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Asyril Asycube Control URCap User Manual

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Asycube Control
Asyril_Plugin_UniversalRobots_Asycube_User_Guide_EN
Document
000.102.083
Version
A2
URCap
User guide
Date
04.06.2019

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Summary of Contents for Asyril Asycube Control URCap

  • Page 1 Asycube Control URCap User guide Asyril_Plugin_UniversalRobots_Asycube_User_Guide_EN Document 000.102.083 Version Date 04.06.2019...

  • Page 2: Table Of Contents

    3.2.2. Asycube Backlight ......................21 3.2.3. Offline programming ......................22 3.3......................23 ARNINGS AND ALARMS ADVANCED USE OF THE ASYCUBE CONTROL URCAP ........... 25 4.1..................... 25 DVANCED PROGRAMMING 4.1.1. Smart feeding ........................25 4.1.2. Smart centering ........................29 4.1.3.
  • Page 3 Asycube Control URCap © Copyright Asyril S.A. User guide Table of Contents Version: A2 8.1................45 O HELP US PROVIDE THE BEST SERVICE 8.2..........................45 ONTACT REVISION TABLE .......................... 46 ANNEX I : ASYCUBE PLATFORM USE OVERVIEW ............. 47 10.1.

  • Page 4: Introduction

    IMPORTANT! Asyril cannot be held liable for damage to property or injuries to people caused by failure to follow the instructions specified in the "Safety instructions" paragraph. It is the customer's responsibility to inform the personnel concerned.

  • Page 5: Other Manuals

    Table 1: Other manuals 1.3. Overview The Asycube Control URCap is the Universal Robots plugin dedicated to control Asycube platforms through UR robots. The Asycube Control URCap provides the following functionalities: • Network configuration and control of an Asycube platform.

  • Page 6: Compatibility

    Asycube Control URCap © Copyright Asyril S.A. User guide Introduction Version: A2 1.4. Compatibility On Asyril side: • Asycube 50, 80, 240, 380 and 530 • Asycube firmware version: 4.0.3 or greater On Universal Robots side: For CB-Series: • Universal Robots Software version: 3.9 or greater •...

  • Page 7: Asycube Control Urcap Installation And Configuration

    This section describes how to install and enable the Asycube Control URCap on the UR robot and how to configure the Asycube and robot network settings, to connect the 2 devices together and to allow the communications in between.

  • Page 8: Enabling The Urcap

    Asycube Control URCap © Copyright Asyril S.A. User guide Asycube Control URCap installation and configuration Version: A2 2.2. Enabling the URCap The main menu of the URCap, at the Installation tab level, includes a checkbox, Enable URCap, allowing to enable or disable the URCap. Whether the URCap is enabled or not, the robot must be restarted.
  • Page 9 © Copyright Asyril S.A. User guide Asycube Control URCap installation and configuration Version: A2 Figure 2-3 – HMI: set network setting of an Asycube platform for the first time To modify the network settings of an Asycube platform, already configured in the HMI software: •...

  • Page 10: Ur Robot Network Settings

    Asycube Control URCap © Copyright Asyril S.A. User guide Asycube Control URCap installation and configuration Version: A2 2.3.2. UR robot network settings To modify the network configuration of the UR Robot: • In the main menu, click on Setup Robot. In the Setup Robot menu, click on Network.

  • Page 11: Connection Between The Ur Robot & The Asycube Platform

    Asycube Control URCap © Copyright Asyril S.A. User guide Asycube Control URCap installation and configuration Version: A2 2.3.3. Connection between the UR robot & the Asycube platform Once the UR robot & Asycube platform network settings configured, the user needs to connect the two devices together through the URCap: •...
  • Page 12 Asycube Control URCap © Copyright Asyril S.A. User guide Asycube Control URCap installation and configuration Version: A2 Figure 2-7 – Connection management with the Asycube platform Through the Network sub-menu, the user can specify the network settings of the Asycube platform: IP address, subnet mask and port.
  • Page 13 Asycube Control URCap © Copyright Asyril S.A. User guide Asycube Control URCap installation and configuration Version: A2 Figure 2-8 – Connection to an Asycube platform 000.102.083 13/50...

