RF627Weld [Revision 1.1.1] 03.08.2020
Laser Seam Tracking System for Welding Automation. RF627Weld Series
67
25-28 bytes - the 2nd control point, coordinate Z
29-32 bytes - the 3rd control point, coordinate X (not used)
33-36 bytes - the 3rd control point, coordinate Z (not used)
Unit of measurement of all values – micrometer. X – signed, Z – unsigned.
The value "99" is reserved as erroneous.
Data transmission from the robot to the scanner
:
the 27th byte
Polynom Degree
- the polynom degree (experimentally proved, when
degree is less than 7, the returned result can be incorrect, by default "10" - see the Notes
column in the Table below)
28-29 bytes
CenterX
- the center of search area of control points along X-axis*
30-31 bytes
Amplitude
- the half-width of search area of control points along X-
axis*
32-33 bytes
MaxBreak
- the limit value of distance between the points. If distance
between the points is greater than this value, then this position 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
) is the data transmission request
(strobe bit).
* Values CenterX, Amplitude and MaxBreak are specified in 0.1mm. CenterX is
signed, and the rest are unsigned.
The Measurement set (see par.
):
Calculation type
Command
number (Byte 35)
Notes
Template 1
0
When the Polynom Degree transmission = 0, an adaptive algorithm
of calculations will be used (priority of tracking in the window with
polynom degree = 7). In other calculations, PolynomDegree
transmission = 0 means that a default value is used.
Template 2
1
Template 3
2
Template 4
3
Template 5
4
Template 6
5
Template 7
6
Template 8
7
The X value is specified by CenterX
Turn off the laser
80h
Turn on the laser
81h
15.6.5. R691 USI protocol
15.6.5.1. General information
The
R691 USI
protocol is based on the client-server model (
Riftek Lamia
is a
server, a robot is a client), works over TCP, and uses port 5020 by default.
The
PROTOCOLS
tab with the
R691 USI
protocol selected:
