Riftek RF627Weld Series User manual

Certified according to ISO 9001:2015
LASER SEAM TRACKING SYSTEM
FOR WELDING AUTOMATION
22, Logoisky tract, Minsk
220090, Republic of Belarus
tel/fax: [phone]
[e-mail]
User's manual
www.riftek.com
RF627Weld Series

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Laser Seam Tracking Systemfor Welding Automation. RF627Weld Series
RF627Weld [Revision 1.1.1] 03.08.2020
Contents
.............................................................................................................................................5
1. Safety precautions
.............................................................................................................................................5
2. CE сompliance
.............................................................................................................................................5
3. Laser safety
.............................................................................................................................................5
4. General information
.............................................................................................................................................5
5. Structure
........................................................................................................................................... 6
5.1. Laser scanner
........................................................................................................................................... 6
5.2. Riftek Lamia software
........................................................................................................................................... 6
5.3. Controller
........................................................................................................................................... 7
5.4. Cables ................................................................................................................. 7
5.4.1. UNITRONIC® LiYCY (TP) cable
................................................................................................................. 8
5.4.2. RJ-45 Ethernet cable
................................................................................................................. 8
5.4.3. Power cable
........................................................................................................................................... 8
5.5. Calibration plate
.............................................................................................................................................8
6. Operating principle
.............................................................................................................................................9
7. Basic technical data
........................................................................................................................................... 9
7.1. Laser scanner ................................................................................................................. 9
7.1.1. Specification ................................................................................................................. 9
7.1.2. Working ranges and overall dimensions
........................................................................................................................................... 11
7.2. Controller ................................................................................................................. 11
7.2.1. Specification ................................................................................................................. 12
7.2.2. Overall dimensions
.............................................................................................................................................12
8. Example of item designation when ordering
.............................................................................................................................................12
9. Overall demands for mounting
.............................................................................................................................................13
10. Ethernet interface
.............................................................................................................................................13
11. Network configuration
.............................................................................................................................................14
12. Connection procedure
.............................................................................................................................................14
13. Setting parameters of the scanner
.............................................................................................................................................14
14. Web page
.............................................................................................................................................16
15. Riftek Lamia software
........................................................................................................................................... 16
15.1. System requirements
........................................................................................................................................... 16
15.2. Installation
........................................................................................................................................... 17
15.3. User's interface ................................................................................................................. 17
15.3.1. Main window
................................................................................................................. 18
15.3.2. "Settings" window
................................................................................................................. 19
15.3.3. "About" window
................................................................................................................. 19
15.3.4. Keyboard shortcuts
........................................................................................................................................... 20
15.4. "SEARCH" tab. Search, connection and settings
................................................................................................................. 20
15.4.1. Search for scanners
................................................................................................................. 21
15.4.2. Connection ................................................................................................................. 23
15.4.3. Setting parameters
.............................................................................................................. 23
15.4.3.1. Procedure.............................................................................................................. 23
15.4.3.2. Parameters
................................................................................................................ 2315.4.3.2.1. "Sensor" panel
................................................................................................................ 2415.4.3.2.2. "Region of interest" panel
................................................................................................................ 2515.4.3.2.3. "Network" panel
................................................................................................................ 2615.4.3.2.4. "Stream" panel
................................................................................................................ 2615.4.3.2.5. "Image processing" panel
................................................................................................................ 2715.4.3.2.6. "Laser" panel
................................................................................................................ 2715.4.3.2.7. "General" panel
................................................................................................................ 2715.4.3.2.8. "RF625 compatibility" panel
........................................................................................................................................... 28
15.5. "MATHS" tab. Selecting a template for seam tracking
................................................................................................................. 28
15.5.1. General information
................................................................................................................. 29
15.5.2. Search parameters ("SEARCH" tab)
................................................................................................................. 31
15.5.3. Template parameters ("TEMPLATE" tab)
................................................................................................................. 32
15.5.4. List of measurements ("SELECT" tab)

