Asyril Asycube 240 Programming Manual Download Page 71

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Asycube - Asyril SA

Programming Guide

000.101.572

Version : A1

71/83

Address

(decimal)

Holding Register name

Read/

Write

Data Range

Comments

128+678

128+1377

HR_SEQUENCE_ID2_TO_26

The address has to be computed based on the 28 previous parameters (Address

128+650 to 128+677) with the following formula:

Desired_Address = Address_Of_The_Register_For_Sequence 1

+ 28 x Sequence_Identifier

Example:

HR_SEQUENCE_ID26_ACTION7_DURATION_VALUE

HR_SEQUENCE_ID1_ACTION7_DURATION_VALUE + 28 x (

-1) = 128+677

+ 28 x 25 = 128+1377

Table 6-3: Recipe Read Holding Registers, offset=128

Summary of Contents for Asycube 240

Page 1: ...Asycube Programming Guide Document ASYCUBE_Programming_Guide_EN 000 101 572 Version A1 Date 12 12 2017 ...

Page 2: ... HMI 15 3 2 PRODUCTION CYCLE WITH SEQUENCES 16 3 3 QUESTIONS AND ANSWERS 17 3 3 1 Which vibration set or sequence is currently selected 17 3 3 2 How do I know if some parameters of the current vibration set have been modified 17 3 3 3 What is the duration of a specific sequence 17 3 3 4 How do I know when a vibration or a sequence is finished 17 3 3 5 How do I backup all vibration set on the compu...

Page 3: ... Cube 43 5 4 9 Hopper vibration or Outputs activation 44 5 4 9 1 Asycubes 50 and 80 Hopper Vibrations B for Bulk 44 5 4 9 2 Asycubes 240 and 530 Outputs activation 45 5 4 10 Sequence centering and feeding execution 46 5 4 10 1 Sequence 47 5 4 10 1 1 Various formats of the command ES 48 5 4 10 2 Centering 50 5 4 10 3 Feeding 51 5 4 11 Flash Operation 52 5 4 12 States 53 5 4 13 General 53 5 4 14 War...

Page 4: ...77 6 4 2 Holding Register error codes 77 6 4 3 Asycube warnings and alarms 78 6 5 EXAMPLE OF USE 78 6 5 1 Set up the Modbus master e g PLC 78 6 5 2 Handle the Status and Control Holding Registers 79 6 5 3 Vibration sequence backlight read write parameter 79 7 TECHNICAL SUPPORT 81 7 1 FOR BETTER SERVICE 81 7 2 CONTACT 81 ...

Page 5: ...ollowing symbols are used DANGER Failure to observe the instruction may result in death or serious injury DANGER Failure to observe the instruction may result in electrocution or serious injury due to electric shock WARNING Failure to observe the instruction may result in injury or property damage NOTE The user should read carefully this information to ensure the correct use of the product althoug...

Page 6: ...atile All vibrations sets All sequences Global parameters Load and save parameters Communication Synchro backlight input Ethernet communication Power unit Actuators Outputs Backlight PWM Commands received and responses Execute actions requested Real time execution Commands processing Vibrations execution Ouputs activation Sequences execution Backlight ON OFF Overheating management Figure 2 1 descr...

Page 7: ...ycubes 240 and 530 A 0 Forward Forward Output 1 B 1 Forward left Output 2 C 2 Forward right D 3 Left E 4 Right F 5 Backward G 6 Backward left H 7 Backward right I 8 Flip J 9 Long axis centering only for Asycubes 240 and 530 K 10 Short axis centering only for Asycubes 240 and 530 Table 2 2 Vibration direction convention Figure 2 3 Graphical representation of the direction convention for the Asycube...

Page 8: ... 1 to 26 ID 26 Platform Vibration Pag e 1 B C D E F Forward Forward left Forward right Left Right Backward A G Backward left H Backward right I Flip Pag e 1 K L M N O Custom Custom Custom Custom Custom Custom J P Custom Q Custom R Custom S T U V Custom Custom Custom Custom W Custom X Custom Y Custom Z Custom Custom Output activation Pag e 1 B C D E F Output 1 Output 2 Custom Custom Custom Custom A...

Page 9: ...le memory it can only contain one of the 26 vibration sets At startup the Asycube loads from flash memory the last selected vibration set the 26 sequences and the global parameters When the user selects another vibration set the parameters are loaded from the flash memory and overwrite the previously selected vibration set all modifications made before selecting another vibration set are lost if t...

Page 10: ...s will detail the chosen working mode 3 1 Integration modes Different ways of integration are available Here below is a brief description of the main ones More information is then available in the corresponding section The main tasks necessary to use configure and integrate the Asycube are described depending the chosen integration mode The next tables and figures describe the tasks in charge of t...