  • Page 14: Standard Use Of The Asycube Control Urcap

    Version: A2 Standard use of the Asycube Control URCap This section describes how to use in a standard way the Asycube Control URCap, to test the different vibration sets loaded within the Asycube and to program an industrial process involving it. A dedicated chapter explains finally how the URCap handles the warnings and alarms retrieved from the Asycube.
  • Page 15 Asycube Control URCap © Copyright Asyril S.A. User guide Standard use of the Asycube Control URCap Version: A2 Figure 3-1 – Access to Standard control sub-menu • Connect the platform if needed (2.3.3 Connection between the UR robot & the Asycube platform), come back to the URCap main menu and click on Standard control, to access the sub-menu.
  • Page 16 Asycube Control URCap © Copyright Asyril S.A. User guide Standard use of the Asycube Control URCap Version: A2 Figure 3-3 – Standard control: vibration set selection The user can then execute the different standard vibrations implemented by the platform and related to the selected vibration set by clicking on to the Platform buttons at the bottom of the interface.
  • Page 17 Asycube Control URCap © Copyright Asyril S.A. User guide Standard use of the Asycube Control URCap Version: A2 displaying then a virtual keyboard. The user must then enter the new duration value and click on the Submit button. button allows the user to stop the currently executed vibration at any time.

  • Page 18: Programming With The Urcap

    © Copyright Asyril S.A. User guide Standard use of the Asycube Control URCap Version: A2 buttons allows the user to change the orientation of the platform by a 90° factor in one direction or the other. Doing so, the vibration execution buttons, at the Platform level, are adapted according to the new orientation of the platform.
  • Page 19 © Copyright Asyril S.A. User guide Standard use of the Asycube Control URCap Version: A2 Figure 3-8 – Asycube Vibrate: selection of the vibration set Once the vibration set selected, the user can choose to add to the sub-program 3 different actions, implementing thus the desired recipe: Hopper, Platform and Wait.
  • Page 20 © Copyright Asyril S.A. User guide Standard use of the Asycube Control URCap Version: A2 The user is then free to organize differently the different sub-nodes and to add other nodes, as it is usually done in a UR program. The user can as well use variables and assign them to the different node parameters.

  • Page 21: Asycube Backlight

    Asycube Control URCap © Copyright Asyril S.A. User guide Standard use of the Asycube Control URCap Version: A2 3.2.1.2. Platform node The Asycube unit type is specified at the top of the interface alongside with the selected vibration set through the Asycube Vibrate parent node.

  • Page 22: Offline Programming

    Asycube Control URCap © Copyright Asyril S.A. User guide Standard use of the Asycube Control URCap Version: A2 Figure 3-14 – Asycube backlight programming node – Left: set backlight off; Right: set backlight to flash for 0.5 seconds. The user can also choose to use the flash mode to have the backlight lit for some duration (between 0 and 10 seconds).

  • Page 23: Warnings And Alarms

    © Copyright Asyril S.A. User guide Standard use of the Asycube Control URCap Version: A2 When a unit is physically connected, the related unit is preselected by the Unit dropdown and the user cannot select a new unit through it. Once the Asycube is disconnected, the previously connected unit is kept in memory and preselected by the Unit dropdown.
  • Page 24 Asycube Control URCap © Copyright Asyril S.A. User guide Standard use of the Asycube Control URCap Version: A2 The Refresh button, located at this level, allows the URCap to retrieve and reinitialize the current warnings and alarms at any time.

  • Page 25: Advanced Use Of The Asycube Control Urcap

    Asycube Control URCap © Copyright Asyril S.A. User guide Advanced use of the Asycube Control URCap Version: A2 Advanced use of the Asycube Control URCap This section describes how to use the advanced functionalities of the Asycube Control URCap (advanced programming & management of variables and logs).
  • Page 26 © Copyright Asyril S.A. User guide Advanced use of the Asycube Control URCap Version: A2 Figure 4-2 – Duration modes for the Hopper node The Smart Feeding option allows the advanced user to trigger the hopper outputs in a smart way (Production mode) and eventually to test the hopper behaviors (Test mode), before running the UR program.
  • Page 27 © Copyright Asyril S.A. User guide Advanced use of the Asycube Control URCap Version: A2 typically returned by a vision system, whereas the maximum number of parts is a constant integer value, set by the user. The picture below gives an example of a UR program implementing this kind of process.
  • Page 28 Asycube Control URCap © Copyright Asyril S.A. User guide Advanced use of the Asycube Control URCap Version: A2 Figure 4-6 – Assigning a variable to the current number of parts (production mode – smart feeding) The maximum number of parts is a constant integer value set by the user. To modify it, the user must click on the related text field, displaying then a virtual keyboard and enter the new value.

  • Page 29: Smart Centering

    Asycube Control URCap © Copyright Asyril S.A. User guide Advanced use of the Asycube Control URCap Version: A2 Figure 4-7 – Testing smart feeding 4.1.2. Smart centering The smart centering process can be executed through the Platform node (3.2.1.2 Platform node), created via the Asycube Vibrate node.
  • Page 30 Asycube Control URCap © Copyright Asyril S.A. User guide Advanced use of the Asycube Control URCap Version: A2 The advanced user can choose the Smart Centering vibration, through the dedicated dropdown of the Platform node, in Production mode. Figure 4-9 – Choosing the Smart Centering vibration The coordinates [X, Y] of the center of mass must be linked to 2 dedicated variables, typically returned by the vision system.
  • Page 31 Asycube Control URCap © Copyright Asyril S.A. User guide Advanced use of the Asycube Control URCap Version: A2 Figure 4-10 – Assigning a variable to the X coordinate of the center of mass (production mode – smart centering) The Test mode allows the user to test the smart centering process without having to execute a UR program.

  • Page 32: Sequence Node

    Sequences are a combination of hopper and platform vibrations that are defined inside the Asyril HMI software and saved directly inside the Asycube. So, the use of the Sequence node must be an alternative solution to the use of the Hopper and Platform nodes.
  • Page 33 Asycube Control URCap © Copyright Asyril S.A. User guide Advanced use of the Asycube Control URCap Version: A2 Figure 4-12 – Sequence node selection The node allows the user to select and execute a specific sequence, with the related dropdown, and offers as well a Production mode, to parametrize the node that is going to be executed during the UR program execution, and a Test mode, to test a sequence without having to run the UR program.
  • Page 34 © Copyright Asyril S.A. User guide Advanced use of the Asycube Control URCap Version: A2 Figure 4-14 - Production mode (left) & Test mode (right) Through the Production node, the current number of parts and the coordinates [X, Y] of the center of mass must be linked to 3 dedicated variables, typically returned by the vision system.

  • Page 35: Asycube Terminal

    Asycube Control URCap © Copyright Asyril S.A. User guide Advanced use of the Asycube Control URCap Version: A2 4.1.4. Asycube Terminal The Asycube Terminal node allows the user to send a textual request to the platform, according to the communication protocols of the Asycube. The user types the request to be sent within the dedicated text field.

  • Page 36: Managing Variables & Logs

    Advanced use of the Asycube Control URCap Version: A2 4.2. Managing variables & logs The execution of a programming node, implemented by the Asycube Control URCap, generates and updates 5 global variables: • asycube_platform_sending_success: indicates if the URCap has correctly sent the request to the Asycube platform.
  • Page 37 Figure 4-17 - Asycube variable access through dedicated functions During the execution of a program implying the use of the Asycube Control URCap, all the requests to the Asycube platform and all the responses from it are logged in the Log tab of the UR controller.

  • Page 38: Ur Program Examples

    Asycube Control URCap © Copyright Asyril S.A. User guide UR program examples Version: A2 UR program examples The installation of the URCap includes some UR program examples involving the use of the different nodes provided by the URCap. Examples’ description 6.1.
  • Page 39 Asycube Control URCap © Copyright Asyril S.A. User guide UR program examples Version: A2 Figure 6-2 – UR program: acquiring a picture of the Asycube surface • From this acquired picture, different information are extracted. The vision system must return at least a ehavio indicating if at least one part has been detected (part_available) and, if one part has been detected, the part position (pick_position).

  • Page 40: Flexible_Pick_And_Place_Without_Vision_Feedback

    Asycube Control URCap © Copyright Asyril S.A. User guide UR program examples Version: A2 6.1.1. Flexible_pick_and_place_without_vision_feedback The Flexible_pick_and_place_without_vision_feedback example implements the process without any feedback from the vision system, the Asycube surface being flat. If no parts have been detected, new parts must be first provided by the hopper and then distributed over the whole Asycube flat surface as equally as possible.

  • Page 41: Flexible_Pick_And_Place_With_Vision_Feedback

    Asycube Control URCap © Copyright Asyril S.A. User guide UR program examples Version: A2 Figure 6-6 – URCap program: making most of the parts fit into the empty spaces of the structured plate 6.2.1. Flexible_pick_and_place_with_vision_feedback The Flexible_pick_and_place_with_vision_feedback example implements the process driven by the different information extracted from the picture acquired by the vision system, the Asycube surface being flat.
  • Page 42 Asycube Control URCap © Copyright Asyril S.A. User guide UR program examples Version: A2 Figure 6-8 - Loading AsycubeCtrl examples with robot installation file Beware that these programs and robot installations can be modified but that these modifications are going to be erased as soon as the robot is restarted. So, if the user wants to use and modify one of these examples, the latter must be first saved, together with the current robot installation file, under a different name and/or in another folder.

  • Page 43: Troubleshooting

    Asycube Control URCap © Copyright Asyril S.A. User guide Troubleshooting Version: A2 Troubleshooting The different parameters set up at the Installation tab level (auto reconnect checkbox, IP address, etc.) are not persistent when restarting the UR robot. In the Installation tab, the different information specified by the user are not automatically saved &...
  • Page 44 Asycube Control URCap © Copyright Asyril S.A. User guide Troubleshooting Version: A2 Figure 7-2 – UR keyboard & Submit button when modifying the network settings of the Asycube platform 000.102.083 44/50...

  • Page 45: Technical Support

    Asycube Control URCap © Copyright Asyril S.A. User guide Technical Support Version: A2 Technical Support 8.1. To help us provide the best service… Before contacting us, please note down the following information concerning your product: Serial number and product key for your equipment Software version(s) used Error message, alarm, or visual signals displayed by the interface.

  • Page 46: Revision Table

    Asycube Control URCap © Copyright Asyril S.A. User guide Revision table Version: A2 Revision table Rev. Date Author Comment 15.06.2018 Initial version based on external documentation 10.09.2018 Add compatibility information with e-Series, modify a few pictures 04.06.2019 Add compatibility information about 380, modified compatibility on polyscope version.

  • Page 47: Annex I : Asycube Platform Use Overview

    Asycube Control URCap © Copyright Asyril S.A. User guide Annex I : Asycube platform use overview Version: A2 Annex I : Asycube platform use overview This section gives a brief overview about the different concepts introduced by the Asycube platform and about the HMI software functionalities to use it.

  • Page 48: Hmi Software

    Asycube Control URCap © Copyright Asyril S.A. User guide Annex I : Asycube platform use overview Version: A2 Sequence: a sequence is used to combine different vibrations and usually corresponds to a scenario. A sequence contains 7 customizable actions. An action can be none (no action), platform vibration, output activation and stabilization (a delay).
  • Page 49 Asycube Control URCap © Copyright Asyril S.A. User guide Annex I : Asycube platform use overview Version: A2 The scripting tab allows the user to design the different sequences: • The user can select a specific sequence (#1). • The sequence can be then designed in the upright panel (#2) by selecting the right action &...
  • Page 50 Annex I : Asycube platform use overview Version: A2 This document is the exclusive property of Asyril SA; it may not be reproduced, modified or communicated, in whole or in part, without our prior written authorisation. For the purposes of product improvement, Asyril SA reserves the right to modify any information contained in this document without prior notice.

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