ALTHEN FDRF603 Series User manual

05.2017 | version 20150618 Rev 4.1
Laser Triangulation sensors FDRF603 Series
Manual
FDRF603 Series
Certified according to ISO 9001:2008
Valid for sensors with serial numbers 19300 and higher

1. Safety precautions ...................................................................................................................….……………........4
2. Electromagnetic compatibility...................................................................................................….…………........4
3. Laser safety.............................................................................................................................….…….………...........4
3.1. Class 3B sensors......................................................................................….…….……….............................4
3.2. Class 3R sensors ..................................................................................................….…..………...................5
3.3. Class 2 sensors ........................................................................................................….……………..............5
3.4. Class 1 sensors ......................................................................................................….…………….................5
4. General information...........................................................................................................….…..……….................6
5. Basic technical data ........................................................................................….…..………...................................6
6. Example of item designation when ordering .....................................................….….…................................7
7. Structure and operating principle .........................................................................….….……..............................7
8. Dimensions and mounting......................................................................................….…………............................8
8.1. Overall and mounting dimensions ....................................................................….……….......................8
8.2. Mounting of the sensors for mirror surface control.....................................….……..........................9
8.3. Overall demands for mounting ......................................................................................….………...........9
9. Connection ...............................................................................................................................….……………….........9
9.1. Designation of connector contacts .........................................................….……….................................9
9.2. Cables..................................................................................................................….……..………....................10
10. Configuration parameters.............................................................................................….…..………....................11
10.1. Time limit for integration ..................................................................................….….……….....................11
10.2. Sampling mode.......................................................................................................….….….………..............11
10.3. Sampling period.......................................................................................................….……………...............11
10.4. The point of zero..........................................................................................….…….……….........................12
10.5. Line AL operation mode ......................................................................................….….………..................12
10.6. Time lock of the result ..........................................................................................….….….…….................13
10.7. Method of results averaging ......................................................................….…………............................13
10.8. Number of averaged values/time of averaging ...........................................….……..........................13
10.9. Factory parameters table......................................................................................….….………..................13
11. Description of RS232 and RS485 interfaces ..........................................................….….….….........................14
11.1. RS232 port ..........................................................................................................….……..….……...................14
11.2. RS485 port ..................................................................................................….…….….……............................14
11.3. Modes of data transfer.......................................................................................….….…..……....................14
11.4. Configuration parameters..................................................................................….….…..……...................14
11.4.1. Rate of data transfer through serial port..........................................….…….............................14
11.4.2. Net address.........................................................................................….…….………..........................14
11.4.3. Factory parameters table..........................................................................….…..…….....................14
11.5. Interfacing protocol .......................................................................................….…….………........................15
11.5.1. Serial data transmission format ......................................................….………..............................15
11.5.2. Communication sessions types .........................................................….………............................15
11.5.3. Request.......................................................................................................….……………....................15
11.5.4. Message ..................................................................................................….…………….......................15
11.5.5. Answer .....................................................................................................….…………….......................15
11.5.6. Data stream ............................................................................................….……………......................16
11.5.7. Output Rate....................................................................................................….…..…..……...............16
11.5.8. Request codes and list of parameters ..................................................….….….........................16
12. Description of CAN interface..........................................................................................….….…………................16
12.1. Modes of data transfer............................................................................................….….….……...............16
12.2. Configuration parameters...................................................................................….…………....................16
12.2.1. Data transmission rate via CAN interface..................................................….……....................16
12.2.2. Identifiers .............................................................................................................….…………….........16
12.2.3. Factory parameters table...........................................................................….…………..................17
12.2.4. Format of transmitted data.......................................................................….………......................17
13. Description of Ethernet interface..........................................................................................….…….……...........17
13.1. Modes of data transfer..............................................................................................….……………............17
13.2. Factory parameters table.........................................................................................….…………….............17
