RF627Weld [Revision 1.1.1] 03.08.2020
Laser Seam Tracking System for Welding Automation. RF627Weld Series
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15.6.5.5. Scanner status
For request 7 (status request), the robot expects a 16-bit status word with the
following meaning:
Bit number
Value
Decimal bit value
0
No Alarm
1
1
No External Alarm
2
2
No Temperature Alarm
4
3
Not too cold
8
4
Not too hot
16
5
No shut down
32
6
Laser Off
64
7
Laser Down
128
8
Laser Power control disabled
256
9
Flash Checksum invalid
512
10
Calibration Data missing
1024
11
Laser Ready(0x800)
2048
12
Laser On(0x1000)
4096
13
Reserved
8192
14
Reserved
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 status
:
[01H] [01H] [06H]
Sensor answer:
[82H] Answer from sensor
[00H] No error
Decimal:
[08H] High byte of status1
08H*256
2048
[40H] Low byte of staus1
40H
+ 64
----------------------------------------
= 2112
64
= Bit 6
> Laser Off
2048 = Bit 11
> Laser Ready (0x800)
15.6.6. Riftek P2 protocol
15.6.6.1. General information
Modbus TCP protocol.
The
Riftek P2
protocol is based on the client-server model (a robot is a client,
Riftek Lamia
is a server), works over TCP, and uses port 502 by default.
The server does not consider the device address and responds to any Modbus
TCP command.
Data is transmitted via reading/writing of holding registers. Command codes:
