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Summary of Contents for Sylvac SCAN S25
- Page 1 Automation Manual for SCAN S25 Robot Original version drafted in French...
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Page 2: Table Of Contents
Schematic Diagram of Sylvac Solution Safety System Functioning of the safety system Activating the robot mode Connections of the Scan S25 Description of the D-SUB 15p safety connector Functioning of the safety system with a robot Safety application diagram with a robot... -
Page 3: Schematic Diagram Of Sylvac Solution
1. SCHEMATIC DIAGRAM OF SYLVAC SOLUTION Camera/controller Modbus TCP/IP OPC/UA I/O cable Profinet... -
Page 4: Safety System
Scan S25 is in a fault condition. Emergency Stop Button To restore power to the Scan S25 and be able to continue the measurements, two actions are necessary (in this order) : 1. Pull the emergency stop button (to restore the safety signals). -
Page 5: Activating The Robot Mode
To use the machine in robot mode, move down the No Rob switch on the machine’s motherboard. This requires removing the back cover of the machine. Now the Scan S25 is in fault mode, you must connect a robot to its D-SUB safety connector and carry out the operations described in Section 2.5. -
Page 6: Connections Of The Scan S25
2.3.Connections of the Scan S25 Main power supply Ethernet plug CTRL, CAMERA and Display I/O connectors Security connector Pneumatic input Footswitch input 2.4 Description of the D-SUB 15p safety connector All inputs and outputs, to and from the Scan, must either be at +24V (binary 1) or at GND (binary 0). All signals... -
Page 7: Functioning Of The Safety System With A Robot
Function Description Direction Type Input +24V robot (common with +24V_ROB Input Persistent other connectors) SCAN_OK1 Safety output Scan ready 1 Output Persistent SCAN_OK2 Safety output Scan ready 2 Output Persistent ROBOT_OK1 Safety input robot ready 1 Input Persistent ROBOT_OK2 Safety input robot ready 1 Input Persistent Output +24V Scan (common with... - Page 8 3, a binary 1 state indicates that a Scan S25 is ready and a binary 0 state that a Scan S25 is faulty. If the binary state is different on the two inputs, e.g. ROBOT_OK1 at 1 and ROBOT_OK2 at 0, the Scan considers the robot state as faulty.
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Page 9: Safety Application Diagram With A Robot
2.6 Safety application diagram with a robot Scan ON Scan OK Scan Faulty B.2.0 Check E-Stop B.2.1 Check robot B.2.2 safety B.2.3 Restart Remote control mode ON Scan faulty Scan ready to work with a robot... -
Page 10: Description Of The Safety Application Diagram With A Robot
2.7 Description of the safety application diagram with a robot Each signal refers to a pin of the D-SUB 15p safety connector. Each signal must remain in the last defined state if not otherwise specified. Binary 1 defines a state where there is +24V present. Binary 0 defines a state where there is GND. -
Page 11: Safety Schematic Diagram With A Robot
2.8 Safety schematic diagram with a robot... -
Page 12: Remote Mode
3. REMOTE MODE Before starting any command with the Scan, regardless of the communication protocol chosen, the robot must check that the “Remote Mode” is activated. To activate the remote mode, go to the ReflexScan main screen (Home) and click the Remote Mode button. The robot can also choose to send the “Remote Lock”... -
Page 13: Program Mapping
4. PROGRAM MAPPING To be able to load programs from I/Os or Modbus, you have to assign them in the Setup of the «Automation» plugin using the “Service->Plugin->Automation->Setup” menu, then in the “Programs Mapping” tab. For the I/Os, each program can be assigned to a 3-bit binary code, allowing up to 7 programs, with code 111 indicating no active program. -
Page 14: Wired Solution
5. WIRED SOLUTION The Scan can be controlled by electrical signals grouped on two D-SUB connectors. This approach is the most direct to implement, but also the most limited in its possibilities. For example, it is not possible to exchange analog values (e.g. axis positions). Note that the number of functions available depends directly on the number of input/output signals of the Scan. -
Page 15: Description Of The I/O Diagnostics
5.3 Description of the I/O diagnostics Inputs Type Name Details Commands Park Axis All axes move to their parking position. Start Program Starts the loaded program. Start Calibration Starts a calibration cycle. Status Remote Lock Locks the Scan in remote control mode. Program Loading Select Program 0 3-bit code (0 to 7) for program selection. -
Page 16: Description Of The Main D-Sub 37P I/O Pins
Loaded Program 1 3-bit code (0 to 7) of the currently selected program. Loaded Program 2 Results “True” state when the program has finished its execution and the Result Ready results are ready. No Result “True” state when the program has not returned any results. “True”... - Page 17 Park axis Rising edge Start Program Rising edge Start Calibration Rising edge Remote Lock Persistent Select Program 0 Persistent Select Program 1 Persistent Select Program 2 Persistent Load Program Rising edge Lock Tailstock Rising edge IN10 Unlock Tailstock Rising edge IN11 Reserve IN IN12...
