Riftek RF627Weld Series User Manual Download Page 59

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RF627Weld [Revision 1.1.1] 03.08.2020

Laser Seam Tracking System for Welding Automation. RF627Weld Series

15.5.5.2.9. Template 9 "Nearest point"

Template 9 is intended to be used in a case when the tracking point is the nearest

point of the profile.

The algorithm calculates the X-coordinate of the tracking point at the minimum Z-

coordinate.

Constraints

Measurements

Parameters

X-coordinate of the profile point

Summary of Contents for RF627Weld Series

Page 1: ...cording to ISO 9001 2015 LASER SEAM TRACKING SYSTEM FOR WELDING AUTOMATION 22 Logoisky tract Minsk 220090 Republic of Belarus tel fax 375 17 357 36 57 info riftek com User s manual www riftek com RF62...

Page 2: ...ation 14 12 Connection procedure 14 13 Setting parameters of the scanner 14 14 Web page 16 15 Riftek Lamia software 16 15 1 System requirements 16 15 2 Installation 17 15 3 User s interface 17 15 3 1...

Page 3: ...te 4 Square groove butt weld 55 15 5 5 2 5 Template 5 V groove weld 56 15 5 5 2 6 Template 6 Left edge 57 15 5 5 2 7 Template 7 Right edge 58 15 5 5 2 8 Template 8 Spot weld 59 15 5 5 2 9 Template 9 N...

Page 4: ...5 6 7 3 1 Assembly object class 0x04 76 15 6 7 3 2 Input assembly instance 0x65 77 15 6 7 3 3 Output assembly instance 0x66 77 15 6 7 3 4 Configuration assembly instance 0x64 78 15 6 8 PureUDP protoco...

Page 5: ...C EU directive 2011 65 EU RoHS category 9 3 Laser safety Scanners belong to 2M laser safety class according to IEC EN 60825 1 2014 Scanners make use of an c w 660 nm or 405 nm or 450 nm or 808 nm wave...

Page 6: ...IR version 808 nm We use different lasers due to a wide range of applications For example the use of blue lasers instead of red ones is optimal for the control of shiny materials and high temperature...

Page 7: ...ating an access point The controller comes optional Instead of the controller the customer can use a PC with Riftek Lamia software installed and a power supply unit Technical characteristics and overa...

Page 8: ...ler to the robot controller 5 4 3 Power cable The power cable is used to connect the scanner controller to 220V AC 5 5 Calibration plate The calibration plate is used to calibrate the scanner relative...

Page 9: ...2M according to IEC EN 60825 1 2014 Interface Basic Ethernet 1000 Mbps Synchronization inputs RS422 3 channels Power supply 9 30 V or 12 39 V for scanners with Blue laser Power consumption not more 6...

Page 10: ...10 Laser Seam Tracking System for Welding Automation RF627Weld Series RF627Weld Revision 1 1 1 03 08 2020 Figure 2 Figure 3...

Page 11: ...1 Specification Parameter Value Screen size 10 Screen resolution 1366 768 Screen type IPS Operating system GNU Linux RAM 2 GB Internal memory 32 GB Power supply 220 V Environmental resistance Relative...

Page 12: ...he end of the measuring range for Z coordinate mm Cable length m R Option robot cable A Built in air cooling system Ordering a water cooling system requires consultation with the manufacturer C Contro...

Page 13: ...7_Software_Tools_eng pdf 11 Network configuration All scanners are shipped with the following network configuration unless otherwise specified in the order Autonegotiation of connection speed 100 1000...

Page 14: ...by pressing the power button 4 Make network settings as described in the previous section 5 Supply power to the system 9 30 V or 12 39 V for scanners with blue laser NOTE 1 Within 8 seconds after powe...

Page 15: ...g on the operating mode of the scanner and its settings Temperature C Processor temperature CPU and internal temperature of the scanner Internal in C This information is used to assess the operating c...

Page 16: ...you must install the latest video card driver provided by the manufacturer If you need help to install the video card driver contact the manufacturer of the computer or the manufacturer of the video a...

Page 17: ...ch for scanners and connection MATHS Seam tracking and measurement PROTOCOLS Protocols for communication with industrial robots Toolbar Icon Assignment Hide show the left panel Switch to the full scre...

Page 18: ...ed Search on start Enabling automatic search for scanners on the network when the application starts Use compact UI Enabling the desktop version of the user interface Use virtual keyboard Using the vi...

Page 19: ...with the activation key To save the activation key to a file click To view information about the license click VIEW LICENSE DETAILS The information is presented on three tabs 15 3 4 Keyboard shortcut...