Page 11: ...PC Controller Asycube HMI fconf fseq CAMERA ROBOT dll ASYCUBE Firmware LEVEL TASKS Asycube Generation and synchronization of the desired vibration Execute sequences Save and reload 25 vibration sets 26 for the reload Save and reload 25 sequences 26 for the reload Activation of the outputs and backlight Choice Management of the optimal sequence based on the vision feedback Asycube HMI Configuration...

Page 12: ...d vibration Execute sequences Save and reload 25 vibration sets 26 for the reload Save and reload 25 sequences 26 for the reload Activation of the outputs and backlight Choice Management of the optimal sequence based on the vision feedback Integrator Communication with the Asycube Recipe management memorize vibration set ID and sequence ID for each component Configuration and optimization of the f...

Page 13: ...UBE Firmware LEVEL TASKS Asycube Generation and synchronization of the desired vibration Execute sequences Save and reload 25 vibration sets 26 for the reload Save and reload 25 sequences 26 for the reload Activation of the outputs and backlight Choice Management of the optimal sequence based on the vision feedback Asycube Plugin NET Communication with the Asycube access to the parameters of the v...

Page 14: ...eq LEVEL TASKS Asycube Generation and synchronization of the desired vibration Execute sequences Save and reload 25 vibration sets 26 for the reload Save and reload 25 sequences 26 for the reload Activation of the outputs and backlight Choice Management of the optimal sequence based on the vision feedback Asycube Plugin NET Communication with the Asycube access to the parameters of the vibrations ...

Page 15: ...be the same as controller PC Controller Asycube HMI fconf fseq CAMERA ROBOT dll ASYCUBE Firmware MODBUS TCP LEVEL TASKS Asycube Generation and synchronization of the desired vibration Execute sequences Save and reload 25 vibration sets 26 for the reload Save and reload 25 sequences 26 for the reload Activation of the outputs and backlight Choice Management of the optimal sequence based on the visi...

Page 16: ...umber of parts on the surface Select the vibrations set UV1 Select the sequence US1 Image acquisition and analyse Parts to take Take parts on platform Execute the sequence Execute sequence ES 10 50 0 100 0 130 1 Wait sequence finished Return the sequence duration Wait the time value received from the ExecuteSequence method no yes Figure 3 6 description of sequences For details of the different par...

Page 17: ...ed by the execution function For example the command ES 10 20 0 1 0 8 1 will receive as answer the string ES 10 20 0 1 0 8 1 1830 and 1830 is the duration of the sequence in milliseconds 3 3 4 How do I know when a vibration or a sequence is finished For the vibration the remaining time of the platform vibration is given by the answer of the command 42 For the hopper use the command 44 and for the ...

Page 18: ... The positions on the platform are normalized between 1 and 1 in both directions in order to be independent of the resolution of the camera or of the choice of the camera manufacturer image orientation and origin This figure explains the standardized range Check in your camera specifications to find the correspondence between the camera positions and the Asycube standardized range ...

Page 19: ...lds may be defined in another parameter For example the backlight intensity Backlight PWM Address 102 has a minimal value defined in the Backlight minimum PWM threshold parameter Address 104 4 1 Configuration integrator write developer write Address Parameters Command Comment 2 warning rd clear 4 alarm rd clear 6 password wr 22 life time day if auto flashing enabled 24 life time hour if auto flash...

Page 20: ...M for more than 32767 64 average number of flash in ROM nb day number of flashing data in ROM per day 72 Synchro backlight logic 0 logic positive 1 logic negative 80 DIP switch 1 ON switch state 1 IP default value 82 DIP switch 2 ON 84 DIP switch 3 ON 86 DIP switch 4 ON 92 Type 1 Asycube 0 Unknown 1 Asycube 50 2 Asycube 80 3 Asycube 130 4 Asycube 240 5 Asycube 530 94 Type 2 Asycube 96 Color of Bac...

Page 21: ...int 2 55 162 Gain amplitude actuator 3 int 2 55 164 Gain amplitude actuator 4 int 2 55 166 Offset amplitude actuator 1 int n 1 256 168 Offset amplitude actuator 2 int n 1 256 170 Offset amplitude actuator 3 int n 1 256 172 Offset amplitude actuator 4 int n 1 256 174 Offset frequency actuator 1 int n 0 25 Hz 176 Offset frequency actuator 2 int n 0 25 Hz 178 Offset frequency actuator 3 int n 0 25 Hz...