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................................................................................................................. 34
15.5.5. Built-in templates
.............................................................................................................. 34
15.5.5.1. "Measurement" set
................................................................................................................ 3415.5.5.1.1. Template 1 "Corner"
................................................................................................................ 3515.5.5.1.2. Template 2 "Step"
................................................................................................................ 3615.5.5.1.3. Template 3 "Triangle"
................................................................................................................ 3715.5.5.1.4. Template 4 "Gap"
................................................................................................................ 3815.5.5.1.5. Template 5 "Right edge"
................................................................................................................ 3915.5.5.1.6. Template 6 "Left line"
................................................................................................................ 4015.5.5.1.7. Template 7 "Right line"
................................................................................................................ 4115.5.5.1.8. Template 8 "Point"
................................................................................................................ 4215.5.5.1.9. Template 9 "Point, Y min"
................................................................................................................ 4315.5.5.1.10. Template 10 "Groove"
................................................................................................................ 4415.5.5.1.11. Template 11 "Angle"
................................................................................................................ 4515.5.5.1.12. Template 12 "Slope"
................................................................................................................ 4615.5.5.1.13. Template 13 "Gap width"
................................................................................................................ 4715.5.5.1.14. Template 14 "Amplitude"
................................................................................................................ 4815.5.5.1.15. Template 15 "Lowest / Highest point"
................................................................................................................ 4915.5.5.1.16. Template 16 "Hill"
................................................................................................................ 5015.5.5.1.17. Templates 17 and 18 "Radius and circle center"
.............................................................................................................. 51
15.5.5.2. "Welding" set
................................................................................................................ 5115.5.5.2.1. Template 1 "Fillet weld"
................................................................................................................ 5215.5.5.2.2. Template 2 "Corner weld"
................................................................................................................ 5315.5.5.2.3. Template 3 "Lap weld"
................................................................................................................ 5415.5.5.2.4. Template 4 "Square-groove butt weld"
................................................................................................................ 5515.5.5.2.5. Template 5 "V-groove weld"
................................................................................................................ 5615.5.5.2.6. Template 6 "Left edge"
................................................................................................................ 5715.5.5.2.7. Template 7 "Right edge"
................................................................................................................ 5815.5.5.2.8. Template 8 "Spot weld"
................................................................................................................ 5915.5.5.2.9. Template 9 "Nearest point"
................................................................................................................ 6015.5.5.2.10. Template 10 "Slope"
................................................................................................................. 61
15.5.6. Operations with templates
.............................................................................................................. 61
15.5.6.1. Adding a template
.............................................................................................................. 61
15.5.6.2. Copying a template
.............................................................................................................. 61
15.5.6.3. Removing a template
.............................................................................................................. 62
15.5.6.4. Changing the order
.............................................................................................................. 62
15.5.6.5. Restoring a default set of templates
................................................................................................................. 62
15.5.7. Template Wizard
........................................................................................................................................... 64
15.6. "PROTOCOLS" tab. Working with welding robots
................................................................................................................. 64
15.6.1. General information
................................................................................................................. 64
15.6.2. Functional diagram
................................................................................................................. 65
15.6.3. Connection procedure
................................................................................................................. 65
15.6.4. Riftek P1 protocol
.............................................................................................................. 65
15.6.4.1. General information
.............................................................................................................. 66
15.6.4.2. Packets and parameters
.............................................................................................................. 66
15.6.4.3. Types of calculations (commands) and assignment of registers
................................................................................................................. 67
15.6.5. R691 USI protocol
.............................................................................................................. 67
15.6.5.1. General information
.............................................................................................................. 68
15.6.5.2. Client (robot) requests
.............................................................................................................. 70
15.6.5.3. Scanner answers
.............................................................................................................. 70
15.6.5.4. Error codes
.............................................................................................................. 71
15.6.5.5. Scanner status
.............................................................................................................. 71
15.6.5.6. Example
................................................................................................................. 71
15.6.6. Riftek P2 protocol
.............................................................................................................. 71
15.6.6.1. General information
.............................................................................................................. 73
15.6.6.2. Holding registers
.............................................................................................................. 73
15.6.6.3. Operation logic
................................................................................................................. 74
15.6.7. Riftek P3 protocol

