Riftek RF602 Series User manual

Certified according to ISO 9001:2015
LASER TRIANGULATION SENSORS
22, Logoisky tract, Minsk
220090, Republic of Belarus
tel/fax: [phone]
[e-mail]
User's manual
www.riftek.com
RF602 Series

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Laser Triangulation Sensors. RF602 Series
RF602 [Revision 1.2.0] 28.01.2019
Contents
.............................................................................................................................................41. Safety precautions
.............................................................................................................................................42. CE сompliance
.............................................................................................................................................43. Laser safety
.............................................................................................................................................44. General information
.............................................................................................................................................55. Basic technical data
.............................................................................................................................................66. Example of item designation when ordering
.............................................................................................................................................67. Structure and operational principle
.............................................................................................................................................68. Dimensions and mounting
........................................................................................................................................... 68.1. Overall and mounting dimensions
........................................................................................................................................... 78.2. Overall demands for mounting
.............................................................................................................................................79. Connection
.............................................................................................................................................810. Configuration parameters
........................................................................................................................................... 810.1. Time limit for integration
........................................................................................................................................... 810.2. Sampling mode
........................................................................................................................................... 810.3. Sampling period
........................................................................................................................................... 910.4. Zero point
........................................................................................................................................... 910.5. Line AL operation mode
........................................................................................................................................... 1010.6. Time lock of the result
........................................................................................................................................... 1010.7. Method of results averaging
........................................................................................................................................... 1010.8. Number of averaged values/time of averaging
........................................................................................................................................... 1110.9. Factory parameters table
.............................................................................................................................................1111. Description of RS232 and RS485 interfaces
........................................................................................................................................... 1111.1. RS232 port
........................................................................................................................................... 1111.2. RS485 port
........................................................................................................................................... 1111.3. Serial data transmission format
........................................................................................................................................... 1111.4. Modes of data transfer
........................................................................................................................................... 1111.5. Communication sessions types
........................................................................................................................................... 1211.6. Configuration parameters
................................................................................................................. 1211.6.1. Rate of data transfer through serial port
................................................................................................................. 1211.6.2. Net address
................................................................................................................. 1211.6.3. Factory parameters table
........................................................................................................................................... 1211.7. RIFTEK protocol (binary format)
................................................................................................................. 1211.7.1. Request ................................................................................................................. 1311.7.2. Answer ................................................................................................................. 1311.7.3. Data stream
................................................................................................................. 1311.7.4. Output rate
................................................................................................................. 1311.7.5. Request codes table
................................................................................................................. 1411.7.6. List of parameters
................................................................................................................. 1511.7.7. Notes ................................................................................................................. 1511.7.8. Examples of communication sessions
........................................................................................................................................... 1811.8. Modbus RTU protocol (binary format)
................................................................................................................. 1811.8.1. Input Registers (Read only)
................................................................................................................. 1811.8.2. Holding Registers (Read / Write)
........................................................................................................................................... 1911.9. ASCII format
.............................................................................................................................................2012. Analog outputs
........................................................................................................................................... 2012.1. Current output 4…20 mA
........................................................................................................................................... 2112.2. Voltage output 0…10 V
........................................................................................................................................... 2112.3. Configuration parameters
................................................................................................................. 2112.3.1. Range of the analog output
................................................................................................................. 2112.3.2. Analog output operation mode
........................................................................................................................................... 2112.4. Factory parameters table
.............................................................................................................................................2113. Parameterization program

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........................................................................................................................................... 2113.1. Function
........................................................................................................................................... 2213.2. Program setup
........................................................................................................................................... 2213.3. Obtaining connection to sensor (RS232/RS485)
........................................................................................................................................... 2313.4. Checking of the sensor operability
........................................................................................................................................... 2413.5. Connection via the ASCII interface
........................................................................................................................................... 2513.6. Connection via the Modbus RTU protocol
........................................................................................................................................... 2613.7. Display, gathering and scanning of data
........................................................................................................................................... 2713.8. Setting and saving parameters of the sensor
................................................................................................................. 2713.8.1. Setting parameters
................................................................................................................. 2713.8.2. Automatic data stream mode after power switch on
................................................................................................................. 2713.8.3. Saving parameters
................................................................................................................. 2813.8.4. Saving and writing a set of parameters
................................................................................................................. 2813.8.5. Recovery of default parameters
.............................................................................................................................................2814. RFSDK library
.............................................................................................................................................2815. Warranty policy
.............................................................................................................................................2816. List of changes
.............................................................................................................................................2917. Distributors

