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Laser Seam Tracking System for Welding Automation. RF627Weld Series
RF627Weld [Revision 1.1.1] 03.08.2020
15.6.8.3. Operation logic
1) The robot writes at least six registers (will be taken only six, starting with zero) by
six coordinates in the following format: 15 bit - value, 1 least significant bit - sign. The float
value transmitted by the robot will be multiplied by 10 in order to contain 1 digit after the
point.
2) The robot reads at least eight registers. Riftek Lamia returns eight registers,
containing:
- 3D coordinates (XYZ) of a point found by a template (in the robot coordinate
system);
- 3 angles that were returned by the robot the last time (by a command 0x10);
- coordinates (XZ) of a point found by a template (in the scanner coordinate
system).
Each value is multiplied by 10 to be transmitted and occupies 1 register. The
format: 15 bit - 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.
15.6.9. Scanner calibration
15.6.9.1. "Calibration" panel
Calibration is required only for Riftek P2 and Riftek P3 protocols.
To activate the
Calibration
panel, it is necessary to select the
Riftek P2
or
Riftek
P3
protocol in the
PROTOCOLS
tab and click the
CALIBRATION
button. The
Calibration
panel appears:
Calibration data:
Data
Description
Robot data
Current coordinates of the robot.
Profile is OK
Shows whether the current profile is suitable for calibration or not (Yes / No). The profile is
taken from the scanner at the moment when the robot sends the coordinates.
Result
Calibration result (Success / Fail).
Calibration parameters:
Parameter
Maximum valid
value
Description
Plate distance
0.2 mm
The standard deviation of all measured points of the plate from a
reference plate at each position with a direct translation of coordinates
