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Summary of Contents for Asyril Asycube Series
- Page 1 Asycube User guide Asyril_ASYCUBE_User_Guide_EN Document 000.101.029 Version Date 23.07.2019...
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Page 2: Table Of Contents
2.1........................... 5 ENERAL OPERATION 2.2......................7 ENERAL PROCEDURE OVERVIEW 2.3............................8 EFINITIONS ASYRIL HMI INSTALLATION ......................11 3.1............................ 11 REREQUISITE 3.2............11 NSTALLING THE SOFTWARE ON A SPECIFIC COMPUTER 3.2.1. Pre-installation ..........................11 3.2.2. Installation ............................11 3.2.3. - Page 3 Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C 6.4.1. Case 1: No smart vibration ......................29 6.4.2. Case 2: ‘Quantity adjusted’ ......................30 6.4.3. Case 3: ‘Centring’ ......................... 30 6.4.4. Case 4: Mixed smart vibrations ....................31 SAVING ............................... 32 BACKLIGHT ............................
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Page 4: Introduction
1.1. General information The following document is the property of Asyril S.A. and may not be copied or circulated without permission. The information contained in this document is subject to change without notice for the purpose of product improvement. Please read this document carefully before operating your product, to ensure it is used correctly. -
Page 5: User Guide Introduction
Asycube for your application, followed by a definition of the expressions used throughout this and other Asyril documentation. The following chapters detail how to use the Asycube and at the end, to conclude this document, a step-by-step example is given. - Page 6 Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C A vision system detects Get the lists of AllParts & which parts are ready to GoodParts positions be taken A robot picks up the good parts The Asycube spreads #AllParts > Threshold components with smart ...
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Page 7: General Procedure Overview
The next chapters of this document follow the order of the general procedure and at the end of this document, a step-by-step example summarises the different aspects approached. Steps 1. Install and configure the Asyril HMI 3. Asyril HMI installation page 11 2. Adjust platform and hopper vibrations/output 4. -
Page 8: Definitions
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C 2.3. Definitions Platform vibration: A platform vibration is defined as the combination of the excitation of each actuator in order to obtain the desired trajectory of parts on the platform. 26 platform vibrations (A – Z) are available. - Page 9 Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C The non-standard vibrations are called custom vibrations and can be used for further customisation. Vibration set: 26 vibration sets are contained in the Asycube and are identified by means of its ID. One vibration set contains 26 platform vibrations and 26 hopper vibrations/output activations (See Figure 2-1).
- Page 10 Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C Vibration Sets ID 26 ID 1 Platform Vibration Hopper Vibration Platform Vibration Hopper Vibration Forward Forward Forward Forward Forward left Custom Forward left Custom Forward right Custom Forward right Custom...
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Page 11: Asyril Hmi Installation
Copyright Asyril S.A. User Guide 000.101.029 Version: C 3. Asyril HMI installation NOTE: If a computer is included in your product, the "HMI" software is already installed. This chapter explains how to install the HMI on your own computer if needed. -
Page 12: Configuring The Hmi
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C 3.2.4. Configuring the HMI On the first start, the HMI contains no product. You have to add your product in the configuration page to be able to work with it. -
Page 13: Hopper Vibration/Output Activation
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C 4. Hopper vibration/output activation Depending on the Asycube, a hopper is either integrated (Asycube 50 and 80) or not (Asycube 240, 380 and 530). Therefore, there are some little differences but the general structure is similar. -
Page 14: Asycubes 240, 380 And 530
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C 4.2. Asycubes 240, 380 and 530 The Asycubes 240, 380 and 530 are equipped with two outputs, generally used to control one or two hoppers to feed the necessary number of parts onto the platform in order to obtain at each cycle an acceptable number of parts available for picking by a robot. - Page 15 Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C For more information on the different commands, please refer to the programming guide for your Asycube. 15/46...
