Riftek RF603 Series User manual

TRIANGULATION LASER SENSORS, RF603 Series
Rev. F (14.09.2009)
RIFTEK, Republic of Belarus, Minsk, tel./fax: [phone] Е-mail: [email protected], http:// www.riftek.com
Page 1/25
1. 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 24 sensors with the measurement range, from 2 to 1000 mm and the base
distance from 10 to 245 mm. Custom-ordered configurations are possible with parameters different
from those shown below.
2. BASIC TECHNICAL DATA AND PERFORMANCE CHARACTERISTICS
RF603- 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
Base distance, X, mm 39 10 15 15, 25
60
15, 30
65
25, 45
80
35, 55
95
45, 65
105
60, 90
140 80 125 145 245
Working range, mm 4 2 5 10 15 25 30 50 100 250 500 750 1000
Linearity, % ±0,2 ±0,1of the range ±0,2…0,3
Resolution, % 0.03 of the range 0,05
Maximum sampling rate 2 or 5 or 8 kHz
Laser type 1mW 1…3 mW, wavelength 660 nm 5mW, 660 nm
digital RS232 (460,8 kbit/s max) or RS485 (921,6 kbit/s max) or RS232 and CAN V2.0B
(1 Mbit/s) or CANopen and RS232
Output signal
analog 4…20 mА(≤500 Ωload) or 0…10 V
Synchronization input 2,4-5 V (CMOS, TTL)
Power Supply, V 5 (4,5…9) or 12 (9…18) or 24 (18…36)
Alarm output NPN: 100 mA max; 40 V max
Power consumption, W 1,5…2
Enclosure rating IP67
Operating temperature, °С-10…+60, (-30…+60 for the sensor with built-in heater),
(-30…+120 for the sensors with cooling housing)
Weight (without cable), g 100
Note #1: RF603-R-39/4 sensor is designed to use with mirror surfaces and glass
Note #2: All specifications for the rest sensors apply for a diffusely reflecting white paper
CE compliance.
The sensors are designed for use in industry and are in compliance with the following standards:
-EN55022:2006 Information technology equipment. Radio disturbance characteristics. Limits
and methods of measurement:
-EN61000-6-2:2005 Electromagnetic compatibility (EMC). Generic standards. Immunity for in-
dustrial environments
-EN61326-1:2006 Electrical equipment for measurement, control and laboratory use. EMC re-
quirements. General requirements
The sensors fulfil the specification of the EMC requirements, if the instructions in the manual are
followed.

TRIANGULATION LASER SENSORS, RF603 Series
Rev. F (14.09.2009)
RIFTEK, Republic of Belarus, Minsk, tel./fax: [phone] Е-mail: [email protected], http:// www.riftek.com
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3. EXAMPLE OF ITEM DESIGNATION WHEN ORDERING
RF603.F-X/L-SERIAL-ANALOG-IN-AL-VV-CC-M-H-P
Symbol Description
F maximum sampling rate , kHz (2 or 5 or 8)
X base distance (beginning of the range) in mm
L operating range in mm
SERIAL type of the serial interface (RS232 or RS485 or RS232&CAN or CANOPEN&RS232)
ANALOG attribute showing the presence of Current Loop (I) or U output
IN trigger input (input of synchronization)
AL This signal is of triple purpose. It can be used as:
1) logical output; ("0" – object is beyond the range (beyond the selected window
in the range), "1" – object is within the range (within the selected window in the
range))
2) line of mutual synchronization for two and more sensors
3) line of hardware zero setting
VV supply voltage
CC Cable gland – CG or socket + cable - CC (Binder 702, IP67, )
M Cable length in m
H Sensor with built-in heater
P Sensor with protect air cooling housing (See annex # 1)
For example: RF603.5-80/25-232-I-12-CC-3 – 5 kHz max frequency, base distance – 80 mm, range – 25 mm, serial
port - RS232, 4…20 mA output available, supply voltage 12V (9…18V), socket + cable, 3 m.
4. STRUCTURE AND OPERATING PRICIPLE
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.
BASE DISTANCE WORKING RANGE
Figure 1.
5. OVERALL AND MOUNTING DIMENSIONS
5.1. Overall and mounting dimensions of the 10/2 sensor are shown in Figure 2 and the others –
in Figure 3. Sensor package is made of anodized aluminum. The front panel of the package has two
windows: one is output, the other for receiving radiation reflected from the object under control.
The package also contains mounting holes.