Page 22: ... n 1 Z n 25 0 to 100 302 24 n Frequency 1 Hz 0 to 250 Hz 304 24 n Phase 1 deg 0 to 359 degrees 306 24 n Waveform 1 0 3 0 no signal 1 sinus 2 rp up 3 rp dn 308 24 n Amplitude 2 0 to 100 310 24 n Frequency 2 Hz 0 to 250 Hz 312 24 n Phase 2 deg 0 to 359 degrees 314 24 n Waveform 2 0 3 0 no signal 1 sinus 2 rp up 3 rp dn 316 24 n Amplitude 3 0 to 100 318 24 n Frequency 3 Hz 0 to 250 Hz 320 24 n Wavefo...

Page 23: ... Amplitude 3 0 to 100 342 Frequency 3 Hz 0 to 250 Hz 344 Waveform 3 0 3 0 no signal 1 sinus 2 rp up 3 rp dn 942 Duration ms 0 to 30 000 ms Table 4 3 platform vibrations parameters A and B for the Asycube 50 and Asycube 80 4 2 2 For the Asycube 240 and Asycube 530 The Table 4 4 shows the formula to get the addresses of the platform vibrations parameters while the Table 3 1 presents the specific add...

Page 24: ... 240 and Asycube 530 Address Parameters Vibration Units Range 300 Amplitude 1 Platform A 0 to 100 302 Frequency 1 Hz 0 to 250 Hz 304 Phase 1 deg 0 to 359 degrees 306 Waveform 1 0 3 0 no signal 1 sinus 2 rp up 3 rp dn 310 Amplitude 2 0 to 100 312 Frequency 2 Hz 0 to 250 Hz 314 Phase 2 deg 0 to 359 degrees 316 Waveform 2 0 3 0 no signal 1 sinus 2 rp up 3 rp dn 320 Amplitude 3 0 to 100 322 Frequency ...

Page 25: ... no signal 1 sinus 2 rp up 3 rp dn 384 Amplitude 3 0 to 100 386 Frequency 3 Hz 0 to 250 Hz 388 Phase 3 deg 0 to 359 degrees 390 Waveform 3 0 3 0 no signal 1 sinus 2 rp up 3 rp dn 394 Amplitude 4 0 to 100 396 Frequency 4 Hz 0 to 250 Hz 398 Phase 4 deg 0 to 359 degrees 400 Waveform 4 0 3 0 no signal 1 sinus 2 rp up 3 rp dn 426 Duration ms 0 to 30 000 ms Table 4 5 platform vibrations parameters A and...

Page 26: ...204 and 1240 to 1290 Address Parameters Vibration Units Range 1000 8 n Amplitude Bulk n A n 0 B n 1 Z n 25 0 to 100 1002 8 n Frequency Hz 0 to 250 Hz 1004 8 n Figure 0 3 0 no signal 1 sinus 2 rp up 3 rp dn 1240 2 n Duration ms 0 to 30 000 ms Table 4 6 Generic addressing of the hopper vibrations parameters for the Asycube 50 and Asycube 80 Address Parameters Vibration Units Range 1000 Amplitude Bul...

Page 27: ...o signal 1 signal 2006 16 n Amplitude output 2 0 to 100 0 to 10V 2014 16 n Duration ms 0 to 30 000 ms Table 4 8 Generic addressing of the outputs activations parameters for the Asycube 240 and Asycube 530 Address Parameters Activation Units Range 2000 Toggle output 1 Outputs A bool 0 no signal 1 signal 2002 Amplitude output 1 0 to 100 0 to 10V 2004 Toggle output 2 bool 0 no signal 1 signal 2006 Am...

Page 28: ...nge Comment baseAddr 0 8 m 1 58 n 1 Type m 1 to 7 n 1 to 25 26 0 3 0 None 1 Platform 2 Hopper 3 Stabilisation baseAddr 2 8 m 1 58 n 1 Vibration m n A Z 0 0 Centering baseAddr 4 8 m 1 58 n 1 Duration Mode m n 0 2 0 Fixed 1 QuantityAdjusted 2 VibrationRatio baseAddr 6 8 m 1 58 n 1 Duration Value m n 0 30000ms 0 100 Unit change depending of selected duration mode developer write Table 4 10 Generic ad...

Page 29: ...1 0 3 0 None 1 Platform 2 Hopper 3 Stabilisation 2526 Vibration A Z 0 0 Centering 2528 Duration Mode 0 2 0 Fixed 1 QuantityAdjusted 2 VibrationRatio 2530 Duration Value 0 30000ms 0 100 Unit change depending of selected duration mode 2532 Type 5 1 0 3 0 None 1 Platform 2 Hopper 3 Stabilisation 2534 Vibration A Z 0 0 Centering 2536 Duration Mode 0 2 0 Fixed 1 QuantityAdjusted 2 VibrationRatio 2538 D...