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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. CE сompliance
The sensors have been developed for use in industry and meet the requirements of
the following Directives:
· EU directive 2014/30/EU. Electromagnetic compatibility (EMC).
· EU directive 2011/65/EU, “RoHS“ category 9.
3. Laser safety
The sensors make use of an c.w. 660 nm (or 405 nm or 450 nm) wavelength
semiconductor laser. Maximum output power is 1 mW. The sensors belong to the 2 laser
safetyclass. The following warning label is placed on the sensor body:
The following safety measures should be taken while operating the sensor:
· Do not target the laser beam to humans.
· Do not disassemble the sensor.
· Avoid staring into the laser beam.
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 6 models of sensors with the measurement range from 10 to
500 mm and the base distance from 20 to 105 mm.
There are two options of laser mounted in the sensor: RED laser (660 nm) or BLUE
laser (405 or 450 nm). 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.

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5. Basic technical data
RF602-
20/10
20/25
30/50
55/100
65/250
105/500
Base distance, mm
20
20
30
55
65
105
Range, mm
10
25
50
100
250
500
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/°С
Max. measurement
frequency, Hz
9400
Light source
red semiconductor laser, 660 nm wavelength;
blue or UV semiconductor laser, 405 nm or 450 nm wavelength (BLUE version)
Output power, mW
1
Laser safety class
2 (IEC60825-1)
Output interface:
Digital
RS232 or RS485 (max. 921,6 kbit/s)
Analog
4…20 mA (load 500 Ohm) or 0…10 V
Synchronization input, V
2,4 – 24
Logic output
programmed functions, NPN: 100 mA max; 40 V max
Power supply, V
9...36
Power consumption, W
1.5...2
Environmental
resistance:
Enclosure rating
IP67
Vibration
20 g /10…1000 Hz, 6 hours for each of XYZ axes
Shock
30 g / 6 ms
Operating ambient
temperature, °С
-10…+60
Permissible ambient
light, lx
10000
Relative humidity, %
5-95 (no condensation)
Storage temperature,
°С
-20…+70
Housing material
aluminum
Weight (without cable),
gram
40

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6. Example of item designation when ordering
RF602(BLUE)-X/D-SERIAL-ANALOG-IN-AL--M
Symbol
Description
(BLUE)
Blue laser option (405 nm or 450 nm)
X
Base distance (beginning of the range), mm
D
Measurement range, mm
SERIAL
The type of serial interface: 232 (RS232) or 485 (RS485)
ANALOG
Attribute showing the presence of analog output: 4…20 mA (I) or 0…10 V (U)
IN
Synchronization input
AL
User programmable input/output signal
М
Cable length, m
Example: RF602-65/250-232-I-IN-AL-3 – red laser, base distance - 65 mm, measurement range - 250 mm,
RS232 serial port, 4…20 mA analog output, synchronization input and AL output are available, cable length -
3 m.
7. Structure and operational 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).
Moving the object (6 - 6') causes the corresponding shift of the image. A signal processor
(5) calculates the distance to the object from the position of the light spot on the array (4).
Figure 1
8. Dimensions and mounting
8.1. Overall and mounting dimensions
Overall and mounting dimensions of the sensors are shown in Figure 2. The sensor
housing is made of anodized aluminum. The front panel of the housing has a glass window.
The housing also contains mounting holes. The cable is mounted on the sensor without
connector.

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Figure 2
8.2. Overall demands for mounting
The sensor is positioned so that the object under control has to be placed in the
working range of the sensor. In addition, no foreign objects should be allowed to stay on the
path of the incident and reflected laser radiation.
Where the 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
Assignment of the cable wires is shown in the table below:
Model of the
sensor
Pin number
Assignment
Wire color
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
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

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10. Configuration parameters
The nature of operation of the sensor depends on its configuration parameters,
which can be changed only by transmission of commands through serial port RS232 or
RS485. The basic parameters are as follows:
10.1. Time limit for integration
Intensity of the reflected radiation depends on the surface characteristics of the
object under control. Therefore, the output power of the laser and the time of integration of
radiation incident onto the CMOS-array are automatically adjusted to achieve the maximum
measurement accuracy.
Parameter "time limit for integration" specifies the maximum allowable time of
integration. If the radiation intensity received by the sensor is so small that no reasonable
result is obtained within the time of integration equal to the limiting value, the sensor
transmits a zero value.
Note 1. The measurement frequency depends on the integration time of the
receiving array. The maximum frequency (9,4 kHz) is achieved for the integration time 106
s (minimum possible integration time is 3 s). As the integration time increases above
106 s, the result updating time reduces proportionally.
Note 2. Increasing of this parameter expands the possibility of control of low-
reflecting (diffuse component) surfaces; at the same time this leads to reduction of
measurement frequency and increases the effects of exterior light (background) on the
measurement accuracy. Factory setting of the limiting time of integration is 3200 s.
Note 3. Decreasing of this parameter lets to increase the measurement frequency,
but can decrease the measurement accuracy.
10.2. Sampling mode
This parameter specifies one of the two result sampling options in the case where
the sensor works in the data stream mode:
· Time Sampling;
· Trigger Sampling.
When Time Sampling is selected, the sensor automatically transmits the
measurement result via serial interface in accordance with the selected time interval
(sampling period).
When Trigger Sampling is selected, the sensor transmits the measurement result
when the external synchronization input (IN input of the sensor) is switched and taking the
division factor set into account.
10.3. Sampling period
If the Time Sampling mode is selected, the ‘sampling period’ parameter determines
the time interval in which the sensor will automatically transmit the measurement result. The
time interval value is set in increments of 1 s.
If the Trigger Sampling mode is selected, the ‘sampling period’ parameter
determines the division factor for the external synchronization input. For example, for the
parameter value equal to 100, data are transmitted through bit-serial interface when each
100th synchronizing pulse arrives at IN input of the sensor.
Note 1. It should be noted that the ‘sampling mode’ and ‘sampling period’
parameters control only the transmission of data. The sensor operation algorithm is so built
that measurements are taken at a maximum possible rate determined by the integration
time period, the measurement results are sent to buffer and stored therein until a new result

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arrives. The above-mentioned parameters determine the method of the readout of the result
form the buffer.
Note 2. If the bit-serial interface is used to receive the result, the time required for
data transmission at selected data transmission rate should be taken into account in the
case where small sampling period intervals are used. If the transmission time exceeds the
sampling period, it is this time that will determine the data transmission rate. The calculation
of time required to transmit the result is given in п. 11.7.4.
Note 3. It should be taken into account that the sensors differ in some variation in
the parameters of the internal generator, which affects the accuracy of the Time Sampling
period.
10.4. Zero point
This parameter sets a zero point of absolute system of coordinates in any point
within the limits of a working range. You can set this point by corresponding command or by
connecting AL input to the ground line (this input must beforehand be set to mode 4). When
the sensor is fabricated, the base distance is set with a certain uncertainty, and, if
necessary, it is possible to define the point zero more accurately.
10.5. Line AL operation mode
This line can work in one of the eight modes defined by the configuration parameter
value:
· mode 1: indication of run-out beyond the range;
· mode 2: mutual synchronization of two or more sensors ("Slave");
· mode 3: mutual synchronization of two or more sensors ("Master");
· mode 4: hardware zero-set line;
· mode 5: hardware laser switch OFF/ONN;
· mode 6: encoder;
· mode 7: input;
· mode 8: reset of the Ethernet packets counter.
In the "Indication of run-out beyond the range" mode, logical “1” occurs on the AL
line if an object under control is located within the working range of the sensor (within the
selected window in the range), and logical "0" occurs if the object is absent in the working
range (within the selected window). For example, in such mode this line can be used for
controlling an actuator (a relay) which is activated when the object is present (absent) within
the selected range (Fig. 3.1).
The "Mutual synchronization" mode makes it possible to synchronize
measurement times of two and more sensors. It is convenient to use this mode to control
one object with several sensors, e.g., in the measurement of thickness. On the hardware
level, synchronization of the sensor is effected by combining AL lines (Fig. 3.2). Using the
parametrization program, one of the sensors should be set to the "Master" mode, and the
rest - to the "Slave" mode.
In the "Hardware zero-set" mode, connection AL input to the ground potential sets
the beginning of coordinates into the current point (Fig. 3.3)*.
In the "Hardware laser switch OFF/ON" mode, connection AL input to the ground
potential switches the laser ON/OFF (Fig. 3.3)*.
In the "Encoder" mode, the AL and IN lines work as inputs of quadrature signals. In
this mode, the encoder can be connected to these lines, and the measurements will be
synchronized with the encoder.
In the "Input" mode, the AL line state is transmitted in the status word in the Ethernet
packet.