TRIANGULATION LASER SENSORS, RF603 Series
Rev. F (14.09.2009)
RIFTEK, Republic of Belarus, Minsk, tel./fax: [phone] Е-mail: [email protected], http:// www.riftek.com
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RiFtek
Figure 2. Figure 3.
O3/O6x
RiFtek
5.2. The sensor is positioned so that of object under control should place in this working range.
Where objects to be controlled have intricate shapes and textures, the incidence of mirror compo-
nent of the reflected radiation to the receiving window should be minimized. In addition, no foreign
objects should be allowed to stay on the path of the incident and reflected laser radiation.
5.3. RF603-R-39/4 sensor is designed to use with mirror surfaces and glass. Requirements for its
mounting are shown in Figure 4a. The special mounting device is included into the shipping (Fig
4b).
Figure 4a Figure 4b

TRIANGULATION LASER SENSORS, RF603 Series
Rev. F (14.09.2009)
RIFTEK, Republic of Belarus, Minsk, tel./fax: [phone] Е-mail: [email protected], http:// www.riftek.com
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.6. CONNECTION
Model Symbols D-sub 9-pin (fem) Wire color
232-U/I-IN-AL Power U+
Power U-
TXD
RXD
U/I
IN
AL
Gnd (Common for signals)
-
-
2
3
-
-
-
5
Red
Brown
Green
Yellow
Blue
White/Violet
Pink/Orange
Grey/Black
232-CAN-IN/AL Power U+
Power U-
TXD
RXD
CAN_H
CAN_L
IN/AL
Gnd (Common for signals)
-
-
2
3
-
-
-
5
Red
Brown
Green
Yellow
Pink/Orange
White/Violet
Blue
Grey/Black
485-U/I-IN-AL Power U+
Power U-
DATA+
DATA-
U/I
IN
AL
Gnd (Common for signals)
-
-
-
-
-
-
-
-
Red
Brown
Green
Yellow
Blue
White/Violet
Pink/Orange
Grey/Black
7.INPUT-OUTPUT SCHEMATIC
7.1. Synchronization input
7.2. Alarm

TRIANGULATION LASER SENSORS, RF603 Series
Rev. F (14.09.2009)
RIFTEK, Republic of Belarus, Minsk, tel./fax: [phone] Е-mail: [email protected], http:// www.riftek.com
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8. OPERATION MODES AND CONFIGURATION PARAMETERS.
8.1. Measurement data from sensors can be obtained through serial interface and/or on the ana-
log output. Through the serial interface measurement data can be obtained by both single requests
(inquiries) and by automatic data streaming (see Section 9, ‘Description of serial interface’). When
RS485 or CAN interfaces are used, several sensors can be connected to the data collection device
through ‘common bus’ circuit (network operation mode).
8.2. The nature of operation of the sensor governs its configuration parameters (operation
modes), which can be changed by transmission of commands through serial port. The basic parame-
ters are as follows:
Sampling period — specifies the time interval (internal synchronization) or divider ratio of the
trigger synchronization input for automatically refreshment of measurement results by the sensor.
The value of the time interval is set in increments of 0.01 ms. If serial interface is used to receive
the result and the time intervals set are small, the time required for data transmission at the selected
data transfer rate should be taken into account. If the transfer time exceeds the sampling period, it
wills this parameter, which will determine the data transfer rate.
Sampling mode —specifies the type of sampling
-Time Sampling or
-Trigger Sampling
With sampling by time selected, the sensor automatically transmits the measurement result via
serial interface in accordance with selected time interval (sampling period).
With sampling by external input is selected, the sensor transmits the measurement result when
external synchronization input is switched and taking the division factor set into account.
Range of the analog output (beginning and end of the range of analog output). While working
with the analog output, resolution can be increased by using the ‘Window in the operating range’
function which makes it possible to select a window of required size and position in the operating
range of the sensor within which the whole range of analog output signal will be scaled.
If the beginning of the range of the analog signal is set at a higher value than the end value of the
range, this will change the direction of rise of the analog signal.
Analog output operation mode. When using ‘window in the operating range’ function, this
mode defines the analog output operation mode.
Analog output can be
- in the window mode or
- in the full mode.
‘Window mode’. The entire range of the analog output is scaled within the selected window. Out-
side the window, the analog output is "0".
"Full mode". The entire range of the analog output is scaled within the selected window (operating
range). Outside the selected window, the whole range of the analog output is automatically scaled
onto the whole operating range of the sensor (sensitivity range).
Logical output mode and mutual synchronization mode.
Logical output can be used for
-indication of run-out beyond the range ("0" – object is beyond the range (beyond the selected
window in the range), "1" – object is within the range (within the selected window in the
range)
-mutual synchronization of two or more sensors.
Selection of the mutual synchronization mode makes it possible to synchronize measurement
times of two and more sensors. This mode is convenient to use for control of one object with sev-
eral sensors, for example, when thickness is to be measured. On hardware level, sensor synchroni-
zation is carried out by combining AL lines.

