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Laser Seam Tracking System for Welding Automation. RF627Weld Series
RF627Weld [Revision 1.1.1] 03.08.2020
Parameters and buttons:
Parameter
Description
Sensor s/n
Serial number of the scanner.
Sensor target port
UDP port to which the scanner sends profiles (6003 by default).
Protocol
Protocol selection.
Server port
Host PC port (5020 by default).
Timeout, s
Time after which the protocol will be disabled if there are no commands or requests
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.
LOCK SENSOR
Lock the scanner to the protocol settings.
Force template change Forced template change for 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 the scanner by packets of at least 3 bytes in length.
The first byte indicates if the robot sends a command (02h) or requests data (01h).
The second byte is the number of commands or data for this packet (usually 1).
The third byte indicates the command or the data request.
#
Request
Read / Write
(byte 0)
Number of
variables
Command or
Data
Value
1 Sensor On
02h
01h
13h
01h
2 Sensor Off
02h
01h
06h
00h
3 Start track (Laser on and
measure)
02h
01h
06h
01h
4 End track (Laser off)
02h
01h
06h
00h
5 Set joint ID
02h
01h
10h
xx (joint number in
hex)
6 Request joint data
01h
06h
08h 09h 0Ah 0Bh 0Ch 0Dh *
Important!
It is necessary to transfer
all six values.
7 Request status
01h
01h
06h
—
8 Request joint ID
01h
01h
10h
—