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In the "Reset of the Ethernet packets counter" mode, connection AL input to the
ground potential resets the counter (Fig. 3.3)*.
*Note. A low level of the AL line is holding for 100 s or more, and a high level of
the AL line is holding for 100 s.
Out of the range indication
Mutual synchronization
Hardware zero-set/
Hardware laser ON/OFF
Figure 3.1
Figure 3.2
Figure 3.3
10.6. Time lock of the result
If the sensor does not find the object or if the authentic result cannot be received, a
zero value is transferred. The given parameter sets time during which the last authentic
result is transferred.
10.7. Method of results averaging
This parameter defines one of the two methods of averaging of measurement
results implemented directly in the sensor:
· Averaging over a number of results
· Time averaging
When averaging over a number of results is selected, sliding average is
calculated.
When time averaging is selected, the results obtained are averaged over the time
interval chosen.
10.8. Number of averaged values/time of averaging
This parameter specifies the number of source results to be averaged for deriving
the output value or time of the averaging .
The use of averaging makes it possible to reduce the output noise and increase the
sensor resolution.
Averaging over a number of results does not affect the data update in the sensor
output buffer.
In case of time averaging, data in the output buffer are updated at a rate equal to the
averaging period.
Note. The maximum value is 127.

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10.9. Factory parameters table
The sensors are supplied with the parameters shown in the table below:
Parameter
Value
Time limit for integration
3200 (3,2 ms)
Sampling mode
time
Sampling period
5000 (5 ms)
Point of zero
Beginning of the range
Line AL operation mode
1
Time lock of the result
2 (10 ms)
Method of results averaging
Over a number of results
Number of averaged values
1
The parameters are stored in nonvolatile memory of the sensor. Correct changing of
the parameters is carried out by using the parameterization program supplied with the
sensor or a user program.
11. Description of RS232 and RS485 interfaces
Data exchange with the sensor is carried out over the RIFTEK or Modbus RTU
protocols in binary format or in the ASCII format. The protocol and the data format are
selected using the parametrization program.
11.1. RS232 port
The RS232 port ensures a “point-to-point” connection and allows the sensor to be
connected directly to RS232 port of a computer or controller.
11.2. RS485 port
In accordance with the protocol accepted and hardware capability, the RS485 port
makes it possible to connect up to 127 sensors to one data collection unit by a common
bus circuit.
11.3. Serial data transmission format
Data message has the following format:
1 start-bit
8 data bits
1 even bit
1 stop-bit
11.4. Modes of data transfer
Through these serial interfaces the measurement data can be obtained by two
methods:
· by single requests (inquiries);
· by automatic data streaming (stream).
11.5. Communication sessions types
The communications protocol is formed by communication sessions, which are only
initiated by the ‘master’ (PC, controller). There are two kinds of sessions with such
structures:
1) “request”, [“message”] — [“answer”], square brackets include optional elements.
2) “request” — “data stream” — [“request”].

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11.6. Configuration parameters
11.6.1. Rate of data transfer through serial port
This parameter defines the rate of data transmission via the bit-serial interface in
increments of 2400 bit/s. For example, the parameter value equal to 4 gives the
transmission rate of 2400*4 = 9600 bit/s.
Note. The maximum transmission rate for RS232 and RS485 interfaces is 921,6
kbit/s.
11.6.2. Net address
This parameter defines the network address of the sensor equipped with RS485
interface.
Note. The network data communication protocol assumes the presence of a
‘master’ in the net, which can be a computer or other information-gathering device, and from
1 to 127 ‘slaves’ (RF602 Series sensors) which support the protocol.
Each ‘slave’ is assigned a unique network identification code – a device address.
The address is used to form requests or inquiries all over the net. Each slave receives
inquiries containing its unique address as well as ‘0’ address which is broadcast-oriented
and can be used for formation of generic commands, for example, for simultaneous latching
of values of all sensors and for working with only one sensor (with both RS232 port and
RS485 port).
11.6.3. Factory parameters table
Parameter
Value
Baud rate (RS232 or RS485)
9600 bit/s
Net address
1
Mode of data transfer
request
11.7. RIFTEK protocol (binary format)
11.7.1. Request
'Request' is a two-byte message, which fully controls a communication session and
can be transmitted by the 'master'. The ‘request’ message is the only one of all messages in
a session where the most significant bit is set at 0, therefore, it serves to synchronize the
beginning of the session. In addition, it contains the device address (ADR), code of request
(COD) and, optionally, the message [MSG].
Request format ('master'):
Byte
Bits
Description
7
6
5
4
3
2
1
0
0
0
ADR
network address
1
1
0
0
0
COD
code of request
2
1
0
0
0
MSG[0] lo
lower tetrad of the 0th byte
3
1
0
0
0
MSG[0] hi
higher tetrad of the 0th byte
4
1
0
0
0
MSG[1] lo
lower tetrad of the 1st byte
5
1
0
0
0
MSG[1] hi
higher tetrad of the 1st byte
...
...
...
...
...
...