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Page 18: Description Of Pin D-Sub 15P I/O Additional Tools
5.5 Description of pin D-SUB 15p I/O additional tools All inputs and outputs, to and from the Scan, must either be at +24V (edge 1) or at GND (edge 0). All signals to the Scan must come from the robot. «This connector is reserved for future use requiring more I/Os.»... -
Page 19: Opc/Ua Server
6. OPC/UA SERVER OPC UA is a communication protocol for the automation industry using an Ethernet port. It is the most flexible automation solution supported by the Scan (e.g. access to the details of a measurement result). Note that the Scan only supports the binary protocol opc.tcp. The first time you use it, you must activate the OPC Server to be able to use the protocol. -
Page 20: Diagnostics
6.2 Diagnostics 6.3 Methods Methods Description Clear All Runs Clear all runs from the memory Close Chuck Close the pneumatic chuck Get Programs Get the list of available programs Get Results Get the last measurement results Load Program Load a program using the program file name Lock Tailstock Move down and lock the tailstock Move Rotation To Position... -
Page 21: Nodes
Position of the tailstock [mm] Tilt Position of the tilt [°] ApplicationMode Application Mode (e.g. Composer, ReflexClick, Replay, Remote) ApplicationVersion Version of SYLVAC-REFLEX Scan Calibrated Calibration state ChuckStatus The status of the pneumatic chuck ('Unknown', 'Closed', 'Open') IsParked Is machine in parking position... -
Page 22: Modbus Tcp/Ip Server
7. MODBUS TCP/IP SERVER The Scan incorporates a Modbus TCP/IP Server that allows access to the main functions of the Scan. When first used, Modbus must be enabled to use the protocol. Go to the Setup of the “Automation” plugin using the “Service->Plugin->Automation->Setup” menu and check Modbus Enable in the Modbus tab. -
Page 23: Diagnostics
7.2 Diagnostics 7.3 Input table (Coils, Read-Write, FC1, FC5, FC15) Variable Description Address Park Axis Moves the machine in the parking position Start Program Start the measurement of the part Start Calibration Start the calibration of the machine Remote Lock Lock remotely from the scan (e.g.: robot is working) Load Program by Id Load a program using its ID... -
Page 24: Input Table (Holding Register, Read-Write, Fc3, Fc6, Fc16)
7.4 Input table (Holding Register, Read-Write, FC3, FC6, FC16) Variable Description Address Type Size Program Id to Load ID of the program to be loaded uint16 2 bytes Program Name to Load Name of the program to be loaded utf8[20] 20 bytes Choose the position of the slide for Slide Target Position... -
Page 25: Output Table (Input Register, Read-Only, Fc4)
7.6 Output table (Input Register, Read-Only, FC4) Variable Description Address Type Size Loaded Program Id ID of the loaded program uint16 2 bytes Loaded Program Name Name of the loaded program utf8[20] 20 bytes Slide Position Current position of the slide [mm] float32 4 bytes Rotation Position... -
Page 26: Profinet Via Gateway
8. PROFINET VIA GATEWAY The Scan machine can be controlled by a Profinet bus using a gateway Moxa MGate 5103 that converts Mod- busTCP<>Profinet I/O Device. When RS+ software is installed, the configuration files needed for the gateway are copied to the disk in the ‘Resources\Profinet’... -
Page 27: Gateway Configuration