TRIANGULATION LASER SENSORS, RF603 Series
Rev. F (14.09.2009)
RIFTEK, Republic of Belarus, Minsk, tel./fax: [phone] Е-mail: [email protected], http:// www.riftek.com
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Time of lock of the result. If the sensor does not find out object or if the authentic result cannot
be received, zero value is transferred. The given parameter sets time during which is transferred the
last authentic result instead of zero value
Number of averaged values specifies the number of source results to be averaged for deriving
the output value. Source data are stored in a circular buffer, and new mean value is calculated each
time the new result arrives; therefore, the output may regarded as a moving average.
The refreshment of the result through the analog output is also controlled by the two parameters
described above.
Time limit for integration. Intensity of the reflected radiation depends on the surface quality of
objects under control. Therefore, the time of integration of radiation incident onto the CMOS-array
is automatically adjusted to achieve maximum measurement accuracy. This parameter specifies
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. Increasing of this parameter expands the possibility of control of low-
reflecting (diffuse component) surfaces; at the same time this leads to reduction of data refreshment
rate and increases the effects of exterior light (background) on the measurement accuracy. Factory
setting of the limiting time of integration is 3200 us.
Level of laser output power. By changing this parameter it is possible to switch the sensor to
operation with minimum limiting time of integration (maximum operation speed) for particular sur-
faces.
The point of zero - 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 and by connecting AL
input to the ground line (regime #3 of the line).
The reserved parameters are used for the sensors setting. Change of these parameters can
lead to infringement of sensor calibration. Correct change of parameters is made with the help of
the installation program supplied with the sensor.
9. DESCRIPTION OF SERIAL INTERFACE (RS232 or RS485)
9.1. The hardware port RS232 allows sensor to be connected directly to a computer.
9.2. 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.
9.3. Network data communications protocol assumes the presence of ‘master’ in the net, which
can be a computer or other information-gathering device, and from 1 to 127 ‘slaves’ (RF603 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 re-
ceive 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).
9.4. Serial data transmission format:
1-start bit,8-data bits,1-odd bit,1-stop bit.
Odd bit is complementary to 8-data bits for oddness.
9.5. The communications protocol is formed by communication sessions, which are only initi-
ated by the ‘master’. There are two kinds of sessions:
1) ‘inquiry’,[‘message’] — [‘answer’], square brackets include optional elements
2) ‘inquiry’ — 'data stream’ — [‘inquiry’].
‘Inquiry’ (INC) is a two-byte message, which fully controls communication session. The ‘inquiry’
message is the only one of all messages in a session where most significant bit is set at 0; therefore,

TRIANGULATION LASER SENSORS, RF603 Series
Rev. F (14.09.2009)
RIFTEK, Republic of Belarus, Minsk, tel./fax: [phone] Е-mail: [email protected], http:// www.riftek.com
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it serves to synchronize the beginning of the session. In addition, it contains the device address
(ADR), code of inquiry (COD) and, optional, the message (MSG).
The ‘inquiry’ format: INC0(7:0),INC1(7:0) = 0,ADR(6:0),1,0,0,0,COD(3:0), [MSG].
‘Message’ and ‘answer’ are data bursts that can be transmitted by ‘master’ or by ‘slave’ in the
course of the session, respectively. ‘Data stream’ is an infinite sequence of data bursts or batches
transmitted from ‘slave’ to ‘master’, which can be interrupted by a new inquiry. In transmission of
‘data stream’ one of the ‘slaves’ fully holds data transfer channel, therefore, when ‘master’ pro-
duces any new inquiry sent to any address, data streaming process is stopped. Also, there is a spe-
cial inquiry to stop data streaming.
9.6. Message transfer.
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 tet-
rad. When multi-byte values are transferred, the transmission begins with lower byte. The follow-
ing is the format of two ‘message’ data bursts for transmission of byte DAT(7:0):
Dt0(7:0);Dt1(7:0) = 1,0,0,0,DAT(3:0);1,0,0,0,DAT(7:4).
9.7. Answer transfer (for the 01h…04h enquiry codes).
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 tet-
rad. When multi-byte values are transferred, the transmission begins with lower byte.
When ‘answer’ is transmitted, the message contains three 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 two ‘answer’ data bursts for transmission of byte DAT(7:0):
Dt0(7:0);Dt1(7:0) = 1,CNT(2:0),DAT(3:0);1,CNT(2:0),DAT(7:4).
9.8. Result transfer. An answer is formed as in 9.7.
9.9. Types of inquiries.
Inquiry
code
Description Message
(size in bytes)
Answer
(size in bytes)
01h Device identification — –device type (1)
–modification (1)
–serial number (2)
–base distance (2)
–range (2)
02h Reading of parameter - code of parameter (1) - value of parameter (1)
03h Writing of parameter - code of parameter (1)
- value of parameter (1)
—
04h Storing current parameters to
FLASH-memory
- constant AAh (1) - constant AAh (1)
04h Recovery of parameter default
values in FLASH-memory
- constant 69h (1) - constant 69h (1)
05h Latching of current result — —
06h Inquiring of result — - result (2)
07h Inquiring of a stream of results — - stream of results (2)
08h Stop data streaming — —

