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Asyril Asycube, Operating Manual

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Asycube - Asyril SA 

Operating Manual 

© 

Copyright Asyril S.A. 

Introduction 

v1.7 

FO 32.03.118 

 

Operating Manual  

Asycube 

 

-  Asyril SA 

3/41

 

Table of Contents 

1.

 

INTRODUCTION

 ............................................................................................................................... 5

 

 

G

ENERALITIES

 .......................................................................................................................... 5

 

1.1.

 

S

AFETY PRECAUTIONS

 ............................................................................................................. 6

 

1.2.

 

General safety precaution

 ................................................................................................... 6

 

1.2.1.

 

Specific warnings

 .................................................................................................................. 7

 

1.2.2.

 

W

ARRANTY INFORMATION

 ........................................................................................................ 9

 

1.3.

 

CE

 INFORMATION

 ..................................................................................................................... 9

 

1.4.

 

R

ELATED MANUALS

 .................................................................................................................. 9

 

1.5.

2.

 

DESCRIPTION

 ................................................................................................................................ 10

 

 

F

IRST GLIMPSE AT THE PRODUCT

........................................................................................... 10

 

2.1.

 

Asycube 3D platform (A)

 ................................................................................................... 10

 

2.1.1.

 

Asycube removable bulk (B)

 ............................................................................................. 11

 

2.1.2.

 

G

ENERAL 

C

HARACTERISTICS

 ................................................................................................. 12

 

2.2.

 

Technical features

 .............................................................................................................. 12

 

2.2.1.

 

Overall dimensions

 ............................................................................................................. 13

 

2.2.2.

 

Visual signals

 ...................................................................................................................... 15

 

2.2.3.

 

P

ERFORMANCE

 ....................................................................................................................... 16

 

2.3.

 

Workspace (Picking surface)

 ............................................................................................ 16

 

2.3.1.

 

Displacement of the parts

 .................................................................................................. 16

 

2.3.2.

 

E

LECTRIC 

I

NTERFACES

 .......................................................................................................... 17

 

2.4.

 

Overview

 .............................................................................................................................. 17

 

2.4.1.

 

Asylink

 .................................................................................................................................. 18

 

2.4.2.

 

Node link

 .............................................................................................................................. 21

 

2.4.3.

 

Power connection

 ............................................................................................................... 21

 

2.4.4.

 

Backlight Synchronization

 ................................................................................................. 22

 

2.4.5.

 

C

OMMUNICATION 

I

NTERFACE

 ................................................................................................. 23

 

2.5.

 

Specifications

 ...................................................................................................................... 23

 

2.5.1.

 

Baudrate

 .............................................................................................................................. 23

 

2.5.2.

 

Serial Timing

 ....................................................................................................................... 24

 

2.5.3.

 

Asycube Serial Network

 .................................................................................................... 26

 

2.5.4.

 

M

ECHANICAL 

I

NTERFACES

 ..................................................................................................... 27

 

2.6.

 

Attachment of the Asycube

 ............................................................................................... 27

 

2.6.1.

 

A

CCESSORIES AND 

O

PTIONAL MODULES

 ............................................................................... 28

 

2.7.

 

Additional platform

 .............................................................................................................. 28

 

2.7.1.

 

Additional container

 ............................................................................................................ 28

 

2.7.2.

 

Customized platforms

 ........................................................................................................ 29

 

2.7.3.

 

Color of the backlight

 ......................................................................................................... 29

 

2.7.4.

Summary of Contents for Asycube

Page 1: ...Asycube Operating Manual Document Asyril_ACUBE XXX 02_Operating_Manual_E_temp Version v1 7 Date 26 07 2012 Articles ACUBE MEZ 02 XX XX XX XX ACUBE FOR 02 XX XX XX XX ...

Page 2: ......

Page 3: ...TICS 12 2 2 Technical features 12 2 2 1 Overall dimensions 13 2 2 2 Visual signals 15 2 2 3 PERFORMANCE 16 2 3 Workspace Picking surface 16 2 3 1 Displacement of the parts 16 2 3 2 ELECTRIC INTERFACES 17 2 4 Overview 17 2 4 1 Asylink 18 2 4 2 Node link 21 2 4 3 Power connection 21 2 4 4 Backlight Synchronization 22 2 4 5 COMMUNICATION INTERFACE 23 2 5 Specifications 23 2 5 1 Baudrate 23 2 5 2 Seri...