13.3. Data packet format .......................................................................................................….……………..........17
13.4. Data structure ...............................................................................................................….……………...........18
14. Analog outputs ..................................................................................................................….………………..............18
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Contents

14.1. Currentoutput4…20mA...............................................................................................….…..…...….........18
14.2. Voltage output .....................................................................................................….……………....................19
14.3. Configuration parameters............................................................................….…….……...........................19
14.3.1. Range of the analog output ..............................................................….……….............................19
14.3.2. Analog output operation mode......................................................................….………................19
14.4. Factory parameters table.....................................................................................….….….……...................19
15. Request codes and list of parameters ......................................................................….…..….….......................19
15.1. Request codes table........................................................................................….…..…..…….......................19
15.2. List of parameters.............................................................................................….……………......................20
15.3. Notes .......................................................................................................….…..…..….……...............................21
15.4. Examples of communication sessions ................................................….………….................................22
16. Parameterization program.........................................................................................….…..…..…….......................24
16.1. Function.............................................................................................................….…..…..…...……...................24
16.2. Program setup ................................................................................................….….…….…….........................24
16.3. Obtaining connection to sensor (RS232/RS485) .......................….….…..….......................................24
16.4. Checking of the sensor operability ............................................................................….….………...........25
16.5. Connection through Ethernet interface.....................................................................….………...............26
16.6. Display, gathering and scanning of data .................................................................……..……...............27
16.7. Setting and saving parameters of the sensor.....................................................….………..................27
16.7.1. Setting parameters ..................................................................................................….……………....27
16.7.2. Automatic data stream mode after power switch on..........................................….…............29
16.7.3. Saving parameters................................................................................................….……………........29
16.7.4. Saving and writing a group of parameters.........................................................….…….............29
16.7.5. Recovery of default parameters...........................................................................….….……...........29
17. RFSDK. ................................................................................................................................….…..….….….………..........29
18. Appendix ..................................................................................................................................….….……………….......30
18.1. Protective housing ........................................................................................................….………………........30
18.2. Spray guard ....................................................................................................................….……………….........31
18.3. Size of the laser spot and mounting space ....................................................................….…….…........31
18.4. Connector mounting options ...............................................................................................….….………....32
19. Warranty policy..........................................................................................................................….………………….....34
20. Revisions......................................................................................................................................….……….…………....34
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1. Safety precautions
• Use supply voltage and interfaces indicated in the sensor specifications.
• In connection/disconnection of cables, the sensor power must be switched off.
• Do not use sensors in locations close to powerful light sources.
• To obtain stable results, wait about 20 minutes after sensor activation to
achieve uniform sensor warm-up.
2. Electromagnetic compatibility
The sensors have been developed for use in industry and meet the requirements
of the following standards:
• EN 55022:2006 Information Technology Equipment. Radio disturbance characteristics.
Limits and methods of measurement.
• EN 61000-6-2:2005 Electromagnetic compatibility (EMC). Generic standards.
Immunity for industrial environments.
• EN 61326-1:2006 Electrical Equipment for Measurement, Control, and Laboratory Use.
EMC Requirements. General requirements.
3. Laser safety
The sensors correspond to the following laser safety classes according to IEC
60825-1:2007
Model of the sensor FDRF603-R FDRF603L FDRF603 FDRF603P
Wavelength 660 nm
Output power ≤0,2 mW ≤0,95 mW ≤3 or ≤4,8 mW ≤20 mW
Laser safety class 1 2 3R 3B
3.1. Class 3B sensors
The sensors make use of an c.w. 660 nm wavelength semiconductor laser. Maximum
output power is 20 mW. The sensors belong to the 3B laser safety class. The following
warning label is placed on the laser body:
The following safety measures should be taken while operating the sensor:
• Do not target laser beam to humans;
• Avoid staring into the laser beam through optical instruments;
• Mount the sensor so that the laser beam is positioned above or below the
eyes level;
• Mount the sensor so that the laser beam does not fall onto a mirror surface;
• Use protective goggles while operating the sensor;
• Avoid staring at the laser beam going out of the sensor and the beam reflected
from a mirror surface;
• Do not disassemble the sensor;
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• Use the protective screen mounted on the sensor for the blocking of the outgoing
beam;
• Use the laser deactivation function in emergency.
3.2. Class 3R sensors
The sensors make use of an c.w. 660 nm wavelength semiconductor laser. Maximum
output power is 5 mW. The sensors belong to the 3R laser safety class. The following
warning label is placed on the laser body:
The following safety measures should be taken while operating the sensor:
• Do not target laser beam to humans;
• Avoid staring into the laser beam through optical instruments;
• Mount the sensor so that the laser beam is positioned above or below the
eyes level;
• Use protective goggles when operating the sensor;
• Avoid staring into the laser beam;
• Do not disassemble the sensor.
3.3. Class 2 sensors
The sensors make use of an c.w. 660 nm wavelength semiconductor laser. Maximum
output power is 1 mW. The sensors belong to the 2 laser safety class. The following warning
label is placed on the laser body:
The following safety measures should be taken while operating the sensor:
• Do not target laser beam to humans;
• Do not disassemble the sensor;
• Avoid staring into the laser beam.