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.............................................................................................................. 74
15.6.7.1. General information
.............................................................................................................. 75
15.6.7.2. Explicit messaging
................................................................................................................ 7515.6.7.2.1. Identity object (class 0x01)
................................................................................................................ 7515.6.7.2.2. TCP/IP object (class 0xF5)
................................................................................................................ 7615.6.7.2.3. Ethernet link object (class 0xF6)
.............................................................................................................. 76
15.6.7.3. Implicit messaging
................................................................................................................ 7615.6.7.3.1. Assembly object (class 0x04)
................................................................................................................ 7615.6.7.3.2. Input assembly (instance 0x65)
................................................................................................................ 7715.6.7.3.3. Output assembly (instance 0x66)
................................................................................................................ 7715.6.7.3.4. Configuration assembly (instance 0x64)
................................................................................................................. 78
15.6.8. PureUDP protocol
.............................................................................................................. 78
15.6.8.1. General information
.............................................................................................................. 79
15.6.8.2. Holding registers
.............................................................................................................. 80
15.6.8.3. Operation logic
................................................................................................................. 80
15.6.9. Scanner calibration
.............................................................................................................. 80
15.6.9.1. "Calibration" panel
.............................................................................................................. 81
15.6.9.2. Calibration procedure
.............................................................................................................................................83
16. Firmware update
.............................................................................................................................................83
17. Maintenance
.............................................................................................................................................84
18. Troubleshooting
.............................................................................................................................................84
19. Warranty policy
.............................................................................................................................................84
20. Technical support
.............................................................................................................................................85
21. Revisions
.............................................................................................................................................85
22. Distributors

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1. Safety precautions
· Use supply voltage and interfaces indicated in the scanner and controller
specifications.
· When connecting / disconnecting cables, the power of the scanner and controller
must be turned off.
· To obtain stable results, wait about 20 minutes after scanner activation to achieve
uniform scanner warm-up.
· The scanner and controller must be grounded.
2. CE сompliance
The system has been developed for use in industry and meets 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
Scanners belong to 2M laser safety class according to IEC/EN 60825-1:2014.
Scanners make use of an c.w. 660 nm or 405 nm or 450 nm or 808 nm wavelength
semiconductor laser. Maximum output power is 10 mW. The following warning label is
placed on the scanner housing:
The following safety measures should be taken while operating the scanners:
· Do not target laser beam to humans.
· Do not disassemble the scanner.
· Avoid staring into the laser beam.
4. General information
The Seam Tracking System is designed to be used in robotic welding systems and
is intended to automatically control the position of the welding head during the welding
process.
5. Structure
The system includes the following components:
· Laser scanner RF627Weld.
· Riftek Lamia software.
· Controller (optional).
· Cables.
· Calibration plate.

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5.1. Laser scanner
The system includes a laser scanner (RF627Weld Series) equipped with an air-
cooling system, replaceable glasses and a special attachment mechanism designed to fix
the scanner to the welding robot.
The housing of the scanner is made of anodized aluminum. The front panel of the
housing has two windows: the output window and the window for receiving radiation
reflected from the object under control.
The scanner has one connector, Reset button and LED indicators. Pressing the
Reset button for 5 seconds will restart the scanner. If you press the Reset button for 1
second, a broadcast Hello packet will be sent. Red LED indicates that the firmware is
loading; green LED indicates that the Ethernet connection is established.
The following configurations are available:
· red laser scanners, 660 nm;
· blue laser scanners (BLUE version), 405 or 450 nm;
· infrared laser scanners (IR version), 808 nm.
We use different lasers due to a wide range of applications. For example, the use of
blue lasers instead of red ones is optimal for the control of shiny materials and high-
temperature objects.
There are two operating modes in the full working range: Basic mode with the
frequency of 484 Hz (profiles/second) and DS mode with the frequency of 938 Hz.
In addition, you can use the ROI function, which makes it possible to increase the
working frequency of the scanner in the limited working range up to 5096 Hz in Basic mode
and up to 6800 Hz in DS mode.
Specifications, working ranges and overall dimensions are given in section 7.1.
5.2. Riftek Lamia software
Riftek Lamia is a multifunctional software application designed to be used in
automated industrial systems.
Riftek Lamia is intended for:
· recognizing, tracking and measuring geometric parameters of objects (for
example, welding joints and welds) in real-time mode;
· connecting to the client controller to transmit results;
· data visualization.
A detailed description of Riftek Lamia software is given in section 15.
5.3. Controller
The controller is an industrial tablet PC that has Riftek Lamia software installed.
Figure 1