TRIANGULATION LASER SENSORS, RF603 Series
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9.10. List of parameters
Code of
parame-
ter
Name Values
00h Sensor ON 1 — laser is ON, measurements are taken (default state);
0 — laser is OFF, sensor in power save mode
01h Analog output ON 1/0 — analog output is ON/OFF; if a sensor has no analog output, this bit
will remain in 0 despite all attempts of writing 1 into it.
02h Sampling and synchronization con-
trol
x,x,x,C,M1,M0,R,S – control byte which determines CAN interface re-
gime, bit C, logical output regime, bit M, analog output regime, bit R,
and sampling regime, bit S;
bites x – do not use;
bit C:
0 – request mode of CAN interface (by default);
1 – synchronization mode of CAN interface.
bit M1 and M0:
00 – out of the range indication (by default):
01 – mutual synchronization regime.
11 – hardware zero set regime
bit R:
0 – window regime (default);
1 – full range.
bit S:
0 – time sampling (default)
1 – trigger sampling
03h Network address 1…127 (default — 1)
04h Rate of data transfer through serial
port
1…192, (default — 4) specifies data transfer rate in increments of 2400
baud; e.g., 4 means the rate of 4×2400=9600baud. (NOTE: max baud
rate = 460800)
05h Laser intensity level 0…31
06h Number of averaged values 1…128, (default — 1)
07h Reserved
08h Lower byte of the sampling period
09h Higher byte of the sampling period
1) 10…65535, (default — 500)
the time interval in increments of 0.01 ms with which sensor auto-
matically communicates of results on streaming inquiry (priority of
sampling = 0);
2) 1…65535, (default — 500)
divider ratio of trigger input with which sensor automatically commu-
nicates of result on streaming inquiry (priority of sampling = 1)
0Ah Lower byte of maximum integration
time
0Bh Higher byte of maximum integration
time
2…65535, (default — 200) specifies the limiting time of integration by
CMOS-array in increments of 1mks
0Ch Lower byte for the beginning of
analog output range
0Dh Higher byte for the beginning of
analog output range
0…4000h, (default — 0) specifies a point within the absolute range of
transducer where the analog output has a minimum value
0Eh Lower byte for the end of analog
output range
0Fh Higher byte for the end of analog
output range
0…4000h, (default — 4000h) ) specifies a point within the absolute
range of transducer where the analog output has a maximum value
10h Time lock of result 0…255, specifies of time interval in increments of 5 mс
11…16h Reserved
17h Lower zero point
18h Higher byte zero point
0…4000h, (default — 0) specifies beginning of absolute coordinate sys-
tem.
19…1Ch Reserved
20h Data transfer rate via CAN interface 10…200, (by default — 200) specifies data transmission rate in incre-
ments of 5 000 baud, for example, the value of 50 gives the rate of 50*5
000= 250 000 baud.
22h Low byte of standard identifier
23h High byte of standard identifier
0…7FFh,(by default — 7FFh) specifies standard CAN identifier
24h 0th byte of extended identifier 0…1FFFFFFFh, (by default — 1FFFFFFFh) specifies extended CAN

TRIANGULATION LASER SENSORS, RF603 Series
Rev. F (14.09.2009)
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25h 1st byte of standard identifier
26h 2nd byte of extended identifier
27h 3rd byte of standard identifier
identifier CAN
28h CAN interface identifier 1 — extended identifier;
0 — standard identifier .
NOTE:
1) All values are given in binary form.
2) Base distance and range are given in millimeters.
3) The value of the result transmitted by a sensor (D) is so normalized that 4000h (16384) corre-
sponds 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)
4) On special inquiry (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 inquiry can
be sent simultaneously to all sensors in the net in the broadcast mode in order to synchronize data
pickup from all sensors.
5) 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.
6) 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
9.11. Examples of communication sessions:
1) Condition: request for device identification. Device address —1, inquiry code – 01h, device type
—61h, modification —00h, serial number —0402 (0192h), base distance —80 mm (0050h),
range —50 mm (0032h), burst number —1.
The ‘inquiry’ format:
INC0(7:0),INC1(7:0) = 0,ADR(6:0),1,0,0,0,COD(3:0), [MSG]. (SEE 7.5)
Inquiry (‘master’) — 01h;81h (INC0(7:0)=0,ADR=0000001,INC1(7:0)=1,0,0,0,COD=0001)
The following is the format of two ‘answer’ data bursts for transmission of byte DAT(7:0) (SEE
7.6):
Dt0(7:0);Dt1(7:0) = 1,CNT(2:0),DAT(3:0);1,CNT(2:0),DAT(7:4)
Answer (‘slave’) — 91h, 96h (device type), 90h, 90h (modification), 92h, 99h, 91h, 90h (serial
number), 90h, 95h, 90h, 90h (base distance), 92h, 93h, 90h, 90h (range)
(note: as bust number =1, then CNT=1)
2) Condition: request for reading of parameter. Device address —1, inquiry code – 02h; parameter
code —05h, parameter value —04h, burst number —2.
Inquiry (‘master’) — 01h, 82h;
Message (‘master’) — 85h, 80h;
Answer (‘slave’) — A4h, A0h
3) Condition: request for result, device address —1, inquiry code – 06h, result value —02A5h,
burst number —3.
Inquiry (‘master’) — 01h, 86h;
Answer (‘slave’) — B5h, BAh, B2h, B0h
The displacement (mm) is equal (for example, range of the sensor = 50 mm):