3.4. Class 1 sensors
The sensors make use of an c.w. 660 nm wavelength semiconductor laser. Max-
imum output power is <0,2 mW. The sensors belong to the 1 laser safety class.
The following warning label is placed on the laser body.
The following safety measures should be taken while operating the sensor:
• Avoid staring into the laser beam during a prolonged time period;
• Do not disassemble the sensor
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4. General information
The sensors are intended for non-contact measuring and checking of position,
displacement, dimensions, surface profile, deformation, vibrations, sorting and sensing
of technological objects as well as for measuring levels of liquid and bulk materials.
The series includes 26 sensors with the measurement range, from 2 to 1250 mm
and the base distance from 10 to 260 mm.
There are two options of laser mounted in the sensor, RED or BLUE laser. The
use of blue lasers instead of conventional red lasers greatly enhances capabilities of the
sensors, in particular, for such uses as control of high-temperature objects and organic
materials. Custom-ordered configurations are possible with parameters different from
those shown below.
5. Basic technical data
FDRF603- R-
X/4 X/2 X/5 X/10 X/15 X/25 X/30 X/50 X/100 X/250 X/500 X/750 X/1000 X/1250
Base distance X, MM 39 15 15 15, 25 15, 30 25, 45 35, 55 45, 65 60, 90
60 65 80 95 105 140 80 125 145 245 260
Measurementrange,mm 4 2 5 10 15 25 30 50 100 250 500 750 1000 1250
Linearity, % ±0.05 of the range ±0.1
Resolution, % 0.01 of the range (for the digital output only) 0.02
Temperature drift 0,02% of the range/ C
0
Max. measurement
frequency, Hz 9400
Light source red semiconductor laser, 660 nm wavelength or
UV semiconductor laser 405 nm wavelength (BLUE version)
Light source
model FDRF603
output power ≤0,2 ≤3 mW
laser safety Class 1 3R (IEC60825-1)
model FDRF603L
output power ≤0,95 mW
laser safety Class 2 (IEC60825-1)
model FDRF603P
output power ≤20 mW
laser safety Class 3B (IEC60825-1)
Output
interface
digital RS232 (max. 460,8 kbit/s) or RS485 (max. 921,6 kbit/s) or RS232 and CAN V2.0B (max 1Mbit/s)
or Ethernet and (RS32 or RS485)
analog 4…20 mA (£500Ωload) or 0…10 V
Synchronization input 2,4 – 5 V (CMOS, TTL)
Logic output programmed functions, NPN: 100 mA max; 40 V max for output
Power supply, V 9 …36
Power consumption, W 1,5..2
Environment re-
sistance
Enclosure rating IP67 ( for the sensors with cable connector only)
Vibration 20g/10…1000Hz, 6 hours, for each of XYZ axes
Shock 30 g / 6 ms
Operation tem-
perature,°C
-10…+60,(-30…+60 for the sensors with in-built heater),
(-30…+120 for the sensors with in-built heater and air cooling housing)
Permissible am-
bient light, lx 10000 – RF603L, 30000 – RF603, >30000 – RF603P
Relative humidity 5-95% (no condensation)
Storage tempera-
ture -20…+70 ,°C
Housing material aluminum
Weight (without cable), 100 gram
Note 1: RF603-R-39/4 sensor is designed to use with mirror surfaces and glass
Page 6 /34

6. Example of item designation when ordering
FDRF603(BLUE)(L/P)-X/D(R)-SERIAL-ANALOG-IN-AL-CC(R)(90)-M-H-P-B
Symbol Description
(BLUE) Blue (405 nm) laser option
L L or P – attribute showing Laser safety Class 2 or Class 3B
X Base distance (beginning of the range), mm
D Measurement range, mm
(R) Round shape laser spot (see p.19.3.)
SERIAL The type of serial interface: RS232-232 or RS485-485 or (CAN and RS232) - CAN,
or (Ethernet and RS232) –232-ET or (Ethernet and RS485) – 485-ET
ANALOG Attribute showing the presence of 4…20mA ( I ) or 0…10V ( U )
Note: 1) I output – only for sensors with RS232 or RS485
2) U output – only for sensors with RS232 or RS485 or CAN
IN Trigger input (input of synchronization) presence
AL User programmed signal, which has several purposes. It can be used as
1) logical output (indication of run-out beyond the range);
2) line of mutual synchronization of two and more sensors
3) line of hardware zero setting
4) hardware laser switch ON/OFF
Note: option AL is not available for sensors with in-built heater
CC(90X)(R) Cable gland - CG, or cable connector - CC (Binder 712, IP67)
Note 1: sensors with CAN or Ethernet interfaces have 2 connectors or two cable glands.
