw. You acknowledge
that you have not relied on any statement, promise or representation made or given by or on
behalf of Renishaw which is not set out in this Licence.
13. Each provision of this Licence operates separately. If any court or competent authority
decides that any of them are unlawful or unenforceable, the remaining conditions will remain
in full force and effect.
14. This Licence is governed by English law and the English courts shall have exclusive
jurisdiction in respect of all matters arising from or in connection with it and the Package.
Licence
information
10. You may not make the Package available to any third party in any way (including but not
limited by providing access to the Package as a service) and neither this Licence nor the
Package may be transferred to a third party without Renishaws prior written agreement. Any
agreement by Renishaw to your transferring the Licence will be conditional on such terms as
Renishaw may require. These will include a requirement that the party to whom the Licence
is to be transferred agree to all terms of this Licence and your not retaining any copies of the
Package.
13-3
Licence
information
13-4
Renishaw plc
Redwood House, Northminster
Business Park, York, North
Yorkshire, YO26 6QR, UK
T +44 (0)1904 736736

F +44 (0)1904 736701
E spatialmeasurement@renishaw.com
www.renishaw.com
For worldwide contact details,

please visit our main website at
www.renishaw.com/contact
*H-5914-8500-02*

Vs SoftwareManual H 5914 8500 02A

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Software manual

2014 Renishaw plc. All rights reserved.

This document may not be copied or reproduced

RENISHAW HAS MADE CONSIDERABLE

The publication of material within this document

Renishaw part no: H-5914-8500-02-A

Dear customer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

User manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

Void Scanner 150 (VS150) Mk3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

Cavity Profiler VS software introduction and installation . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Setting up the VS150 software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

Cavity Profiler VS projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

Starting a project in Cavity Profiler VS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

Create a new project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

Project structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

Site manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

Adding station positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

Project settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

Control buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

Connecting to the VS150 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

Scanning mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

Command buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

Project tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

Software manual Cavity Profiler VS

Scan controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

Active scan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

Sweep separation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

Last Hit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

Red-dot pointer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

Precision mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6

Start Scan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6

Graphics window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6

View menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

Status bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9

During a scan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9

Processing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1

Command buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1

Project tree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8

Graphics window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10

View menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-11

Exporting data from Cavity Profiler VS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-13

Shortcut keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1

Throughout Cavity Profiler VS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1

Processing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1

Scanning mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1

Operational guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1

System limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1

Quick-start guide for boom deployment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1

Troubleshooting guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1

Further information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1

Licence information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1

Software manual Cavity Profiler VS

This page is intentionally left blank.

A VS150 hardware manual;

This Cavity Profiler VS software manual;

A WiFi box manual, supplied with this optional accessory.

Software manual Cavity Profiler VS

This page is intentionally left blank.

Void Scanner 150 (VS150) Mk3

Software manual Cavity Profiler VS

Cavity Profiler VS software introduction and

Ethernet port (WiFi capability optional)

Free disk space

Video card supporting Direct X 9.0 and OpenGL 2