TRIANGULATION LASER SENSORS, RF603 Series
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X=677(02A5h)*50/16384 = 2.066 mm
4) Condition: writing sampling regime (trigger sampling). Device address – 1, inquiry code – 03h,
parameter code – 02h, parameter value – 01h.
Inquiry (‘master’) — 01h, 83h;
Message (‘master’) — 82h, 80h; 81h; 80h
5) Condition: writing the divider ratio, for example, 12345=3039h. Device address – 1, inquiry
code – 03h, parameter code – 09h (first of all, higher byte), parameter value – 30h
Inquiry (‘master’) — 01h, 83h;
Message (‘master’) — 89h, 80h; 80h; 83h
and, for lower byte, parameter code – 08h, parameter value – 39h:
Inquiry (‘master’) — 01h, 83h;
Message (‘master’) — 88h, 80h; 89h; 83h
10. DESCRIPTION OF CAN INTERFACE
10.1. The sensor equipped with CAN 2.0B port supports data exchange using standard frames
(with 11-bit identifiers) and extended frames (with 29-bit identifiers). Each sensor is set with stan-
dard or extended identifier which is unique for a network given. The number of sensors in the net-
work is up to 112.
The sensor can operate in two modes:
- the request mode. In this mode, each sensor receives a frame of remote data request (Remote
Frame) containing frame identifier, and responds by sending a data frame (Data Frame) with the
same identifier.
- the synchronization mode. When operating in the synchronization mode, each sensor auto-
matically transmits a data frame (Data frame) together with its identifier in accordance with a speci-
fied time interval (sampling period) or in case of switching of the external synchronization output
and with the selected division factor taken into account.
CAN interface is used only for the reception of data. Parametrization of sensors is carried out
via RS232 interface.
10.2. The sensor transmits 8 byte long frame.
-byte 0: type of device
-byte 1: = 0 – reserved
-byte 2: low byte of serial number
-byte 3: high byte of serial number
-byte 4: low byte of operating range
-byte 5: high byte of operating range
-byte 6: low byte of the result
-byte 7: high byte of the result
The result is calculated by the formula (1), (see par.8.11).
11. SENSORS WITH CANopen INTERFACE.
11.1. The sensor with CANopen interface has two connectors, Fig. 5.
Connector Symbols D-sub 9-pin (fem) Wire color
1. 232-U-IN-AL Power U+
Power U-
TXD
RXD
U
IN
AL
-
-
2
3
-
-
-
Red
Brown
Green
Yellow
Blue
White/Violet
Pink/Orange

TRIANGULATION LASER SENSORS, RF603 Series
Rev. F (14.09.2009)
RIFTEK, Republic of Belarus, Minsk, tel./fax: [phone] Е-mail: [email protected], http:// www.riftek.com
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Gnd (Common for signals) 5 Grey/Black
2. CANopen CAN_H
CAN_L
Gnd (Common for signals)
-
-
-
Blue
White
Gray/Black
BINDER 702
CONN CIR 5-P
CAN_H
Gnd 1
2
3
4
5CAN_L
Connector #2
Fig. 5
11.2. The sensor equipped with CAN 2.0B port, supports data exchange using standard frames
(with 11-bit identifiers) and supports CANopen DS 406 profile. The number of the sensors in the
network is up to 112.
11.3. Communication profile.
Index Subindex Name Type* Attr** Default Comments
1000h 00h Device Type UI32 ro 00080196h Type of the device:
profile - 406, absolute
linear position sensor
1001h 00h Error Register UI8 ro 0 0: without errors
1008h 00h Manufacturer Device
Name
VS const RF60X The name of device
1010h
00h
01h
Store parameters
Number of elements
Save all Parameters
UI8
UI32
ro
rw
1
2
Number of elements
Saving of all parame-
ters in FLASH by
'save' (65766173h)
writing
1018h
00h
01h
Identity Objec
Number of elements
Vendor ID
UI8
UI32
ro
ro
1
00000001h
Number of elements
Vendor ID
1200h
00h
01h
02h
Server SDO parameter
Number of elements
COB-ID Client->Server
(rx)
COB-ID Server->Client
(tx)
UI8
UI32
UI32
ro
ro
ro
2
600h+Node-ID
580h+Node-ID
Number of elements
COB-ID inquiry for
server
COB-ID reply to client
1800h
00h
01h
02h
Transmit PDO parame-
ter
Number of elements
COB-ID
Transmission Type
UI8
UI32
UI8
ro
ro
ro
2
180h+Node-ID
254
Number of elements
COB-ID PDO used
Asynchronous regime
(see 02h parameter in
the table of parameters)

TRIANGULATION LASER SENSORS, RF603 Series
Rev. F (14.09.2009)
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1A00h
00h
01h
Transmit PDO Mapping
Number of objects
1st object PDO
UI8
UI32
ro
const
1
60040020h
Number of objects
Measurement
10.4. DS 406 profile
Index Subindex Name Type* Attr** Default Comments
6004h 00h Position Value UI32 ro No Measured value. The
result is obtained by
the formula (1)
10.5. Vendor profile
Index Subindex Name Type* Attr** Default Comments
2000h 00h Node-ID UI8 rw 8 Node identifier (1..127)
2001h 00h CAN Baudrate UI8 rw 25
=125 000 бод - bauderate (see
20h parameter in the table)
2002h 00h Serial Number UI16 ro No Serial number of the device
2003h 00h Base Distance UI16 ro No Base range, mm
2004h 00h Range UI16 ro No Measurement range, mm
2005h 00h Sensor On UI8 rw 1
Sensor ON, (see 00h parame-
ter)
2006h 00h Sampling and
Synchronization
Control
UI8 rw 0 Control byte of synchronization
and sampling regimes ( see
02h parameter)
2007h 00h Laser Intensity UI8 rw No
Laser level (05h parameter)
2008h 00h Sampling period UI16 rw 500
Sampling period (08h parame-
ter)
2009h 00h Number of
Averaged Values
UI8 rw 1 The number of averaged val-
ues (06h parameter)
200Ah 00h Maximum
Integration Time
UI16 rw 3200
Maximum integration time (0Ah
parameter)
* UI8 = Unsigned8, UI16 = Unsigned16, UI32 = Unsigned32, I32 = Signed32 ,VS = VisibleString.
** ro = read only, rw = read / write, const = constant.
You can find EDS-file here: www.riftek.com/resource/files/rf60x.eds
12. SETUP PROGRAM
12.1. The "RF60Х-SP" software package (www.riftek.com/resource/files/rf60x_sp.zip ) intended
for:
1) testing and demonstration of operation of RF603-series sensors;
2) setting sensor parameters;
3) reception and storage of data;
12.2. Upon starting the program the working window appears:
1. In the line “UART Baud rate” select sensor operation speed (factory setting – 9600 bit/s),
2. In the line “COM number” select PC RS232 port number where sensor is connected.