Page 20: ...the search automatically when you start the program When the scanner is detected the program activates the connection panel This panel displays the scanner series RF627 serial number 180003 and IP ad...

Page 21: ...ection you will see the scanner parameters on the left side of the window the PROFILE and IMAGE tabs and the obtained profile Scanner parameters are described in the following paragraphs Buttons assig...

Page 22: ...in the profile Packet The number of packets sent by the scanner internal counter of the scanner Measurement The number of profiles measured by the scanner internal counter of the scanner P speed Packe...

Page 23: ...anel Then expand the parameters panel you need and make changes All settings except for network parameters are applied immediately For the network parameters to take affect you need to click and resta...

Page 24: ...Exposure HDR OFF This mode is designed to expand the dynamic range of the sensor It is used in the control of complex objects containing areas with different reflectivity The expansion of the dynamic...

Page 25: ...gion of interest in manual mode Valid values from 0 to 488 Window height Window height 64 The size of the region of interest Valid values from 24 to 480 Required points count 324 This parameter is act...

Page 26: ...nfiguration port 50011 Scanner port number for the service protocol In order for the changes to take effect it is necessary to save them to the nonvolatile memory of the scanner and then restart the s...

Page 27: ...3 5 7 9 11 13 15 If the value is 0 the filter is disabled Bilateral filter width Disabled The size number of points of the sliding window of the bilateral smoothing filter Valid values 0 3 5 7 9 11 1...

Page 28: ...mplate you need to click on its icon After selecting Riftek Lamia automatically finds an appropriate profile and displays the calculated parameters These parameters are send to the robot controller in...

Page 29: ...plate Save and apply changes of some parameters for all templates works only for Invalid sequence Search distance 2D offset 2D offset Z This button will be active after clicking Reset all changes to t...

Page 30: ...these points is greater than the Search distance After the end of the invalid sequence a new point will be taken as valid Search range 1 5 The tolerance for the X coordinate parameter Unit of measure...

Page 31: ...ake effect There are six types of constraints 1 Line length The constraint of the line length L This constraint is defined by the lower and upper boundaries set in millimeters Minimum and Maximum fiel...

Page 32: ...nt distance but has an additional verification on the subject that the distance L from the end of one line LineFrom to the start of another line LineTo is less than the distance between other ends La...

Page 33: ...range 0 1 are possible 5 Far line in direction The coordinates of the two extreme points of the farthest line farPoint and nearPoint and the inclination angle of this line The direction is defined by...

Page 34: ...erence line and varies in the range from 180 to 180 15 5 5 Built in templates The software offers two sets of built in templates Measurement and Welding By default the software shows the Measurement s...

Page 35: ...e 2 consists of three lines and calculates the coordinates of the intersection points of these lines Constraints Measurements Parameters Endpoint distance with check Distance between lines 0 and 1 the...

Page 36: ...1 mm Distance between lines 1 and 2 the minimum distance is 0 mm the maximum distance is 1 mm Distance between lines 2 and 3 the minimum distance is 0 mm the maximum distance is 1 mm Rotation angle A...

Page 37: ...he left line endpoint and the starting point of the right line Constraints Measurements Parameters Endpoint distance with check Distance between lines 0 and 1 the minimum distance is 0 4 mm the maximu...

Page 38: ...extreme points of the rightmost line Constraints Measurements Parameters Endpoint distance with check Distance between lines 0 and 1 the minimum distance is undefined the maximum distance is 20 mm Ro...

Page 39: ...39 15 5 5 1 6 Template 6 Left line Template 6 calculates the coordinates of the extreme points of the leftmost line and its angle of inclination Constraints Measurements Parameters Far line in direct...

Page 40: ...0 15 5 5 1 7 Template 7 Right line Template 7 calculates the coordinates of the extreme points of the rightmost line and its angle of inclination Constraints Measurements Parameters Far line in direct...

Page 41: ...5 5 1 8 Template 8 Point Template 8 calculates the Z coordinate of the profile point in accordance with the user defined X coordinate Go to the Search tab in order to set the X coordinate see par 15...

Page 42: ...ion RF627Weld Series RF627Weld Revision 1 1 1 03 08 2020 15 5 5 1 9 Template 9 Point Y min Template 9 calculates the X coordinate of the profile point at the minimum Z coordinate Constraints Measureme...

Page 43: ...he minimum distance is 5 mm the maximum distance is 20 mm the angle is 90 from the first line Rotation angle Angle of rotation from line 0 to line 1 must be 22 5 the direction of rotation is undefined...