Page 30: ...2 VibrationRatio 3956 Duration Value 0 30000ms 0 100 Unit change depending of selected duration mode 3958 Type 2 26 0 3 0 None 1 Platform 2 Hopper 3 Stabilisation 3960 Vibration A Z 0 0 Centering 3962 Duration Mode 0 2 0 Fixed 1 QuantityAdjusted 2 VibrationRatio 3964 Duration Value 0 30000ms 0 100 Unit change depending of selected duration mode 3966 Type 3 26 0 3 0 None 1 Platform 2 Hopper 3 Stabi...

Page 31: ...ected duration mode 3990 Type 6 26 0 3 0 None 1 Platform 2 Hopper 3 Stabilisation 3992 Vibration A Z 0 0 Centering 3994 Duration Mode 0 2 0 Fixed 1 QuantityAdjusted 2 VibrationRatio 3996 Duration Value 0 30000ms 0 100 Unit change depending of selected duration mode 3998 Type 7 26 0 3 0 None 1 Platform 2 Hopper 3 Stabilisation 4000 Vibration A Z 0 0 Centering 4002 Duration Mode 0 2 0 Fixed 1 Quanti...

Page 32: ...of the lost parameters 5 2 Asycube communication protocol The host controller communication protocol uses only ASCII characters and is designed for communication networks The host computer is always the client Servers transmit only after receiving a message from the client Command Response Format Command Begin Command End CRLF Response Begin Response End CRLF Begin The ASCII char must be the first...

Page 33: ...ister 300 amplitude of first actuator of Platform Vibration A on the Asycube Command rp300 CR LF Response rp300 00100 CR LF 2 In this example we want to modify the amplitude of the first actuator value 90 of the Platform Vibration A 301 from the Asycube Command wp301 90 CR LF Response wp301 00090 CR LF 3 In this example we want to start the vibration of the platform using the Vibration F Backward ...

Page 34: ...ring to integer data convert error even off according to read write 00004 2 Unknown first character of command 00008 3 Unknown second character of command 00016 4 Parameter value error 00032 5 Sequence vibration duration value 0 error 00064 6 Access to the vibration set or sequence ID 26 error 00128 7 not used 00256 8 Receive buffer is full 00512 9 Receive end of message but receive buffer is full...

Page 35: ...ion Vibration used by the action in the sequence for Platform and Hopper types LS SS A Z 0 for centering Duration Mode Duration mode of the action in the sequence Fixed QuantityAdjusted and VibrationRatio LS SS 0 2 Duration Value Duration value of the action in the sequence LS SS 0 30000 1 0 100 2 ms Nb Parts on the platform Number of parts on platform used by the Asycube to execute the sequence E...

Page 36: ...loper access allows to change all parameters but is exclusively used by Asyril 6 00004 Reserved for Asyril Table 5 4 level access description 5 4 3 Access Single Parameters Code Label Command Response Remark WP Write Parameter WP303 90 WP303 90 RP Read Parameter RP302 RP302 90 Table 5 5 read and write commands NOTE The even numbered registers are readable parameters and the odd numbered registers ...

Page 37: ...ith a semicolon The order of the parameters is as follows Amplitude1 Frequency1 Phase1 Waveform1 Amplitude2 Frequency2 Phase2 Waveform2 Amplitude3 Frequency3 Phase3 Waveform3 Amplitude4 Frequency4 Phase4 Waveform4 Duration Examples Write platform vibration A Command SCA 90 70 0 1 88 71 90 2 85 72 180 3 80 73 270 4 1200 Response SCA 90 70 0 1 88 71 90 2 85 72 180 3 80 73 270 4 1200 Read platform vi...

Page 38: ... Command SBA 80 70 3 1200 Response SBA 80 70 3 1200 Read hopper vibration A Command LBA Response LBA 80 70 3 1200 5 4 4 3 Outputs Activation Parameters Asycubes 240 and 530 Code Label Command Response Remark SBA Z Save Outputs Activation A Z parameters SBA p1 p2 etc SBA p1 p2 etc LBA Z Load Outputs Activation A Z parameters LBA LBA p1 p2 etc Table 5 8 outputs activation commands P1 P2 are paramete...

Page 39: ...A 000 101 572 Version A1 39 83 NOTE To access vibration and activation parameters platform and outputs the order of the parameters has to be strictly respected These commands are useful to access all parameters of a vibration activation in only one message ...