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11.7.2. Answer
'Answer' is the data burst that can be transmitted by ‘slave’ in the course of the
session.
All messages with a message burst contain 1 in the most significant digit. Data in a
message are transferred in tetrads. When byte is transmitted, lower tetrad goes first, and
then follows higher tetrad. When multi-byte values are transferred, the transmission begins
with lower byte.
When ‘answer’ is transmitted, the message contains:
· SB-bit, characterizes the updating of the result. If SB is equal to "1", this means
that the sensor has updated the measurement result in the buffer, if SB is equal to
"0" - then non-updated result has been transmitted (see Note 1, p. 10.3.). SB=0
when parameters transmit;
· two additional bits of cyclic binary batch counter (CNT). Bit values in the batch
counter are identical for all sendings of one batch. The value of batch counter is
incremented by the sending of each burst and is used for formation (assembly) of
batches or bursts as well as for control of batch losses in receiving data streams.
The following is the format of the ‘answer’ data burst for the message transmission
(MSG):
Byte
Bits
Description
7
6
5
4
3
2
1
0
0
1
SB
CNT
MSG[0] lo
lower tetrad of the 0th byte
1
1
SB
CNT
MSG[0] hi
higher tetrad of the 0th byte
2
1
SB
CNT
MSG[1] lo
lower tetrad of the 1st byte
3
1
SB
CNT
MSG[1] hi
higher tetrad of the 1st byte
...
...
...
...
...
...
11.7.3. Data stream
‘Data stream’ is an infinite sequence of data bursts or batches transmitted from
‘slave’ to ‘master’, which can be interrupted by a new request. In transmission of ‘data
stream’ one of the ‘slaves’ fully holds a data transfer channel, therefore, when ‘master’
produces any new request sent to any address, data streaming process is stopped. Also,
there is a special request to stop data streaming.
11.7.4. Output rate
Output rate ("OR") depends on Baud rate of serial interface ("BR"), and is
calculated by such a manner: OR = 1 / (44/BR+1*10-5) Hz
For example, for BR=460800 bit/s, Output rate = 9,4 kHz.
11.7.5. Request codes table
Request
code
Description
Message
(size in bytes)
Answer
(size in bytes)
01h
Device identification
—
- device type (1)
- firmware version (1)
- serial number (2)
- base distance (2)
- range (2)
02h
Read a parameter
- code of parameter (1)
- value of parameter (1)

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03h
Write a parameter
- code of parameter (1)
- value of parameter (1)
—
04h
Store current parameters to FLASH-
memory
- constant AAh (1)
- constant AAh (1)
04h
Recover default values of parameters in
FLASH-memory
- constant 69h (1)
- constant 69h (1)
05h
Latch a current result
—
—
06h
Request a result
—
- result (2)
07h
Request a stream of results
—
- stream of result (2)
08h
Stop data streaming
—
—
11.7.6. List of parameters
Code of
parameter
Description
Values
00h
Sensor ON
1 — laser is ON, measurements are taken (default);
0 — laser is OFF, sensor in power save mode.
01h
Analog output ON
1 — analog output is ON;
0 — analog output is OFF.
02h
Control of averaging, sampling, AL
and analog output
x,M2,A,С,M1,M0,R,S – control byte which determines
the operation mode.
M2:M1:M0 bits (AL mode):
000 - out of the range indication (by default);
001 - 'slave' mode (mutual synchronization);
010 - hardware zero set mode;
011 - laser switch OFF/ON;
100 - encoder mode;
101 - input mode;
110 - reset of the Ethernet packets counter;
111 - 'master' mode (mutual synchronization).
Abit (averaging mode):
0 - averaging over a number of results (by default);
1 - time averaging (5 ms).
C bit is not used
Rbit (analog output mode):
0 - window mode (by default);
1 - full range.
S bit (sampling mode):
0 - time sampling (by default);
1 - trigger sampling.
x bit is not used
03h
Network address
1…127 (default — 1)
04h
Rate of data transfer through a serial
port
1…192 (default — 4), specifies data transfer rate in
increments of 2400 baud; e.g., 4 means the rate of
4*2400=9600 baud.
05h
Reserved
06h
Number of averaged values
1…128 (default — 1)
07h
Reserved
08h
Lower byte of the sampling period
1) 10…65535 (default — 5000)
The time interval in increments of 1 s with which sensor
automatically communicates the results on streaming
request (priority of sampling = 0).
2) 1…65535 (default — 5000)
Divider ratio of trigger input (priority of sampling = 1).
09h
Higher byte of the sampling period