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Designations:
1. RJ-45 Ethernet connector.
2. Wi-Fi / Bluetooth antenna.
3. USB 2.0 connectors.
4. Scanner connector.
5. Power button.
6. Power connector.
Since the controller has the Wi-Fi antenna, the user can connect to the controller via
a remote desktop or via the SSH protocol by creating an access point.
The controller comes optional. Instead of the controller, the customer can use a PC with Riftek
Lamia software installed and a power supply unit.
Technical characteristics and overall dimensions are given in section 7.2.
5.4. Cables
The system comes with three cables:
1. UNITRONIC® LiYCY(TP) cable.
2. RJ-45 Ethernet cable.
3. Power cable.
5.4.1. UNITRONIC® LiYCY (TP) cable
The UNITRONIC® LiYCY(TP) cable is used to connect the scanner to the controller.
Designations:
Name
Description
Х1
Binder 423 99 5456 15 16
Х2
RJ-45
1
LAPP KABEL UNITRONIC® LiYCY(TP) cable, #0035150, 8x2x0.14

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Assignment of cable wires is given in the table below:
Pin
number
Wire color
Assignment
K
Pink
MX4-
L
Gray
MX4+
M
Red
Power 9...36V
N
Blue
0V GND
A
Black
MX3-
B
Violet
MX3+
C
Brown / Yellow
IN1-
D
White / Yellow
IN1+
E
Red / Blue
IN3+
F
White
MX2-
O
Brown
MX2+
G
Gray / Pink
IN3-
P
Yellow
MX1-
H
White / Green
IN2+
I
Brown / Green
IN2-
R
Green
MX1+
If the order does not include a controller, the UNITRONIC® LiYCY (TP) cable will be compressed
to RJ-45 Ethernet and two power wires (red and brown).
5.4.2. RJ-45 Ethernet cable
The RJ-45 Ethernet cable is used to connect the scanner controller to the robot
controller.
5.4.3. Power cable
The power cable is used to connect the scanner controller to 220V AC.
5.5. Calibration plate
The calibration plate is used to calibrate the scanner relative to the welding robot.
The calibration procedure is described in par. 15.6.8.
6. Operating principle
The laser scanner is mounted on the flange of the robot next to the welding torch.
The scanning area is located directly in front of the welding electrode at a distance of
several centimeters. The scanner controller processes the information received from the
scanner in accordance with the selected mathematical algorithm that determines the exact
coordinates of the welding joint. In real time, the scanner controller transmits the coordinates
to the robot controller, and the robot controller corrects the position of the welding torch
during the welding process.

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7. Basic technical data
7.1. Laser scanner
7.1.1. Specification
Sampling rate, accuracy, resolution
Nominal sampling rate (full working range)
484 profiles/s (standard mode),
938 profiles/s (DS mode)
Maximum sampling rate (ROI mode)
5096 profiles/s,
6800 profiles/s (DS mode)
Linearity (measurement error), Z axis
±0.05% of the range (standard mode),
±0.1% of the range (DS mode)
Linearity (measurement error), X axis
±0.2% of the range
Resolution, Z axis
0.01% of the range (standard mode),
0.02% of the range (DS mode)
Resolution, X axis
648 or 1296 points (programmable value)
Laser
660 nm or 405 nm or 450 nm or 808 nm
Class 2M according to IEC/EN 60825-1:2014
Interface
Basic
Ethernet / 1000 Mbps
Synchronization inputs
RS422, 3 channels
Power supply
9...30 V or 12...39 V for scanners with Blue laser
Power consumption, not more
6 W (without a built-in heater)
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
-20…+40°С or
-20…+120°С for scanners with built-in air cooling system
Storage temperature
-20…+70°С
Relative humidity
5-95% (no condensation)
Housing/windows material
aluminum/glass
7.1.2. Working ranges and overall dimensions
Range
MR,
mm
SMR,
mm
Хsmr,
mm
Xemr,
mm
Size, mm
Weight,
g
68/25-22/24
25
68
22
24
Figure 2
0.7
69/130-35/130
130
69
35
130
Figure 3
0.7
91/250-65/180
250
91
65
180
Figure 4
0.7
Detailed CAD documentation (2D and 3D) is available on request at
[e-mail].
Overall and mounting dimensions of laser scanners:

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Laser Seam Tracking Systemfor Welding Automation. RF627Weld Series
RF627Weld [Revision 1.1.1] 03.08.2020
Figure 2
Figure 3