Page 40: ...e strictly respected 5 4 4 4 1 Load The order of the parameters for the command is as follows Action number Sequence ID The order of the parameters for the response is as follows Action number Type Vibration Duration Mode Duration Value Nb Limit Parts for Vibration SequenceID Example Command LS 1 1 Response LS 1 2 B 1 1000 120 1 NOTE The sequenceID is optional if missing the Asycube will send back...

Page 41: ...nd US allows to ask the selected sequence ID The Nb Limit Parts for Vibration is optional if missing the Asycube will use the value currently in the memory 5 4 5 Vibration set and sequence selection Code Label Command Response Remark UV Use Vibration Set UV1 UV1 UV command select the vibration set to use US Use Sequence US1 US1 US command select the sequence to use UV Get selected Vibration Set UV...

Page 42: ...orking states Service mode is the normal mode to work with the Asycube Standby mode is a special mode In this mode the power of vibrations outputs backlight etc are off Operator can send commands without any physical action on the Asycube This mode can be useful for tests and debug Code Label Command Response Remark HC Halt Platform Vibrations HC HC Stop the platform actuators HB Halt Hopper vibra...

Page 43: ...e of Vibration F is 0 States 0 Actuator disabled 1 Actuator enable but stopped 3 Vibrating 5 Actuator stopped over temperature Undefined actuator Table 5 13 platform vibrations commands The value sent back indicates the duration of the vibration communication time is not included NOTE For the Asycube 50 80 and 240 the duration answered can change depending of the conditions when the vibration is r...

Page 44: ...tor stopped over temperature Undefined actuator state BA Z Read Hopper vibration state BF BF 0 State of Vibration F is 0 States 0 Actuator disabled 1 Actuator enabled but stopped 3 Vibrating 5 Actuator stopped over temperature Undefined actuator state Table 5 14 hopper vibrations commands The value sent back indicates the duration of the vibration communication time is not included NOTE The durati...

Page 45: ...lay depends on selected Activation In this case the delay is equal the register 1250 value If value 0 forever B Read selected Output activation B B F Activation F is selected The selected output activation is the last activation executed B Read selected Output Activation and state B B F3 Activation F is selected and the state is 3 States 0 Outputs disabled 1 Outputs enabled but stopped 3 Activatin...

Page 46: ...rs EC Execute Centering EC p1 p2 etc EC p1 p2 etc Execute centering depending of given parameters EF Execute Feeding EF p1 p2 etc EF p1 p2 etc Execute feeding depending of given parameters Table 5 16 Execute commands P1 P2 are parameters given in a specific order and separate with a semicolon The ranges of parameters are described in this generic chapter NOTE To execute a sequence a centering or a...

Page 47: ...F process automatically 5s after the end of the last vibration the Asycube needs to wait the end of the switching OFF process max 150ms before to be able to start a new vibration Then the time answered to the command will be the time requested the 60ms of switching ON amplifiers max 150ms of switching OFF process The 150ms is the worst situation because if the request appears in the middle of the ...

Page 48: ...ven in the command nbMax max number of parts given in the command X X coordinate of the center of mass given in the command ID Selected sequence ES nbParts nbMax X Y ES nbParts nbMax X Y ID nbParts number of parts on the platform given in the command nbMax max number of parts given in the command X X coordinate of the center of mass given in the command Y Y coordinate of the center of mass given i...

Page 49: ... of the center of mass given in the command Y Y coordinate of the center of mass given in the command ID Sequence ID given in the command NOTE If the value 0 is given in the command for the nbMax the value used for the execution is the value in memory This use of the 0 value for this parameter can be done in all formats of the command ES NOTE If the value 0 is given in the command for the ID the v...

Page 50: ...n the vibration effectively starts 60ms after the command has been received If the amplifiers are in the switching OFF process automatically 5s after the end of the last vibration the Asycube needs to wait the end of the switching OFF process max 150ms before to be able to start a new vibration Then the time answered to the command will be the time requested the 60ms of switching ON amplifiers max...

Page 51: ...ending of the conditions when the vibration is requested If the amplifiers are in the switching OFF process automatically 5s after the end of the last vibration the Asycube needs to wait the end of the switching OFF process max 150ms before to be able to start a new vibration Then the time answered to the command will be the time requested the 60ms of switching ON amplifiers max 150ms of switching...

Page 52: ...actory values DP DP 0 only integrator D Data Flash Memory State DF DF 0 States 0 Operation completed 1 Operation in progress 16 Flash operation busy 128 Operation need password Table 5 17 flash operations commands When something is saved in the flash memory the status led flashes quickly during the whole saving process If the user tries to save in flash during this time an error answer is sent err...