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3. The line “Net number of device” defines sensor network address (factory setting for all sen-
sors – "1")
4. Upon clicking the “Connect” button, RF60X-SP will attempt to establish communication with
sensor with parameters selected as above. If it fails, a ‘communication error’ message is dis-
played.
5. If communication is successfully established the window changes its form to the following:
1) In the line "Device Type" the sensor model is displayed
2) In the line "Serial number", a serial number of the sensor is displayed
3) In the line "Base distance", base distance of the sensor is displayed
4) In the line "Measuring range", the sensor working range is displayed
12.3. After communication has been successfully established, it is possible to check sensor per-
formance. To do so
1) Place an object within the sensor operating range.
2) Pressing "Measure" button displays the results of measurement of object position on the indi-
cation panel and "Oscilloscope" panel. The "Oscilloscope" window shows graphic representation
of the accumulated data. (X-axis – time (Time Sampling Mode) or number of the result (Trigger
Sampling Mode), Y-axis – coordinates). The 06h request type is realized in this case (see par.
8.9)
3) Pressing "Stream start" button enables measurement mode with sampling by time in accor-
dance with the selected Sampling Period parameter. The 07h request type is realized in this case
(see par. 8.9).
4) By moving the object within the operating range, observe changes of readings on the display
and oscilloscope.

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5) Clicking of the "Stop"/"Stream stop" button deactivates the data transfer.
6) Data coming from the sensor are accumulated and stored in a circular buffer with 10000
measurements storage capacity.
7) By clicking left key of the mouse scale of the graphic can be changed, the right key is used to
drag the graphic image within viewing region. By clicking the right key "Save to the file" menu
is activated.
12.4. Setting parameters of the sensor
The opening part of the "RF60X-SP" application ("Parameter – Value Table ") allows one to edit
and enter the required parameters into both RAM and FLASH memory of the sensor.
-to switch ON/OFF the sensor, click the left mouse key twice in the ‘Value’ field of the ‘Sen-
sor On/Off’ parameter;
-to enable/disable the analog output, click the left mouse key twice in the ‘Value’ field of the
‘Analog Output On/Off’ parameter;
-to set sampling mode ("UART Control of Sample"), press the key in the "Value" field and
select the mode;
-to set the exchange speed, click the left mouse key in the ‘Value” field of the ‘UART Baud
rate’ line, thus calling out the list of permissible speeds;
-in the "UART Network Address" line set the net address of the sensor;
-in the line "AL Control" set AL output regime;
-in the ‘Laser intensity level’ line, the laser output power level can be selected (mW);
-in the ‘Averaged values counter’ line, select the number of measurements to be averaged di-
rectly in the sensor. Factory setting is "0";
-in the ‘Sampling period’ line, sampling period in 0.1 ms increments is selected;
-in the ‘Max integration time’ filed, it is possible to set the limiting integration time for the
ruler (in microseconds);
-in the lines "Analog Range Begin" и"Analog Range End", it is possible to set the analog
output window boundaries in increments of 1% of the working range. Call out the control
toolbar by clicking twice in the ‘Value’ field:

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Pressing the left mouse key activates red cursor which indicates the beginning of the scal-
ing range, while pressing the right mouse key activates blue cursor indicating the end of
the scaling range. To set up working window boundaries, press the respective button and,
holding it in the pressed position, move the cursor within the sensor measurement region.
Then, boundaries of the selected window will be displayed in the lower line in % (per-
centage) of the range.
-in the ‘lock time of result’ line, select the time interval in increments of 5 ms after which
the sensor generates the measurement result as the object comes into the working range
and keeps the last measurement result on the display as the object goes out of the work-
ing range;
-in the ‘Zero point’ line, select the origin of coordinates in units of 0.1% of the range, or
by pressing the ‘Measure’ button place the object in the required point of the working
range and press the ‘Zero set’ key. Now, the origin of coordinates will correspond to the
point selected by you;
-to select data exchange rate via CAN interface, click left mouse key in the “Value’ field
of the "CAN Baud Rate" line and call the list of permissible rates.
When operated with CAN-interface
-select standard CAN identifier in the "CAN Standard Identifier" line;
-select extended identifier in the "CAN Extended Identifier" line;
-in the "CAN Identifier" line, the identifier type should be set (according to the frame
type) with which the sensor works;
-in the "CAN Mode” line, the CAN interface operation mode should be set.
1) By clicking the right key of the mouse on the left panel "Parameters save" menu is acti-
vated. Select ‘Load’ (to store one parameter) or ‘Load All’ (to store all parameters).
2) Perform testing of the sensor operation with new parameters.
3) To store the new parameters in the sensor memory, click the "Write to FLASH" of "Pa-
rameters save" menu. The sensor will operate with these parameter settings in subsequent
switched on.
4) To choose default sensor parameters, select "Default".
5) To save sensor parameters on the disk, select "Write to file".
6) To read sensor parameters from the disk, select "Read from file".