Page 4: ...onment 33 3 4 2 4 MAINTENANCE AND REPARATION 34 SAFETY PRECAUTIONS 34 4 1 General safety precautions 34 4 1 1 Specific warnings 34 4 1 2 PERSONNEL RESPONSIBLE FOR MAINTENANCE OR REPARATION 34 4 2 MAINTENANCE 35 4 3 Periodic maintenance schedule 35 4 3 1 Remove the platform module 36 4 3 2 Exchange of the backlight 36 4 3 3 Cleaning bulk 37 4 3 4 Control and Cleaning of the platform 37 4 3 5 Cleani...

Page 5: ... as Danger Warning and Note the following 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 c...

Page 6: ...nce are authorized to work on this device DANGER Do not unscrew the housing of the system controls Serious injury or death could result from electric shock Only authorized personnel from Asyril SA are allowed to access this part of the system for maintenance or for repair DANGER Do not plug or unplug cables of the system unless it is switched off DANGER Never modify the product Unauthorized modifi...

Page 7: ...s is equivalent to a Class 1 compared with lasers For more information on visible or non visible radiation emitted by the backlight please refer to 1 2 2 3 Specific warnings concerning this product on page 8 NOTE It is the customer responsibility to install warning signs informing that anyone working around the Asycube must wear safety equipment Intervention groups 1 2 2 2 The following table defi...

Page 8: ...s damage Do not look directly into the light source without any personal protection e g protective eyewear Customers are encouraged to document their unique application and instruct employees on procedures to limit exposure to LED radiation This Backlight is not constructed to be used permanently Please switch off the illumination after image acquisition Auto switch OFF after 30 of timeout B Servi...

Page 9: ...te Related manuals 1 5 As described in the Table 0 1 this manual is an integral part of the Asycube documentation set This manual covers the installation a technical description the maintenance and the reparation of your system Information on the transport and safety precautions are also included in this manual Manual Title Manual reference Description of the content Asycube Operating manual ACUBE...

Page 10: ... Figure 2 1 Asycube overview D A specific tool allowing to remove the platform easily For more information on how to remove or change the platform please refer to 4 3 2 Remove the platform module on page 36 Asycube 3D platform A 2 1 1 The core of Asycube is a platform that can vibrate in three orthogonal directions By selecting appropriate actuator excitation signals high flexibility in displacing...

Page 11: ...urface of the vibrating platform For more information on how to remove or change the platform please refer to 4 3 2 Remove the platform module on page 36 Asycube removable bulk B 2 1 2 The components delivered in bulk are stored in a dedicated container that can be removed from the feeder This container is placed on a linear vibratory axis to progressively feed the parts onto the 3D platform For m...

Page 12: ...ze from 0 2 mm to 3 mm side length from 3 mm to 8 mm side length Integrated high quality LED backlight Interchangeable backlight color green red blue amber white please refer to 2 7 4 Color of the backlight on page 29 for more information Independent vibrations in three orthogonal directions Interchangeable vibration surface please refer to section 2 7 1 Additional platform on page 28 for more inf...

Page 13: ... 118 Operating Manual Asycube Asyril SA 13 41 Overall dimensions 2 2 2 Figure 2 2 overall dimensions Characteristic Asycube Mezzo Asycube Forte Footprint C 46 mm 61 mm D 293 mm 320 mm Size of vibration platform A 34 mm 52 mm B 45 mm 67 mm Weight 3 5 kg 3 9 kg D 114 190 138 24 C B A ...

Page 14: ...tform module on page 36 for more information on how to remove the platform Figure 2 4 remove the platform 138 11 16 160 Toutes reproductions du document sans accord préalable écrit de l entreprise propriétaire ne sont pas autorisées N Dessin ACUBE FOR 02 01 01 01 02 Asycube 1 2 Ech M 005899 Dessiné 1 1 Feuille N Article 600 835 009 Format A3 Désignation Masse kg A B C D E F 1 2 3 4 5 6 7 8 9 A B C...

Page 15: ...response to PC 3 On AsyLink incoming data from the PC 4 On AsyLink sending a response to PC Led State Meaning 1 Blinking ton 100ms System in standby Blinking ton 900ms System in service 2 Blinking 100ms Alarm occurs 3 On Motor On only with mechanism up down 4 On Power Supply 3 3V ready 5 On Actuator X active 6 On Actuator Y active 7 On Actuator Z active 8 On Actuator Bulk active Figure 2 5 AsyProb...

Page 16: ...ific movement with the Asycube several parameters need to be extracted For every movement on the cube twelve parameters must be set Calling these twelve parameters will generate specific vibrations corresponding to the sum of the movements of the three actuators in the three dimensions X Y and Z The figure on the right shows the predefined parameters and the associated movements For more informati...

Page 17: ...situated at the back of the product A Asyprobe NOTE This connector is reserved for diagnosis purpose only B Asylink C Node link D Power connection E Backlight synchronization NOTE Only connectors are part of the delivery the cables are not supplied All the interfaces are described in detail in the following sections WARNING You must use shielded cables grounded with the final machine to avoid unde...