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0Ah
Lower byte of maximum integration
time
2…3200 (default – 3200)
The limiting time of integration by CMOS-array in
increments of 1 s.
0Bh
Higher byte of maximum integration
time
0Ch
Lower byte for the beginning of
analog output range
0…16383 (default – 0)
0Dh
Higher byte for the beginning of
analog output range
0Eh
Lower byte for the end of analog
output range
0…16383 (default – 16383)
0Fh
Higher byte for the end of analog
output range
10h
Time lock of result
0…255, specifies the time interval in increments of 5 ms.
11…16h
Reserved
17h
Lower byte of a zero point
0…16383 (default — 0), specifies the beginning of
absolute coordinate system.
18h
Higher byte of a zero point
19…88h
Reserved
89h
Autostart of the stream when the
sensor is turned on (after 20
seconds)
1 — Autostart is ON;
0 — Autostart is OFF (default).
8Ah
Protocols for RS232/RS485
interfaces
0 — RIFTEK protocol (default);
1 — ASCII protocol;
2 — MODBUS RTU protocol.
11.7.7. Notes
· All values are given in binary form.
· Base distance and range are given in millimeters.
· The value of the result transmitted by a sensor (D) is so normalized that 4000h
(16384) corresponds to a full range of the sensor (S in mm), therefore, the result in
millimeters is obtained by the following formula:
X=D*S/4000h (mm) (1)
· On special request (05h), the current result can be latched in the output buffer
where it will be stored unchanged up to the moment of arrival of request for data
transfer. This request can be sent simultaneously to all sensors in the net in the
broadcast mode in order to synchronize data pickup from all sensors.
· When working with the parameters, it should be borne in mind that when power is
OFF the parameter values are stored in nonvolatile FLASH-memory of the
sensor. When power is ON, the parameter values are read out to RAM of the
sensor. In order to retain these changes for the next power-up state, a special
command for saving current parameter values in the FLASH-memory (04h) must
be run.
· Parameters with the size of more than one byte should be saved starting from the
high-order byte and finishing with the low-order byte.
· ATTENTION! It is not recommended to configure the network addresses of the
sensors connected to the network using the "common bus" scheme (RS485).
11.7.8. Examples of communication sessions
1) Request: "Device identification".
Conditions: device address - 1, request code - 01h, device type - 63 (3Fh),
firmware version - 144 (90h), serial number - 17185 (4321h), base distance - 80 mm

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(0050h), measurement range - 50 mm (0032h), packet number (CNT) - 1, result update flag
(SB) - 0.
Request ('master'):
Byte
Bits
Value
Description
7
6
5
4
3
2
1
0
0
0
0
0
0
0
0
0
1
01h
Network address
1
1
0
0
0
0
0
0
1
81h
Request code
Answer ('slave'):
Byte
Bits
Value
Description
7
6
5
4
3
2
1
0
0
1
0
0
1
1
1
1
1
9Fh
Lower tetrad of the device type
1
1
0
0
1
0
0
1
1
93h
Higher tetrad of the device type
2
1
0
0
1
0
0
0
0
90h
Lower tetrad of the firmware version
3
1
0
0
1
1
0
0
1
99h
Higher tetrad of the firmware version
4
1
0
0
1
0
0
0
1
91h
Lower tetrad of the 0th byte of a serial number
5
1
0
0
1
0
0
1
0
92h
Higher tetrad of the 0th byte of a serial number
6
1
0
0
1
0
0
1
1
93h
Lower tetrad of the 1st byte of a serial number
7
1
0
0
1
0
1
0
0
94h
Higher tetrad of the 1st byte of a serial number
8
1
0
0
1
0
0
0
0
90h
Lower tetrad of the 0th byte of a base distance
9
1
0
0
1
0
1
0
1
95h
Higher tetrad of the 0th byte of a base distance
10
1
0
0
1
0
0
0
0
90h
Lower tetrad of the 1st byte of a base distance
11
1
0
0
1
0
0
0
0
90h
Higher tetrad of the 1st byte of a base distance
12
1
0
0
1
0
0
1
0
92h
Lower tetrad of the 0th byte of the range
13
1
0
0
1
0
0
1
1
93h
Higher tetrad of the 0th byte of the range
14
1
0
0
1
0
0
0
0
90h
Lower tetrad of the 1st byte of the range
15
1
0
0
1
0
0
0
0
90h
Higher tetrad of the 1st byte of the range
2) Request: "Reading of parameter".
Conditions: device address - 1, request code - 02h, parameter code - 05h,
parameter value - 04h, packet number (CNT) - 2, result update flag (SB) - 0.
Request ('master'):
Byte
Value
Description
0
01h
Network address
1
82h
Request code
2
82h
Lower tetrad of the parameter code
3
80h
Higher tetrad of the parameter code
Answer ('slave'):
Byte
Value
Description
0
A4h
Lower tetrad of the parameter value
1
A0h
Higher tetrad of the parameter value
3) Request: "Inquiring of result".
Conditions: device address - 1, result value - 677 (02A5h), packet number (CNT) -
3, result update flag (SB) - 1.
Request ('master'):