Note 2: 90(X) option – angle cable connector (see. p. 19.4)
Note 3: R option – robot cable
M Cable length, m
H Sensor with in-built heater
P Sensor with protect air cooling housing (see p.19.1)
B Sensor with spray guard (see p.19.2.)
Example: FDRF603L-140/100R-232-I-IN-AL-24-CCR90A-3 – Class 2 laser, base distance – 140 mm, range
– 100mm, round shape laser spot, RS232 serial port, 4…20mA analog output, trigger input and AL input
are available, cable connector, angle type, position "A", robot cable, 3 m cable length.
7. Structure and operating principle
Operation of the sensors is based on the principle of optical triangulation (Figure
1.). Radiation of a semiconductor laser 1 is focused by a lens 2 onto an object 6. Radiation
reflected by the object is collected by a lens 3 onto a linear CMOS array 4. A signal
processor 5 calculates the distance to the object from the position of the light spot on the
array 4.
WORKING RANGEBASE DISTANCE
Figure 1
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8. Dimensions and mounting
8.1. Overall and mounting dimensions
Overall and mounting dimensions of the sensors are shown in Figure 2 and 2.1.
Sensor package is made of anodized aluminum. The front panel of the package has two
Glass windows: one is output, the other for receiving radiation reflected from the object
under control. The package also contains mounting holes.
Sensors are equipped by cable gland or connector. Sensors with CAN or Ethernet interface
are equipped by two connectors, Figures 3 and 3.1.
Figure 2. Sensor with cable gland (CG) Figure 2.1. Sensor with connector (CC)
Figure 3. Sensor with two cable glands (CG) Figure 3.1. Sensor with two connector (CC)
Page 8/34

8.2. Mounting of the sensors for mirror surface control
Fig. 4 shows the requirements for the mounting of the RF603-R-39/4 sensor for
control of mirror objects and glass. The special mounting device is included into the
shipping, figure 5.
Figure 4 Figure 5
8.3. Overall demands for mounting
The sensor is positioned so that of object under control should place in this working range.
In addition, no foreign objects should be allowed to stay on the path of the incident and
reflected laser radiation. Necessary free space for the sensor mounting is shown in p. 19.3.
Where objects to be controlled have intricate shapes and textures, the incidence
of mirror component of the reflected radiation to the receiving window should be
minimized.
9. Connection
9.1. Designation of connector contacts
View from the side of connector contacts used in the sensor is shown in the following
figures. One connector sensors have connector #1
Connector #1 (Binder 712 Series, #09-0427-80-08 ) Connector #2 (Binder 712 Series, #09-0412-80-04 )
71
2
3
4
8
6
5
Page 9/34

Designation of contacts is given in the following tables:
Connector #1
Model of the sensor Pin number Assignment
(CAN/ET)-232-U/I-IN-AL
1
2
3
4
5
6
7
8
IN
Gnd (power supply)
TXD
RXD
Gnd (Common for signals)
AL
U/I
Power U+
(ET)-485-U/I-IN-AL
1
2
3
4
5
6
7
8
IN
Gnd (power supply)
DATA+
DATA-
Gnd (Common for signals)
AL
U/I
Power U+
Connector #2
Model of the sensor Pin number Assignment
ET
1
2
3
4
TX+
TX-
RX+
RX-
CAN
1
2
3
4
CAN_H
CAN_L
GND
9.2. Cables
Designation of cable wires is given in the table below:
Cable #1
Model of the sensor Pin number Assignment Wire color
(CAN/ET)-232-U/I-IN-AL
free lead
free lead
DB9
DB9
free lead
free lead
free lead
DB9
-
-
2
3
-
-
-
5
Power U+
Gnd (power)
TXD
RXD
U/I
IN
AL
Gnd (Common for signals)
Red
Brown
Green
Yellow
Blue
White
Pink
Gray
(ET)-485-U/I-IN-AL free leads
Power U+
Gnd (power)
DATA+
DATA-
U/I
IN
AL
Gnd (Common for signals)
Red
Brown
Green
Yellow
Blue
White
Pink
Gray
Cable #2
Model of the sensor Pin number Assignment Wire color
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