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Page 16: Platform Vibration
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C 5. Platform vibration Vibration behaviour is correct when: • The parts slide on the surface and are able to cross the platform in all directions • The parts jump only when the ‘Flip’ vibration type is activated The movement of the parts on the platform depends on the combination of the different actuator excitations of the Asycube. -
Page 17: Asycubes And
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C hectically (typically for the hopper) Duration Amount of time the Increasing the duration makes the [ms] 0 ms signal (i.e. the parts travel a longer distance on 1 to 30,000 ms vibration) lasts the platform. - Page 18 Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C phase from 0° to 180° inverts the direction of displacement (Figure 5-1). The amplitude of the Act. 3. may be different from one direction of movement to the other. Figure 5-1: Asycube 50 and 80 – Actuator disposition and example (green arrow) (solid line: 0°...
- Page 19 Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C Flip Table 5-2: Asycube 50 & 80 – Standard platform vibrations 19/46...
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Page 20: Asycubes 240, 380 And 530
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C 5.2. Asycubes 240, 380 and 530 The Asycubes 240, 380 and 530 are equipped with four actuators, one in each corner of the platform. Below are some hints that are useful to adjust the vibrations: •... -
Page 21: Asycube 240 & 380 & 530: Simplified Adjustment Method "Easy-Tuning
Copyright Asyril S.A. User Guide 000.101.029 Version: C A simplified “Easy-Tuning” method is available through the Asyril HMI and is presented in section 5.3 on page 21 of this document. Table 5-3 below illustrates the directions of standard platform vibrations. Direction... - Page 22 Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C For each vibration, the number of adjustable parameters is reduced to the following five parameters: • 1 main amplitude (corresponds to the actuator(s) opposed to the target direction) • 1 unique frequency (same for all actuators) •...
- Page 23 Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C Figure 5-4: Example – Adjusting balance to correct a trajectory NOTE: Adjusting parameters in the Easy-Tune mode modifies the parameters in the ‘Platform’ and ‘Outputs’ tab. In certain cases, when the parameters are adjusted in the two latter tabs that do not conform to the Easy-Tune mode (e.g.
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Page 24: Sequence
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C 6. Sequence A sequence contains the different types of vibrations in order to feed, distribute, flip and orient the components optimally on the picking surface. The sequence may vary depending on the number of parts and their location on the platform in order to obtain optimal behaviour of parts. -
Page 25: Actions
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C 6.1. Actions Four types of actions exist. The actions either concern the hopper/outputs, the platform or none of the latter. 6.1.1. Hopper/output Any of the 26 hopper vibrations/output activations (A – Z) of a vibration set can be selected in order to feed parts onto the platform. -
Page 26: Duration Modes
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C 6.2. Duration modes When using an action related to a hopper vibration/output activation or a platform vibration, the user may choose between three duration modes: 'Fixed', 'Quantity adjusted' or 'Vibration ratio'. -
Page 27: Vibration Ratio
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C 6.2.3. ‘Vibration ratio’ The ‘Vibration ratio’ duration mode links the vibration duration to use in the sequence with the duration programmed in the vibration set. Entering the value 100% corresponds to the vibration duration entered in the vibration set and therefore, if correctly adjusted, to the time needed for the parts to fully cross the platform. -
Page 28: Quantity Adjusted
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C The duration mode of ‘Centring’ is called ‘Maximum limit’ and corresponds to the upper limit of the vibration duration in this mode. Hence, the user limits the computed vibration duration by entering a value in ms in the box. -
Page 29: Hmi Simulation: Test Sequence
6.4. HMI simulation: Test sequence In the Asyril HMI, it is possible to test a sequence, even without vision system data (number of parts on the platform and their location). The three general situations are presented in this section, the fourth is a mix between the first three. -
Page 30: Case 2: 'Quantity Adjusted
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C 6.4.2. Case 2: ‘Quantity adjusted’ The duration mode ‘quantity adjusted’ adapts the vibration duration depending on the number of parts detected on the picking zone. Besides indicating the vibration duration when no parts... -
Page 31: Case 4: Mixed Smart Vibrations
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C Figure 6-7: HMI simulation case 3 – ‘Centring' 6.4.4. Case 4: Mixed smart vibrations Most situations require the combination of both smart vibrations: a feeding vibration (hopper vibration/output activation) in ‘Quantity adjusted’ duration mode combined with ‘Centring'. -
Page 32: Saving
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C 7. Saving Only one of the 26 vibration sets can be active at a time. Before switching the vibration set ID in the ‘Platform’ tab or the ‘Hopper’/‘Outputs’ tab, the user has to save the modifications made in the “flash memory”, i.e. - Page 33 Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C Label Content Saving .Fconf Vibration set parameters such Only one vibration set can be saved in a .Fconf file at a as amplitude, frequency, time. duration etc. .fseq Sequence parameters such...