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17
Byte
Value
Description
0
01h
Network address
1
86h
Request code
Answer ('slave'):
Byte
Value
Description
0
F5h
Lower tetrad of the 0th byte of the result value
1
FAh
Higher tetrad of the 0th byte of the result value
2
F2h
Lower tetrad of the 1st byte of the result value
3
F0h
Higher tetrad of the 1st byte of the result value
Measured distance (mm) (for example, range of the sensor = 50 mm):
X=677(02A5h)*50/16384 = 2.066 mm
4) Request: "Writing sampling regime (trigger sampling)".
Conditions: device address - 1, request code - 03h, parameter code - 02h,
parameter value - 01h.
Request ('master'):
Byte
Value
Description
0
01h
Network address
1
83h
Request code
0
82h
Lower tetrad of the parameter code
1
80h
Higher tetrad of the parameter code
2
81h
Lower tetrad of the parameter value
3
80h
Higher tetrad of the parameter value
5) Request: "Writing the divider ration".
Condition: divider ration - 1234 (3039h), device address - 1, request code - 03h,
parameter code - 09h (first or higher byte), parameter value - 30h.
Request ('master'):
Byte
Value
Description
0
01h
Network address
1
83h
Request code
0
89h
Lower tetrad of the parameter code
1
80h
Higher tetrad of the parameter code
2
80h
Lower tetrad of the parameter value
3
83h
Higher tetrad of the parameter value
and for lower byte, parameter code - 08h, parameter value - 39h.
Request ('master'):
Byte
Value
Description
0
01h
Network address
1
83h
Request code
0
88h
Lower tetrad of the parameter code
1
80h
Higher tetrad of the parameter code
2
89h
Lower tetrad of the parameter value
3
83h
Higher tetrad of the parameter value

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11.8. Modbus RTU protocol (binary format)
11.8.1. Input Registers (Read only)
Register / Address
Description
Example
1
Device type
63
2
Firmware version
40
3
Serial number
19999
4
Base distance
125
5
Measurement range
500
6
Measured value
15894
11.8.2. Holding Registers (Read / Write)
Register
/
Address
Description
Value
10
Sensor ON
1 — laser is ON, measurements are taken (default state);
0 — laser is OFF, sensor in power save mode.
11
Analog output ON
1 — analog output is ON;
0 — analog output is OFF.
12
Control of averaging,
sampling, AL-output modes
x,x,x,x,x,x,х,х,x,M2,A,С,M1,M0,R,S - control register, which
determines the operation mode: averaging - M bit, CAN interface - C
bit, logic output - М0:M2 bits, analog output - R bit, sampling mode
- S bit; x bits are not used.
M2:M0 bits:
000 - out of the range indication (default);
001 - 'slave' mode (mutual synchronization);
010 - hardware zero set mode;
011 - laser switch OFF/ON;
100 - encoder mode;
101 - input mode;
110 - reset of the Ethernet packets counter;
111 - 'master' mode (mutual synchronization).
Abit:
0 - averaging over a number of results (default);
1 - time averaging (5 ms).
Cbit:
0 - CAN interface mode by request (default);
1 - CAN interface mode with synchronization by time or
trigger.
Rbit:
0 - window mode (default);
1 - full range.
Sbit:
0 - time sampling (default);
1 - trigger sampling.
13
Network address
1…128 (default — 1)
14
Rate of data transfer through
a serial port
1…192 (default — 4)
Specifies data transfer rate in increments of 2400 baud; e.g., 4
means the rate of 4*2400=9600 baud.
15
Number of averaged values
1…128 (default — 1)
16
Sampling period
1) 100…65535 (default — 5000)