Page 53: ...the flash of the backlight The value is in ms 42 Platform Remain Time 42 42 00010 Answer gives the remaining time until the end of the platform vibration The value is in ms 44 Outputs Remain Time 44 44 00010 Answer gives the remaining time until the end of the activation of outputs The value is in ms 46 Sequence Remain Time 46 46 00010 Answer gives the remaining time until the end of the sequence ...

Page 54: ..._FLASH 0x0080 Flash operation fail Table 5 20 warnings list 5 4 15 Alarms To read the alarms send rp4 command Define Value Comment ALARM_PLATFORM 0x0001 Above max temperature platform ALARM_HOPPER 0x0002 Above max temperature hopper only for Asycubes 50 80 ALARM_AMPLIFIER 0x0004 Amplifier fault only for Asycubes 530 ALARM_4 0x0008 ALARM_NO_S_POWER 0x0010 No S Power only for Asycubes 530 ALARM_6 0x...

Page 55: ...s such as how to start a platform vibration through Modbus TCP 6 1 Configuration Default Modbus TCP parameters for the Asycube are The IP Address and the Subnet Mask are shared with the Ethernet communication Section5 1 and can be changed in the configuration page of the Asyril HMI unlike the Modbus port which is fixed to 502 Out of all Modbus public function codes the Asycube implements the minim...

Page 56: ... If more registers need to be read or written you will have to implement multiple read or write requests one after the other 6 2 2 Timing The Asycube is able to handle one Modbus read or write request every 4 ms The timing performance of a Modbus command e g trig the start of a platform vibration depends on different factors such as the Modbus master implementation or the Ethernet network state Th...

Page 57: ...lly a WORD or an UNSIGNED_INT16 Some of the Holding Registers can have negative values see Data Range column in the Register Table In this case their type is SIGNED_INT16 All registers are either Read only or Write only see Read Write column in the Register Table This section presents the Holding Registers which have been placed in different address zones The registers addresses are shown with the...

Page 58: ...HR_PLATFORM_VIBRATION_ID W 0 to 25 The platform vibration identifier is used when a platform vibration is trigged with HR_PLATFORM_VIBRATION_TRIG The value 0 corresponds to the vibration A the value 1 corresponds to the vibration B the value 25 corresponds to the vibration Z Please refer to Section 2 1 for the conventions of direction 3 HR_PLATFORM_VIBRATION_DURATION W 0 to 30000 ms This value let...

Page 59: ...R_VIBRATION_ID W 0 to 25 The hopper vibration identifier is used when a hopper vibration is trigged with HR_HOPPER_VIBRATION_TRIG The value 0 corresponds to the vibration A the value 1 corresponds to the vibration B the value 25 corresponds to the vibration Z Please refer to Section 2 1 for the conventions of direction 9 HR_HOPPER_VIBRATION_DURATION W 0 to 30000 ms This value lets the user chose t...

Page 60: ...W 0 to 65535 The sequence execution trigged with HR_SEQUENCE_EXECUTION_TRIG uses this number of parts More information in Section 5 4 10 1 16 HR_SEQUENCE_EXECUTION_NBMAX W 0 to 65535 The sequence execution trigged with HR_SEQUENCE_EXECUTION_TRIG uses this maximum number of parts More information in Section 5 4 10 1 17 HR_SEQUENCE_EXECUTION_X W 100 to 100 The sequence execution trigged with HR_SEQU...

Page 61: ... flash More information in Section 5 4 6 24 HR_BACKLIGHT_INTENSITY_TRIG W 0 or 1 A rising edge sets the backlight intensity value given in the Holding Register HR_BACKLIGHT_INTENSITY 25 HR_BACKLIGHT_INTENSITY W min to 100 This backlight intensity can be set by trigging the HR_BACKLIGHT_INTENSITY Holding Register The min value corresponds to the minimum intensity settable for the Asycube which valu...

Page 62: ...th HR_READ_WRITE_PARAMETER_TRIG needs this parameter address More information in Chapter 4 and in the row above 31 HR_READ_WRITE_PARAMETER_WRITE_VALUE W 0 to 65535 The parameter write trigged with HR_READ_WRITE_PARAMTER_TRIG needs this Holding Register value to be written in the parameter 32 HR_FLASH_OPERATIONS W 0 to 15 The 4 first bits are used to start flash operations A rising edge on a bit tr...