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13. RF60X-SDK. FUNCTIONS DESCRIPTION
Laser sensor is supplied together with SDK (www.riftek.com/resource/files/rf60x-sdk_eng.zip)
consisting of:
- dynamic library RF60x.dll,
- file for static linking of DLL to project RF60x.lib,
- definition file RF60x.h.
The SDK allows user to develop his own software products without going into details of the sensor
communications protocol.
13.1. Connection to COM-port (RF60x_OpenPort)
The function RF60x_OpenPort opens COM-port with specified symbolic name, fills in the pointer
to the device descriptor and returns the operation result:
Parameters:
lpPort_Name – name of COM-port (e.g., “COM1:”), full syntax for COM-
port name specification see in MSDN, function CreateFile;
dwSpeed - operation speed through COM-port. The parameter is iden-
tical to field BaudRate in DCB structure described in MSDN;
lpHandle - pointer to the device descriptor;
Returned value:
If COM-port fails to be opened and adjusted, the function will return FALSE, otherwise if COM-
port was opened and adjusted successfully the function will return TRUE. More detailed informa-
tion about returned errors can be obtained using API function GetLastError described in MSDN.
13.2. Disconnection from COM-port (RF60x_ClosePort).
The function RF60x_ClosePort closes COM-port and returns the operation result:
BOOL RF60x_OpenPort(
LPCSTR lpPort_Name,
DWORD dwSpeed,
HANDLE * lpHandle
);
BOOL RF60x_ClosePort(
HANDLE
hHandle
);
Parameters:
hHandle – descriptor of the device obtained from function
RF60x_OpenPort or CreateFile;
Returned value:
If COM-port fails to be closed, the function will return FALSE, otherwise if COM-port was closed
successfully, the function will return TRUE.
13.3. Device identification (RF60x_HelloCmd).
The function RF60x_HelloCmd makes identification of RF60x according to net address and fills
RF60xHELLOANSWER structure:

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typedef struct _RF60x_HELLO_ANSWER_ {
BYTE bDeviceType;
BYTE bcDeviceModificaton;
WORD wDeviceSerial;
WORD wDeviceMaxDistance;
WORD wDeviceRan
g
e
;
There:
bDeviceType – one byte value, which shows type of the device (for
RF60x this value is equal 60) (type BYTE);
bDeviceModificaton – one byte value, which shows device modification (type
BYTE);
wDeviceSerial – two byte value, which contains serial number of the
device (type WORD);
wDeviceMaxDistance – two byte value, which contains the base distance of
RF60Хsensor (type WORD);
wDeviceRange – two byte value, which contains the measurement range
of RF60Хsensor (tpe WORD).
Parameters:
hCOM – descriptor of the device obtained from function
RF60x_OpenPort or CreateFile;
bAddress - device address;
lprfHelloAnswer - pointer to the RF60xHELLOANSWER structure.
Returned value:
If the device does not respond to identification request, the function returns FALSE, otherwise the
function returns TRUE and fills variable RF60xHELLOANSWER structure
13.4. Reading of parameters (RF60x_ReadParameter)
The function RF60x_ReadParameter reads internal parameters of the RF603 sensor and returns
the current value to the parameters address:
BOOL RF60x_HelloCmd (
HANDLE hCOM ,
BYTE bAddress,
LPRF60xHELLOANSWER lprfHelloAnswer
);
BOOL RF60x_ReadParameter (
HANDLE hCOM ,
BYTE bAddress,
WORD wParameter ,
DWORD * lpdwValue
);
Parameters:
hCOM – descriptor of the device obtained from function
RF60x_OpenPort, or CreateFile;
bAddress - address of the device;
wParameter - number of parameter, see Table 1,