8.2. Gateway configuration The gateway is configured via its web portal. To set the gateway into ‘configuration’ mode, you must first switch it off, ensuring to disconnect all its Ethernet cables. You must then wait about ten seconds for the ‘beep’ when the power is restored before reconnecting the network cable between the gateway and the Scan computer. -
Page 28: Changing The Ip Address
8.3 Changing the IP address It is possible that the installation at the customer’s site requires working in a different subnet. In this case, it is necessary to modify the IP address of the gateway, as well as the parameters of the four ModbusTCP com- mands. -
Page 29: I/O Data Mapping
8.4 I/O Data Mapping The mapping between the Modbus data and the two Profinet frames is handled automatically by the gateway. The position of the data in the frames depends directly on the address of the Modbus registers. -
Page 31: Example Of A Robot Sequence
9. EXAMPLE OF A ROBOT SEQUENCE... -
Page 32: I/O Sequence
9.1 I/O sequence The Robot takes a part to be measured (Close gripper) 1.Turn “Select Program 0” := ON 2.Turn “Select Program 1” := OFF 3.Turn “Select Program 2” := OFF 4.Wait for “Machine Ready” = ON 5.Turn “Load Program” := ON 6.Wait for “Loaded Program 0”... -
Page 33: Modbus Tcp/Ip Sequence
9.2 Modbus TCP/IP sequence The Robot takes a part to be measured 1.Program Id to Load := 1 2.Load Program by ID:= ON 3.Wait MachineReady = ON 4.Load Program by ID:= OFF 5.WAIT Loaded Program Id = 1 The Robot approaches with the part in front of the Scan 6.Wait MachineReady = ON 7.UnlockTailstock := ON 8.WAIT IsTailstockUnlocked = ON... -
Page 34: Pneumatic System
10. PNEUMATIC SYSTEM 10.1 Features 2-position electrovalve with dual control (bistable). Operating pressure range: 0.1 to 0.7 MPa (1 to 7 bar). Ambient and compressed air temperature: -10 to 50 °C. Maximum response time: 15 ms. Maximum operating frequency: 10 Hz. 10.2 Pneumatic connections The Scan machine must be supplied with air through the PNEUMATICS connector at the rear of the machine. - Page 35 2. Software enabling : The Pedal allows the user to quickly unlock parts by either acting on the Chuck or the Tailstock. It has the following modes: a. Toggle Pneumatic Chuck : Press and release the pedal once, the pneumatic chuck opens. Press the pedal again to close the chuck and clamp the part.
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Page 36: Troubleshooting
2. You can view the logs at ReflexScan -> Service -> Logs 3. Logs are also stored in folder ‘C:\ProgramData\SYLVAC\SYLVAC-REFLEX Scan\Logs’ 4. When you contact the Sylvac Service Team, try always to attach the log file corresponding to the problem together with the corresponding time stamp. - Page 37 11.3.3 There is no signal from the robot 1. Contact the integrator of the robot. 2. Try to turn ON one output on the robot. 3. Check there is +24V on the appropriate pin. 4. Turn OFF one output on the robot. 5.
- Page 38 11.3.5 The Tailstock Lock/Unlock doesn’t work 1. Contact the robot integrator. 2. Verify that the robot waits for “Machine Ready” = ON before sending a “Lock Tailstock”/”Unlock Tailstock” command. 3. This advice works well for all others commands. 11.3.6 The Tailstock doesn’t go to the correct position 1.
- Page 40 Changes without prior notice Sous réserve de toute modification Änderungen vorbehalten Edition : 2023.06/ 681-104-03-110...
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