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The time interval in increments of 1 s with which sensor
automatically communicates the results on streaming request
(sampling mode = 0).
2) 1…65535 (default — 5000)
Divider ratio of trigger input (sampling mode = 1).
17
Maximum integration time
3…3200 (default – 3200 s)
18
Beginning of analog output
range
0…16383 (default — 0)
19
End of analog output range
0…16383 (default — 16383)
20
Time lock of result
0…255
Specifies the time interval in increments of 5 ms.
21
Zero point
0…16383 (default — 0)
22-38
Reserved
39
Change the protocol (RS
interface)
0 — RIFTEK protocol;
1 — ASCII protocol;
2 — MODBUS RTU protocol.
40
Save/recover the settings
0x00AA — Save current parameters to FLASH-memory
0x0069 — Restore the default parameters
41
Latch a current result
0 — nothing will happen;
1 — a result will be latched.
11.9. ASCII format
Data exchange with the sensor in ASCII format is carried out via the RS232 or
RS485 interfaces. The command always consists of the request code (see the table below),
followed by the symbols CR and LF. The description of commands and the structure of
answers are given below.
Request
code +
<CR><LF>
Name
Description
Answer
PRT
Changing the
data format
After entering a command and
receiving an answer, the
sensor will change the ASCII
format to the RIFTEK binary
protocol.
“OK” line (OK<CR><LF>)
V
Device
identification
Information about the device
type, firmware version, serial
number, base distance and
measurement range.
- device type
- firmware version
- serial number
- base distance
- measurement range
(603<LF>)
(40<LF>)
(19999<LF>)
(125<LF>)
(500<CR><LF>)
Request
code +
<CR><LF>
Name
X values
Answer (line +
<CR><LF>)
Wx
Working with
FLASH-memory
0 - save current parameters to FLASH-memory;
1 - recover default values of parameters in FLASH-
memory
0 – “OK” line
1 – “OK” line
Rx
Request of a
result
0 - in increments (0 .. 16384);
1 - in millimeters;
2 - in inches.
"1124.4200" line
"0223.0870" line
"0099.8204" line
Ox
Sensor ON
1 - laser is ON, measurements are taken (default state);
0 - laser is OFF, sensor in power save mode.
0 – “OK” line
1 – “OK” line

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Ax
Analog output
ON
1 - analog output is ON;
0 - analog output is OFF.
0 – “OK” line
1 – “OK” line
TMx
Control of
averaging mode
0 - averaging over a number of results (default);
1 - time averaging (5 ms).
0 – “OK” line
1 – “OK” line
TLx
Control of logic
output mode
0 - out of the range indication (default);
1 - mutual synchronization mode;
2 - hardware zero set mode;
3 - laser switch OFF/ON.
0 – “OK” line
1 – “OK” line
2 – “OK” line
3 – “OK” line
TAx
Control of analog
output mode
0 - window mode (default);
1 - full range.
0 – “OK” line
1 – “OK” line
TSx
Control of
sampling mode
0 - time sampling (default);
1 - trigger sampling.
0 – “OK” line
1 – “OK” line
Bxxx
Rate of data
transfer (RS232 /
RS485)
1…192 (default - 4)
Specifies data transfer rate in increments of 2400
baud; e.g., 4 means the rate of 4*2400=9600 baud.
“OK” line
Gxxx
Number of
averaged values
1…128 (default - 1)
“OK” line
Sxxxxx
Sampling period
1) 10…65535 (default - 5000)
The time interval in increments of 1 s with which
sensor automatically communicates the results on
streaming request (priority of sampling = 0).
2) 1…65535
Divider ratio of trigger input (priority of sampling = 1).
“OK” line
Exxxx
Maximum
integration time
2…3200 (default - 3200)
The limiting time of integration by CMOS-array in
increments of 1 s.
“OK” line
Dxxx
Time lock of result
0…255
Specifies the time interval in increments of 5 ms.
“OK” line
Zxxxxx
Zero point
0…16384 (default - 0)
Specifies the beginning of absolute coordinate system.
Z* - reset to 0.
“OK” line
12. Analog outputs
Changing of the signal at the analog output occurs synchronously with changing of
the result transferred through the bit-serial interface.
12.1. Current output 4…20 mA
The connection scheme is shown in the figure. The value of load resistor should not
be higher than 500 Ohm. To reduce noise, it is recommended to install RC filter before the
measuring instrument. The filter capacitor value is indicated for maximum sampling
frequency of the sensor (9,4 kHz) and this value increases in proportion to the frequency
reduction.