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Page 34: Backlight
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C 8. Backlight The use of suitable lighting is an important factor for parts to be detected on the platform and their orientation. All the Asycubes can be equipped with an integrated backlight. This chapter summarises the different possibilities to activate the backlight as well as how to configure its intensity. -
Page 35: Intensity
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C 8.2. Intensity The lighting intensity can be adjusted from a minimum given value to 100% using the slider in the backlight tab of the HMI. The minimum intensity value can change from one Asycube model to another. -
Page 36: Example
Therefore, a vibration set is usually connected to a family of parts rather than a single version of a part. Also, vibration set 26 is a non-modifiable set of default vibration parameters specifically set by Asyril for a standard part to work optimally on your Asycube. - Page 37 Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C There are different ways to start adjusting the parameters: • Import an already configured vibration set (strongly encouraged) Export a vibration set (for example vibration set 26) as an .Fconf file then import it in the vibration set you assigned to your part type.
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Page 38: Hopper Vibration/Output Activation
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C interface is simplified as some parameters are regrouped. Troubleshooting: • Trajectory deviation: If parts do not move precisely enough towards the desired target, you may want to correct the trajectory with help of the other actuators. (Asycube 50 & 80: See section 5.1, Asycube 240, 380 and 530: See section 5.2 or use the balance slider... -
Page 39: Adjusting Sequences
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C 9.3. Adjusting sequences A sequence is used to combine different vibrations and usually corresponds to a scenario. You can use different vibrations sets (i.e. types of parts) in combination with one or more sequences. -
Page 40: Structured Platform: Feed And Pre-Orient Parts
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C 9.3.2. Structured platform: Feed and pre-orient parts In the case of a structured platform, the goal is to sufficiently pre-orientate parts in grooves, holes etc. such that the desired cycle time is obtained. In this case, the ‘Flip’ vibration is used before smoother platform vibrations such as ‘Forward’... -
Page 41: Save All The Parameters In The Asycube
9.6. Execute commands from PLC A console mode is available in the Asyril HMI in order to test the communication with the Asycube as well as the execution of commands as if they were sent from the client’s PLC (Programmable Logic Controller). -
Page 42: Control The Asycube From Your Plc Through Modbus Tcp
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C Execute a sequence Command {ES:(23;40;-1;1;5)} Response {ES:(23;40;-1;1;5; 1560)} 23 parts were detected on the picking zone, at 40 parts there is no feeding of new parts. Step 2 The location of the centre of mass of parts is located in the back left corner (x = -1, y = 1, see Figure 9-1). - Page 43 Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C NOTE: The Modbus TCP communication interface is only available for Asycubes with a firmware version greater than or equal to V4.0.0. Please, refer to the programming guide for your Asycube for more information on Modbus TCP and for the list of all Holding Registers in the Asycube register table.
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Page 44: Technical Support
Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C Technical support For better service … 10.1. Have you read the relevant manuals and not found the answers to your questions? Before calling the support service, note the following information for your system: •... - Page 45 Asycube © Copyright Asyril S.A. User Guide 000.101.029 Version: C Review history Rev. Date Author Comments 27.10.2016 Original version 14.12.2016 Modify figures and images for translation 17.08.2017 Addition of Asycube 530 and references to Modbus TCP 23.07.2019 Addition of Asycube 380 and various improvements...
- Page 46 The following document is the property of Asyril S.A. and may not be copied or circulated without permission. The information contained in this document is subject to change without notice for the purpose of product improvement. Asyril SA Z.I. du Vivier 22...
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