Page 63: ... Internal Modbus communication error code More information in Section 6 4 2 64 2 HR_WARNINGS R 0 to 255 This Holding Register contains the Asycube warning code More information in Section 6 4 3 and Section 5 4 14 64 3 HR_ALARMS R 0 to 255 This Holding Register contains the Asycube alarm code More information in Section 6 4 3 and Section 5 4 15 64 4 HR_MODBUS_PLATFORM_STATUS R 0 DONE 1 BUSY 2 ERROR...

Page 64: ...ation trigged with HR_HOPPER_VIBRATION_TRIG or the hopper feeding trigged with HR_HOPPER_FEEDING_TRIG The transition DONE BUSY occurs on the trigger rising edge if the data is correct The transition DONE ERROR occurs on the trigger rising edge if the data is incorrect e g index is out of range The transition BUSY DONE occurs as soon as the vibration ends The transition BUSY ERROR occurs if an Inte...

Page 65: ...he sequence execution During a sequence the value decreases over time until it reaches 0 Note A value of 32767 means that the remaining time is greater than 32767ms 64 10 HR_VIBRATION_SET_SELECTED R 1 to 26 This Holding Register gives the current selected vibration set 64 11 HR_SEQUENCE_SELECTED R 1 to 26 This Holding Register gives the current selected sequence 64 12 HR_BACKLIGHT_STATE_STATUS R 0...

Page 66: ... Holding Register name Read Write Data Range Comments 1 operator 2 integrator 4 developer Section 5 4 2 64 18 HR_FLASH_OPERATIONS_STATUS R 0 DONE 1 BUSY This Holding Register gives the status of the flash operation trigged with HR_FLASH_OPERATIONS Address 32 Table 6 2 Status Holding Registers offset 64 ...

Page 67: ...PLATFORM_VIBRATION_A_WAVEFORM1 R Direct read access to corresponding parameter in Section 4 2 128 4 HR_PLATFORM_VIBRATION_A_AMPL2 R Direct read access to corresponding parameter in Section 4 2 128 5 HR_PLATFORM_VIBRATION_A_FREQ2 R Direct read access to corresponding parameter in Section 4 2 128 6 HR_PLATFORM_VIBRATION_A_PHASE2 R Direct read access to corresponding parameter in Section 4 2 128 7 HR...

Page 68: ..._DATA R Direct read access to corresponding parameters in Section 4 2 The address has to be computed based on the 17 previous parameters Address 128 0 to 128 16 with the following formula Desired_Address Address_Of_The_Register_For_Vibration_A 17 x Vibration_Identifier where A 0 B 1 Example HR_PLATFORM_VIBRATION_E_WAVEFORM3 HR_PLATFORM_VIBRATION_A_WAVEFORM3 17 x E 128 11 17 x 4 128 79 128 442 HR_H...

Page 69: ...128 449 with the following formula Desired_Address Address_Of_The_Register_For_Vibration_A 8 x Vibration_Identifier where A 0 B 1 Example HR_HOPPER_R_ANALOG_OUTPUT1 HR_HOPPER_A_ANALOG_OUTPUT1 8 x R 128 443 8 x 17 128 579 128 650 HR_SEQUENCE_ID1_ACTION1_TYPE R Direct read access to corresponding parameter in Section 4 4 128 651 HR_SEQUENCE_ID1_ACTION1_VIBRATION R Direct read access to corresponding...

Page 70: ...TYPE R Direct read access to corresponding parameter in Section 4 4 128 667 HR_SEQUENCE_ID1_ACTION5_VIBRATION R Direct read access to corresponding parameter in Section 4 4 128 668 HR_SEQUENCE_ID1_ACTION5_DURATION_MODE R Direct read access to corresponding parameter in Section 4 4 128 669 HR_SEQUENCE_ID1_ACTION5_DURATION_VALUE R Direct read access to corresponding parameter in Section 4 4 128 670 ...

Page 71: ...E_ID2_TO_26 R The address has to be computed based on the 28 previous parameters Address 128 650 to 128 677 with the following formula Desired_Address Address_Of_The_Register_For_Sequence 1 28 x Sequence_Identifier Example HR_SEQUENCE_ID26_ACTION7_DURATION_VALUE HR_SEQUENCE_ID1_ACTION7_DURATION_VALUE 28 x 26 1 128 677 28 x 25 128 1377 Table 6 3 Recipe Read Holding Registers offset 128 ...

Page 72: ...5 The platform vibration write trigged with HR_PLATFORM_PARAMETERS_WRITE_TRIG uses this Holding Register to save the values at the given identifier where 0 A 1 B 1536 2 HR_PLATFORM_VIBRATION_AMPL1 W This value is written to the corresponding parameter in Section 4 2 1536 3 HR_PLATFORM_VIBRATION_FREQ1 W This value is written to the corresponding parameter in Section 4 2 1536 4 HR_PLATFORM_VIBRATION...

