RF627Weld [Revision 1.1.1] 03.08.2020
Laser Seam Tracking System for Welding Automation. RF627Weld Series
77
Byte
Name
Description
15 bit: Least significant sign bit
14-15
2D Y coordinate
0-14 bits: 2D Y coordinate of scanner * 10 (module)
15 bit: Least significant sign bit
15.6.7.3.3. Output assembly (instance 0x66)
Output assembly:
Information
Value
Class
0x04
Instance
0x66
Attribute Number
3
Length
16 bytes
Output assembly information:
Byte
Name
Description
0-1
X coordinate
0-14 bits: X coordinate of robot * 10 (module)
15 bit: Least significant sign bit
2-3
Y coordinate
0-14 bits: Y coordinate of robot * 10 (module)
15 bit: Least significant sign bit
4-5
Z coordinate
0-14 bits: Z coordinate of robot * 10 (module)
15 bit: Least significant sign bit
6-7
W coordinate
0-14 bits: W coordinate of robot * 10 (module)
15 bit: Least significant sign bit
8-9
P coordinate
0-14 bits: P coordinate of robot * 10 (module)
15 bit: Least significant sign bit
10-11
R coordinate
0-14 bits: R coordinate of robot * 10 (module)
15 bit: Least significant sign bit
12
Counter
Packet Counter (unsigned)
13
Command
Command selection (unsigned):
0 - no command,
1 - turn on the laser,
2 - turn off the laser.
NOTE: If the command is identical to the previous sent command, nothing will
happen.
14
Set of templates
Choosing a set of templates (unsigned):
0 - Measurement,
1 - Welding.
NOTE: If the template set number is repeated, nothing will happen.
15
Template
Template selection (unsigned).
NOTE: If the template number is repeated, nothing will happen.
Coordinate bits:
2
14
2
13
2
12
2
11
2
10
2
9
2
8
2
7
2
6
2
5
2
4
2
3
2
2
2
1
2
0
Sign
15.6.7.3.4. Configuration assembly (instance 0x64)
Information
Value
Class
0x04
Instance
0x64
Attribute Number
3
Length
0 bytes