Page 18: ...485 network default installation please refer to 2 5 4 Asycube Serial Network on page 26 Connecting RS 485 AsyLink 2 4 2 1 When AsyCube is configured for RS 485 multidrop operation the differential wire pair at each end of the network must be terminated with a set of terminating resistors Figure 2 10 AsyLink RS485 connection scheme NOTE RS 485 wiring considerations Do not cross positive and negati...

Page 19: ...al ground of each of the node to one common ground The second function of the signal 0V is to pull down the data with the termination resistor XS202 2 DO RI This digital signal is used to transmit and receive data according to RS 485 protocol XS202 3 DO RI This digital signal is used to transmit and receive data according to RS 485 protocol XS202 4 VCC This 5VDC signal is a dedicated return to int...

Page 20: ... GND This common signal is a dedicated return to internal system ground All serial communication should be referenced to this pin XS202 2 RXD This input signal is used to receive data according to RS 232 protocol XS202 3 TXD This output signal is used to transmit data according to RS 232 protocol XS202 4 VCC This signal is not used Figure 2 13 Asylink RS 232 interface XS202 4 XS202 1 AsyCube RS232...

Page 21: ...a value from 1 to F Figure 2 14 Node link set on value 2 Power connection 2 4 4 WARNING Before supplying power to the Asycube check that your distribution voltage is the same as the nominal voltage Never disconnect the power cables Always turn the machine off and then cut the power XS601 Signal description XS601 1 24VDC XS601 2 0V COM In case of full vibrating power X Y Z Bulk and the Motor not av...

Page 22: ...ive p72 4 5V 24V illumination OFF For reasons of overheating the Backlighnt is switched off after a 30 seconds of timeout 5 6 150 460 Pos N 1 2 3 4 420 Rev D C 13 0 Dessiné Désignation A B C D E F G H I 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 Asycu Traitement Ensemb Vérifié Toutes reproduction Z 4 1 Z 3 1 4 2 4 6 3 5 6 150 000 580 FICHE POUR APP 460 000 145 M2 5x5 Vis t cy 6p Pos N Article 1 Control A...

Page 23: ...t the 485 device software must be used as a control line to handle the driver The RTS handshake line will be used typically if your 485 device is controlled through a RS 232 serial port A consequence of tri standing the driver is a delay between the end of transmission and the moment when the driver is tri stated This turn around delay is an important part of a two wire network because during that...

Page 24: ...ual Copyright Asyril S A Description v1 7 FO 32 03 118 Operating Manual Asycube Asyril SA 24 41 Serial Timing 2 5 3 AsyCube RS 232 Timing 2 5 3 1 Figure 2 17 ASCII Command rp300 packet Figure 2 18 ASCII Answer 00 RP00300 00010 CR LF ...

Page 25: ...Asyril S A Description v1 7 FO 32 03 118 Operating Manual Asycube Asyril SA 25 41 AsyCube RS 485 Timing 2 5 3 2 Figure 2 19 Positiv signal and negativ signal show the ASCII message Figure 2 20 The RS 485 response time is 2ms longer than the RS 232 ...

Page 26: ...the other devices listen receive mode The network topology is a multi drop bus In either configuration devices are addressable up to 15 nodes allowing each node to be communicate independently Only one device can drive the line at a time which implies that the drivers must be set into a high impedance mode tri state when not in use Use shielded twisted pair cables to network the devices Do not cro...

Page 27: ...2 6 Attachment of the Asycube 2 6 1 To guarantee a proper behavior of the Asycube a tight fastening to a solid underground is necessary The 5 5mm holes in the base plate of the Asycube can be used to attach it mechanically Figure 2 22 attachment of the Asycube mezzo Figure 2 23 attachment of the Asycube forte Ø5 5 46 283 21 42 Ø5 5 65 310 50 5 5 61 ...

Page 28: ...or more information on these bespoke platforms contact Asyril customer s service Product Part number Asycube Forte platfom PLATE FOR 02 01 01 01 01 Asycube Mezzo platfom PLATE MEZ 02 01 01 01 03 Standard plate delivered with your asycube Figure 2 24 overall dimensions of the plate Additional container 2 7 2 To allow faster production change it is possible to prepare the content of bulk in advance ...

Page 29: ...e Figure 2 26 Example of a grooved platform Color of the backlight 2 7 4 Backlight Asycube forte Backlight Asycube mezzo Color Wavelength Part Number Color Wavelength Part Number Blue 465 nm Y 660 835 028 Blue 465 nm Y 660 835 020 Green 520 nm Y 660 835 025 Green 520 nm Y 660 835 016 Yellow 595 nm Y 660 835 027 Yellow 595 n m Y 660 835 019 Red 640 nm Y 660 835 026 Red 640 nm Y 660 835 018 White 65...