Page 73: ...meter in Section 4 2 N A for the Asycube 50 and 80 1536 16 HR_PLATFORM_VIBRATION_PHASE4 W This value is written to the corresponding parameter in Section 4 2 N A for the Asycube 50 and 80 1536 17 HR_PLATFORM_VIBRATION_WAVEFORM4 W This value is written to the corresponding parameter in Section 4 2 N A for the Asycube 50 and 80 1536 18 HR_PLATFORM_VIBRATION_DURATION0 W This value is written to the c...

Page 74: ...6 26 HR_HOPPER_VIBRATION_FREQ W This value is written to the corresponding parameter in Section 4 3 Only applicable for the Asycube 50 and 80 1536 27 HR_HOPPER_VIBRATION_WAVEFORM W This value is written to the corresponding parameter in Section 4 3 Only applicable for the Asycube 50 and 80 1536 28 HR_HOPPER_DURATION0 W This value is written to the corresponding parameter in Section 4 3 1536 29 HR_...

Page 75: ... value is written to the corresponding parameter in Section 4 4 1536 40 HR_SEQUENCE_ACTION3_VIBRATION W This value is written to the corresponding parameter in Section 4 4 1536 41 HR_SEQUENCE_ACTION3_DURATION_MODE W This value is written to the corresponding parameter in Section 4 4 1536 42 HR_SEQUENCE_ACTION3_DURATION_VALUE W This value is written to the corresponding parameter in Section 4 4 153...

Page 76: ...corresponding parameter in Section 4 4 1536 54 HR_SEQUENCE_ACTION6_DURATION_VALUE W This value is written to the corresponding parameter in Section 4 4 1536 55 HR_SEQUENCE_ACTION7_TYPE W This value is written to the corresponding parameter in Section 4 4 1536 56 HR_SEQUENCE_ACTION7_VIBRATION W This value is written to the corresponding parameter in Section 4 4 1536 57 HR_SEQUENCE_ACTION7_DURATION_...

Page 77: ...e value 0b0110 it corresponds to the value 6 in decimal will reset both the Asycube Modbus errors status and the Asycube warnings status 6 4 1 Main Modbus exception codes The Modbus exception codes are defined in the protocol specification http www modbus org A subset of these exceptions is implemented in the Asycube See Table 6 6 The Modbus protocol is responsible to carry the exceptions directly...

Page 78: ...egisters HR_WARNINGS Address 66 and HR_ALARMS Address 67 Their values are explained in the Table 5 20 and Table 5 21 6 5 Example of use This section presents some examples showing how to control the Asycube through Modbus TCP in production mode We highly recommend using the Asycube HMI to configure the vibrations parameters as described in the Asycube User Manual 6 5 1 Set up the Modbus master e g...

Page 79: ..._VIBRATION_TRIG from 0 to 1 Monitor a platform vibration o Read the HR_MODBUS_PLATFORM_STATUS If the value is ERROR refer to the HR_MODBUS_STATUS for more information A BUSY value means that the command has been understood and that the vibration has started o Monitor the HR_MODBUS_PLATFORM_STATUS and wait for its value to get back to DONE which means that the vibration is completed o Or monitor th...

Page 80: ...n address o Start reading by changing the value of the trigger HR_READ_WRITE_PARAMETER_TRIG from 0 to 1 o Read and use the result value in HR_READ_WRITE_PARAMETER_READ_VALUE Write a parameter value o Prepare the write action by setting the parameter address in HR_READ_WRITE_PARAMETER_ADDRESS 1 according to Chapter 4 make sure to have an odd address o Prepare the value to write in HR_READ_WRITE_PAR...

Page 81: ...wers to your questions Before calling the support service note the following information for your system serial number and product key of your material software version alarm or error message displayed on the screen 7 2 Contact You can find lot of information on our website www asyril com You can also contact us by mail or call our support service support asyril com 41 26 653 71 90 ...

Page 82: ... Comments A 14 08 2017 PeD Initial version got by merging the existing programming guides by adding the Asycube 530 and the Modbus feature Other minor improvements on 03 11 2017 A1 12 12 2017 PeD Removed the reference to the 220ms delay for the Asycube 530 since it has been avoided in the firmware from version v4 0 3 ...

Page 83: ...ated without permission The information contained in this document is subject to change without notice for the purpose of product improvement asyril sa z i le vivier 22 ch 1690 villaz st pierre switzerland tel 41 26 653 71 90 fax 41 26 653 71 91 info asyril com www asyril com ...

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Asyril Asycube 240, Programming Manual

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