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Table 1 Parameter Description
RF60x_PARAMETER_POWER_STATE Power status of sensor
RF60x_PARAMETER_ANALOG_OUT Connection of analog output
RF60x_PARAMETER_SAMPLE_AND_SYNC Control of sampling and synchronization
RF60x_PARAMETER_NETWORK_ADDRESS Network address
RF60x_PARAMETER_BAUDRATE Data transmission rate through serial port
RF60x_PARAMETER_LASER_BRIGHT Laser brightness
RF60x_PARAMETER_AVERAGE_COUNT Number of averaged values
RF60x_PARAMETER_SAMPLING_PERIOD Sampling period
RF60x_PARAMETER_ACCUMULATION_TIME Maximum accumulation time
RF60x_PARAMETER_BEGIN_ANALOG_RANGE
Beginning of analog output range
RF60x_PARAMETER_END_ANALOG_RANGE End of analog output range
RF60x_PARAMETER_RESULT_DELAY_TIME Result delay time
RF60x_PARAMETER_ZERO_POINT_VALUE Zero point value
RF60x_PARAMETER_CAN_SPEED Data transmission rate through CAN interface
RF60x_PARAMETER_CAN_STANDARD_ID CAN standard identifier
RF60x_PARAMETER_CAN_EXTENDED_ID Specifies CAN extended identifier
RF60x_PARAMETER_CAN_ID CAN interface identifier
lpdwValue - pointer to WORD-type variable where current parameter
value will be saved.
Returned value:
If the device does not respond to parameter reading request, the function returns FALSE, otherwise
the function returns TRUE and fills variable lpdwValue .
13.5. Saving current parameters in FLASH-memory (RF60x_FlushToFlash).
Function RF60x_FlushToFlash saves all parameters in the FLASH-memory of the RF603 sensor:
BOOL RF60x_FlushToFlash(
HANDLE hCOM,
BYTE bAddress
);
Parameters:
hCOM – descriptor of the device obtained from function
RF60x_OpenPort or CreateFile;
bAddress - address of the device.
Returned value:
If the device does not respond to request to save all parameters in the FLASH-memory, the function
returns FALSE, otherwise, if record confirm is obtained from the sensor, the function returns
TRUE.
13.6. Restoration of default parameters from FLASH-memory
(RF60x_RestoreFromFlash).
The function RF60x_RestoreFromFlash restores all parameter values in the FLASH by default:

TRIANGULATION LASER SENSORS, RF603 Series
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Parameters:
hCOM – descriptor of the device obtained from function
RF60x_OpenPort or CreateFile;
bAddress - address of the device.
Returned value:
If the device does not respond to request to restore all parameters in the FLASH-memory, the func-
tion returns FALSE, otherwise, if restore confirm is obtained from the sensor, the function returns
TRUE.
13.7. Latching of the current result (RF60x_LockResult)
The function RF60x_LockResult latches current measurement result till next calling of the func-
tion RF60x_LockResult:
BOOL RF60x_RestoreFromFlash(
HANDLE hCOM,
BYTE bAddress
);
BOOL RF60x_LockResult(
HANDLE hCOM,
BYTE bAddress
);
Parameters:
hCOM – descriptor of the device obtained from function
RF60x_OpenPort or CreateFile;
bAddress - address of the device.
Returned value:
If the device does not respond to result-latching request, the function returns FALSE, otherwise the
function returns TRUE.
13.8. Getting measurement result (RF60x_Measure)
The function RF60x_Measure reads current measurement value from the RF603 sensor. The result
value (D) transmitted by the sensor is normalized in such a way as the value of 4000h (16384) cor-
responds to full range of the sensor (S вмм), the result in mm is obtained by the following for-
mula: X=D*S/4000h (mm) :
BOOL RF60x_Measure(
HANDLE hCOM,
BYTE bAddress,
USHORT * lpusValue
);
Parameters:
hCOM – descriptor of the device obtained from function
RF60x_OpenPort or CreateFile;
bAddress - address of the device.
lpusValue - pointer to USHORT/WORD-type variable containing the
result D.
Returned value:
If the device does not respond to result request, the function returns FALSE, otherwise, if the re-
store confirm is obtained from the sensor, the function returns TRUE.

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13.9. Starting measurement stream (RF60X_StartStream)
The function RF60x_StartStream switches RF603 sensor to the mode where continuous transmis-
sion of measurement results takes place:
Parameters:
hCOM – descriptor of the device obtained from function
RF60x_OpenPort or CreateFile;
bAddress - address of the device.
Returned value:
If the device fails to be switched to continuous measurement transmission mode, the function re-
turns FALSE, otherwise the function returns TRUE.
13.10. Stopping measurement stream (RF60x_StopStream)
The function RF60x_StopStream switches the sensor from continuous measurement transmission
mode to the “request-response” mode:
Parameters:
hCOM – descriptor of the device obtained from function
RF60x_OpenPort or CreateFile;
bAddress - address of the device.
Returned value:
If the device fails to be stopped in the continuous data transmission mode, the function returns
FALSE, otherwise the function returns TRUE.
13.11. Getting measurement results from the stream (RF60X_GetStreamMeasure)
The function RF60x_GetStreamMeasure reads data from the COM-port input buffer which are
received from RF603 sensor after successful execution of the RF60xX_StartStream function. The
data arrive in the buffer at a rate specified in the RF603 sensor parameters. Since depth of the input
buffer is limited to 1024 bytes, it is preferable to read data with periodicity equal to that specified in
the RF603 sensor parameters. The parameter lpusValue is identical to the parameter lpus-
Value in the RF60x_Measure function.
BOOL RF60x_StartStream(
HANDLE hCOM,
BYTE bAddress
);
BOOL RF60x_StartStream(
HANDLE hCOM,
BYTE bAddress
);
BOOL RF60x_GetStreamMeasure(
HANDLE hCOM,
USHORT * lpusValue
);