Page 30: ...climb on the shipping box Do not place heavy objects on top of the shipping box The Asycube is shipped in a cardboard of the following dimensions Value Dimensions 345x240x135 Gross weight 4 2 kg Table 3 1 gross weight and dimensions of the product when packaged Before unpacking 3 2 Before unpacking look at the ShockWatch Label As to promote zero defect shipping all Asyril products are shipped with...

Page 31: ...ng corrugated box by using a cutter WARNING Be careful not to cut too deep failure to do so could damage the Asycube 2 Remove the documentation A and set it aside 3 Verify that you have all the components and ensure that there is no visible damage B Asycube C Bulk D Specific tool E Electrical connectors NOTE If the items received do not match to your order or are damaged contact Asyril as soon as ...

Page 32: ...t you will need for any kind of correspondence with Asyril Figure 3 2 Product key sticker The product key gives the product designation as follows PRODU TYP VE AA BB CC DD Product ACUBE Asycube Robot type MEZ Mezzo FOR Forte Version 02 Version number AA Customized Backlight 01 green 02 red 03 yellow 04 blue 05 white Bulk 01 Fixed 02 Mobile 03 45 Communication 01 RS485 standard 02 RS232 Option 01 S...

Page 33: ...might affect the precision of the robot especially if precisions below 10 microns are necessary Humidity 30 to 95 max non condensing WARNING In the case of extreme humidity note that it might affect the global performances of the cell Avoid extreme electromagnetic waves ultraviolet rays and radiation Avoid using the product in a place where the main unit or controller may be exposed to water or oi...

Page 34: ...over the product washing it with water or using it in water may cause the product to malfunction resulting in injury electric shock fire etc Specific warnings 4 1 2 WARNING Be sure that the robot s platform is unloaded before any kind of maintenance Personnel responsible for maintenance or reparation 4 2 Maintenance operation must be done by personnel who has a working knowlage of the system never...

Page 35: ...leaning of the machine Week A Visual check of electrical harness Year B Asycube VoiceCoils control and audit of component behavior Year C Contact Asyril Visual check and cleaning of the bulk and plate Week A 4 3 4 and 4 3 5 Visual check and Cleaning 3D vibration module Year B 4 3 6 specific process It is the customer s responsibility to schedule the maintenance of his specific process A Table 4 1 ...

Page 36: ...mechanism goes to the initial position Figure 4 1 remove the platform Exchange of the backlight 4 3 3 DANGER Be sure that all power sources and other cables to the unit are disconnected before changing the backlight Step 1 Remove the platform module A Refer to 4 3 2 Remove the platform module on page 36 for more information on how to remove the platform Step 2 Unscrew the two screws needed to crea...

Page 37: ...m A and be particulary carefull to the folloying points Big claws Dirt or spotted surface Oily or greasy surface WARNING If the surface is damaged so as to obstruct vision or the behavior of parts its replacement must be proceeded Step 2 Clean the surface of the platform Figure 4 4 Platform Cleaning 3D vibration module 4 3 6 NOTE This maintenance operation can only be performed by a Asyril technic...

Page 38: ... PLATE FOR 02 01 01 01 01 Y 660 004 102 Bulk for Asycube MEZZO A ABULK MEZ 02 01 01 01 01 Y 660 835 006 Plate for Asycube MEZZO A PLATE MEZ 02 01 01 01 01 Y 660 835 003 Green backlight for Asycube FORTE B BLGHT FOR 02 01 01 01 01 Y 660 835 025 Red backlight for Asycube FORTE B BLGHT FOR 02 02 01 01 01 Y 660 835 026 Yellow backlight for Asycube FORTE B BLGHT FOR 02 03 01 01 01 Y 660 835 027 Blue ba...

Page 39: ...anuals without finding answers 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 Contact 4 5 2 You can find lot of information on our website www asyril ch You can also contact us by mail or call our support service support asyril ch 41 26...

Page 40: ...n instruction de sécurité changement plateforme asycube 1 2 25 04 2012 SiA FrB modif ERRATA pages 17 18 19 20 connexions électriques 1 3 26 07 20121 SiA ajout chapitre communication Interface 1 4 13 08 2012 SiA ajout informations d encombrement de l asycube avec levier basculé 1 5 19 10 2012 SiA Mise à jour liste de pièce de rechange 1 6 23 11 2012 SiA Mise à jour clé de produit des Plates standar...

Page 41: ...culated 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 ch 1690 villaz st pierre switzerland tel 41 26 653 71 90 fax 41 26 653 71 91 info asyril ch www asyril ch ...

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