Riftek RF627Weld Series, User Manual

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Laser Seam Tracking System for Welding Automation. RF627Weld Series
RF627Weld [Revision 1.1.1] 03.08.2020
15.6.7.2.3. Ethernet link object (class 0xF6)
Attribute Name Type Value Description Access
1 Interface Speed UDINT 1000 Ethernet interface data rate
(mbps) Get
2 Interface Flags UDINT Bit 0: Link Status
0 - Inactive
1 - Active
Bit 1: Duplex
0 - Half Duplex
1 - Full Duplex Get
3 Physical Address Array of
6 USINTs
MAC address (for example:
11 22 33 44 55 66) Get
15.6.7.3. Implicit messaging
Implicit messaging uses UDP and is faster than explicit messaging, and is ideal for
time-critical applications. However, implicit messaging is layered on top of UDP. UDP is
connectionless and data delivery is not guaranteed. For this reason, implicit messaging is
only suitable for applications where occasional data loss is acceptable.
15.6.7.3.1. Assembly object (class 0x04)
For implicit messaging, the Lamia Ethernet/IP object 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 array in an assembly
object are stored in the big endian format.
15.6.7.3.2. Input assembly (instance 0x65)
Input assembly:
Information Value
Class 0x04
Instance 0x65
Attribute Number 3
Length 16 bytes
Input assembly information:
Byte Name Description
0-1 3D X coordinate 0-14 bits: 3D X coordinate of scanner * 10 (module)
15 bit: Least significant sign bit
2-3 3D Y coordinate 0-14 bits: 3D Y coordinate of scanner * 10 (module)
15 bit: Least significant sign bit
4-5 3D Z coordinate 0-14 bits: 3D Z coordinate of scanner * 10 (module)
15 bit: Least significant sign bit
6 Counter The latest counter received from the robot (unsigned)
7 Reserved Reserved for future use
8-9 P coordinate 0-14 bits: P coordinate of robot * 10 (module)
15 bit: Least significant sign bit
10-11 R coordinate 0-14 bits: R coordinate of robot * 10 (module)
15 bit: Least significant sign bit
12-13 2D X coordinate 0-14 bits: 2D X coordinate of scanner * 10 (module)