Page 44: ...he coordinates of the intersection point of these lines Constraints Measurements Parameters Endpoint distance with check Distance between lines 0 and 1 the minimum distance is undefined the maximum di...

Page 45: ...2 Slope Template 12 consists of one line and calculates its angle of inclination and coordinates of a middle point Constraints Measurements Parameters Line length Line length the minimum length is 5 m...

Page 46: ...mm the maximum length is undefined Line 1 the minimum length is 20 mm the maximum length is undefined Endpoint distance with check Distance between lines 0 and 1 the minimum distance is 2 mm the maxim...

Page 47: ...5 1 14 Template 14 Amplitude Template 14 measures the maximum and minimum height of the surface profile and calculates the difference between the maximum and minimum values The amplitude is calculated...

Page 48: ...arch tab see par 15 5 2 By default this template is in the mode for measuring the lowest part In order to measure the highest part it is necessary to select Inverse search in the Search tab Constraint...

Page 49: ...detects the hill on this line and measures its height and the Z coordinate at X 0 This template calculates the Z coordinate of the profile point or the Z coordinate of the approximated line point dep...

Page 50: ...asurements Parameters Circle center Radius Circle criterion see par 15 5 2 the maximum value of the circle quality with which a profile will be defined as a circle The circle quality the standard devi...

Page 51: ...ile lines and calculates coordinates of their point of intersection This point of intersection can be used as the tracking point Constraints Measurements Parameters Endpoint distance with check Distan...

Page 52: ...istance is 5 mm Distance between lines 1 and 2 the minimum distance is undefined the maximum distance is 5 mm Distance between lines 2 and 3 the minimum distance is undefined the maximum distance is 5...

Page 53: ...Measurements Parameters Endpoint distance with check Distance between lines 0 and 1 the minimum distance is undefined the maximum distance is 10 mm Distance between lines 1 and 2 the minimum distance...

Page 54: ...rameters Line length Line 0 the minimum length is 20 mm the maximum length is undefined Line 1 the minimum length is 20 mm the maximum length is undefined Endpoint distance with check Distance between...

Page 55: ...he Search position in the SEARCH tab see section 14 6 2 The algorithm also calculates the height and width of the groove and the inclination angle of a flat area Constraints Measurements Parameters Po...

Page 56: ...receive a correct information for tracking and the other side gives clear information The algorithm looks for the leftmost line of the all profile lines and calculates the coordinates of its right poi...

Page 57: ...receive a correct information for tracking and the other side gives clear information The algorithm looks for the rightmost line of the all profile lines and calculates the coordinates of its left po...

Page 58: ...or spot welds The algorithm allows the user to set the X coordinate of the tracking point in accordance with which the Z coordinate will be calculated If necessary the user can set the tolerance for t...

Page 59: ...9 15 5 5 2 9 Template 9 Nearest point Template 9 is intended to be used in a case when the tracking point is the nearest point of the profile The algorithm calculates the X coordinate of the tracking...

Page 60: ...ges of sheet metal with the thickness of several millimeters The algorithm looks for one profile line and calculates its angle of inclination and coordinates of a middle point Constraints Measurements...

Page 61: ...ose the window click CANCEL 15 5 6 2 Copying a template To create a copy select a template and click The copied template will be added to the end of the list 15 5 6 3 Removing a template Enable the Ed...

Page 62: ...e the Edit mode after editing 15 5 6 5 Restoring a default set of templates To restore a default set of templates click You will be prompted to confirm the action Click SUBMIT to confirm the action ot...

Page 63: ...as well as delete and move existing ones To draw a new line from the extreme point select the Line from here option To move a line use the Move option to delete Delete line To create a new line not f...

Page 64: ...here is another way to call the Template Wizard Open the Select templates window by clicking on In the Select templates window click on 15 6 PROTOCOLS tab Working with welding robots 15 6 1 General in...

Page 65: ...d perform the following steps Step Description 1 Click the SEARCH button and connect to the scanner 2 Go to the PROTOCOLS tab and click LOCK SENSOR NOTE This step is performed only once when connectin...

Page 66: ...Transaction ID set by the client copied by the server in response 2 2 ProtoID Protocol type 0 Modbus 4 2 Len1 Quantity of following bytes 6 1 UnitID Slave address 7 1 Fn1 Function number 4 8 2 Adr1 S...

Page 67: ...on is taken as the gap the 34th byte LightDir the direction of laser radiation 0 L 1 R the 35th byte CMD the type of mathematical calculation see Table The most significant bit in the 36th byte Strobe...

Page 68: ...r every received packet State Enable the selected protocol When the State option is enabled you cannot change parameters in the PROTOCOLS tab 15 6 5 2 Client robot requests The robot sends requests to...

Page 69: ...e selected point Note If there are more than one point selected only coordinates of the first point will be sent to the robot 6 Offset Y the X coordinate of the most right point Offset Z the Z coordin...

Page 70: ...Z coordinate of the most right point 7 Offset Y the X coordinate of the most left point Offset Z the Z coordinate of the most left point 8 Offset Y the X coordinate set by the user Offset Z the Z coor...

Page 71: ...d 16384 15 Reserved 32768 NOTE Bits 6 11 12 must be set by the scanner and will be used by the robot Data values are transmitted in the two s complement system 15 6 5 6 Example Robot request for statu...

Page 72: ...from the robot Debug log Save the debug log time and type of request from the robot bytes of commands the response time of the program response bytes error text LOAD CALIBRATION OBJECT Load the calib...

Page 73: ...bit Least significant bit 16 bit 15 bit Robot Y 10 absolute value 1 bit Least significant bit 16 bit 15 bit Robot Z 10 absolute value 1 bit Least significant bit 16 bit 8 bit Robot W 10 absolute valu...

Page 74: ...object oriented Common Industrial Protocol CIP To EtherNet IP enabled devices on the network the Riftek Lamia information is seen as a collection of objects which have attributes that can be queried...

Page 75: ...receiving data The Assembly object contains Input and Output assemblies the input assembly 16 bytes the output assembly 16 bytes The data attribute 0x03 of the assembly objects is a byte array The dat...

Page 76: ...model includes the following assemblies Input Assembly instance 0x65 Output Assembly instance 0x66 Configuration Assembly instance 0x64 All assembly object instances are static Data in a data byte arr...

Page 77: ...7 W coordinate 0 14 bits W coordinate of robot 10 module 15 bit Least significant sign bit 8 9 P coordinate 0 14 bits P coordinate of robot 10 module 15 bit Least significant sign bit 10 11 R coordin...

Page 78: ...ing registers The PROTOCOLS tab with the PureUDP protocol selected Parameters and buttons Parameter Description Sensor s n Serial number of the scanner Sensor target port UDP port to which the scanner...

Page 79: ...icant bit 16 bit 15 bit Robot R 10 absolute value 1 bit Least significant bit 16 bit 15 bit Scanner 2D Point X 10 absolute value 1 bit Least significant bit 16 bit 15 bit Scanner 2D Point Y 10 absolut...

Page 80: ...value 1 least significant bit sign For any commands different from mentioned here Riftek Lamia will respond with the garbage values or write data which will not be taken into account in Riftek Lamia...

Page 81: ...tem of the scanner in its conversion through the reference system of the arm robot and plate scanner calibration test with respect to the arm Buttons assignment Button Assignment CAPTURE Capture the c...

Page 82: ...sure that the current position of the scanner is suitable for calibration the program must show Profile is OK Yes An example of a profile suitable for calibration is shown in the screenshot below 7 Cl...

Page 83: ...tart to start the update process You will see If the IP address settings haven t been changed after completing the firmware update process and restarting the scanner the web interface will automatical...

Page 84: ...king range of the scanner ROI mode is enabled and the object is beyond the ROI area Check ROI settings on the web page Obtaining an incorrect profile Scanner windows are not clean Clean the windows wi...

Page 85: ...66 240 Americana SP Brazil Tel 55 19 36047068 Fax 55 19 34681791 capi capicontrole com br www capicontrole com br CHILE Verne SpA Apoquindo 2818 oficina 31 Las Condes Santiago Chile Tel 56 2 228858633...

Page 86: ...tanuj paragoninstruments com www paragoninstruments com INDONESIA PT DHAYA BASWARA SANIYASA Botanic Junction Blok H 9 NO 7 Mega Kebon Jeruk Joglo Jakarta 11640 Indonesia Tel 62 21 29325859 management...

Page 87: ...4 Republic of Korea Tel 82 32 811 3457 Fax 82 32 232 7458 trade prosen co kr www prosen co kr SOUTH KOREA BS Holdings B 201 Wonpogongwon 1ro 59 Danwon gu Ansan si Gyeonggi do 15455 Republic of Korea T...

Page 88: ...s Tiffield road Towcester Northents Tel 44 1327 353437 Fax 44 1327 353564 info ixthus co uk www ixthus co uk USA CANADA MEXICO International Electronic Machines Corporation RAILWAY INSTRUMENTS ONLY 85...

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