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Asycube 240

Operating Manual

000.100.500

Version: A6

Asycube 240

- Operating Manual

29/52

Calibration plate

Calibration is used to:

-

Define the camera orientation in relation to the feeder system

-

Reference the field of view in relation to the robot workspace

-

Work in millimeters in the field of view rather than pixels.

NOTE:

There are different ways to perform the calibration depending on the application. Please

contact Asyril to define the corresponding tooling if necessary.

The 240 calibration plate contains the checkerboard used to perform the pixel/mm calibration

and the reference holes used to perform the robot/vision calibration.

Figure 2-17: 240 robot/vision and pixel/mm calibration plate

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Содержание Asycube 240

Страница 1: ...Asycube 240 Operating Manual Document Asyril_ASYCUBE 240_Operating_Manual_EN 000 100 500 Version A6 Date 13 01 2020 ...

Страница 2: ...m 13 Permissible platform weight 13 Maximum plate displacement 13 Plate Z repeatability 13 PERFORMANCE 14 Picking surface 14 Displacement of the parts 14 ELECTRICAL INTERFACES 16 Overview 16 Power connection 17 Communication 19 Backlight Synchronization 19 Digital input 1 and 2 20 Digital output for hoppers 1 and 2 20 MECHANICAL INTERFACES 21 Attachment of the Asycube 21 ACCESSORIES AND OPTIONAL M...

Страница 3: ...ION 34 SAFETY PRECAUTIONS 34 General safety precautions 34 Specific warnings 34 MAINTENANCE 35 Periodic maintenance schedule 35 Remove the platform module 36 Control and Cleaning of the platform 36 REPARATION 37 Exchanging installing the backlight 38 Recover IP address using default IP address 43 TECHNICAL SUPPORT 45 For better service 45 Contact 45 5 ANNEXES 46 CONDITION OF USE OF BACKLIGHT 46 CE...

Страница 4: ...rning and Note the following symbols are used DANGER Failure to observe the instruction may result in 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 prod...

Страница 5: ...r 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 modification may cause the product to malfunction resulting in injury electric shock fire etc DANGER Turn off the power t...

Страница 6: ...it exposure to LED radiation Following prevention agent can be suggested A Interpose insofar as the job allows a high pass filter at x nm depending on the color see table 0 under a fixed or adjustable connection between the source and the employee B When the implementation of the foregoing is not possible provide workers with goggles or face shield suitable for blocking radiation beyond 700nm C Pr...

Страница 7: ...p to 45 C in nominal use This temperature can nevertheless increase to 55 C in extreme use It is the responsibility of customers to document their own application and instruct employees on procedures to avoid contact with these surfaces Figure 1 2 Specific warnings Warranty information You will find all the Asyril warranty information duration scope of warranty on the general conditions of sale ...

Страница 8: ...ing platform B Electrical interfaces communication power supply I Os For more information on electrical interfaces to the Asycube please refer to 2 4 Electrical Interfaces on page 16 C An integrated mechanism allowing to remove the platform easily without additional tooling D An integrated backlight D optional that allows an easy recognition of the parts from a camera placed above Figure 2 1 Asycu...

Страница 9: ... side length Integrated high power LED backlight Optional Interchangeable backlight color green red blue white Infrared please refer to 0 Backlight on page 25 for more information Independent vibrations in three orthogonal directions Interchangeable vibration surface please refer to section 2 6 1 Additional platform on page 22 for more information Vibration frequency configurable up to 100 Hz Maxi...

Страница 10: ...00 500 Asycube 240 Operating Manual 10 52 Overall dimensions Figure 2 2 overall dimensions Asycube 240 Characteristic Footprint C 171 mm D 300 mm D 45 mm Size of vibration platform A 150 mm B 195 mm E 132 mm F 105 mm Weight with platform and backlight 7 8 kg ...

Страница 11: ...ating Manual 11 52 Additional space is needed around the Asycube to be able to remove the platform module with the integrated tool Figure 2 3 overall dimensions with lever Refer to 4 2 2 Remove the platform module on page 36 for more information on how to remove the platform 147 13 ...

Страница 12: ...me on 900ms green System in service 2 On yellow 24V on S Power input see 2 4 2 for more information 3 On green 24V on Power input 4 On green Connection detected 5 Blinking yellow Communication in progress 6 On green 24V on backlight synchronization input 7 On green 24V on input 1 8 On green 24V on input 2 9 On green Platform vibrating 10 On yellow 24V on output 1 11 On yellow 24V on output 2 Figur...

Страница 13: ...gripper is Fx 10 N Fy 10 N sFz 20 N Note that the shock impact of the gripper may damage the surface of the platform Permissible platform weight Maximum plate displacement Maximum displacement x 1 5 mm Maximum displacement y 2 mm Maximum displacement z 1 5 mm Plate Z repeatability Platte Z repeatability 20 µm Maximum platform weight without components 800 gr Maximum weight of components in additio...

Страница 14: ... of the parts Standard movement To define a specific movement with the Asycube several parameters need to be configured For each movement on the Platform twelve parameters must be set Calling these twelve parameters will generate specific vibrations corresponding to the sum of the movements of the four actuators in each corner of the platform The figure on the right shows the predefined standard m...

Страница 15: ...s along the long side or the short side of the plate as represented on the figure on the right With a sequence of three movements you can spread easily the parts on the surface 1 Center long side 2 Center short side 3 Flip Figure 2 7 predefined displacement of the parts For more information on these parameters and to learn how to configure them in order to control the cube vibrations please refer ...

Страница 16: ...the Asycube are situated at the back of the product A Power connection B Ethernet connection RJ45 C Backlight synchronization D Digital Input 1 E Digital Input 2 F Digital and analog Output 1 for hopper G Digital and analog Output 2 for hopper NOTE The cables are not part of the feeder but can be ordered separately Please refer to chapter 2 6 3 Cables Figure 2 8 Electrical interfaces to the Asycub...

Страница 17: ...RTH PE Connector type on Asycube side M16 5 Poles male In case of all functions working simultaneously vibration backlight outputs the current increases to 8A Characteristic Value Voltage 24V DC 5 Current Power 5A max Current S Power 3A max Figure 2 9 power connection NOTE S Power is the safety power for the backlight Cutting this S Power ensures that the backlight stays OFF e g to secure IR backl...

Страница 18: ...fety relay Figure 2 11 Power connection with safety relay NOTE Both Power and S Power can be connected to a single power supply or to two different power supplies Backlight ASYCUBE 0VDC 24VDC 0V Power 0V S Power 24V S Power 24V Power 0VDC 24VDC Backlight ASYCUBE 0V Power 0V S Power 24V S Power 24V Power Safety relay 0VDC 24VDC 0VDC 24VDC ...

Страница 19: ...formation on the procedure to restore the default IP address please see chapter 4 3 2 Figure 2 12 Ethernet connection RJ45 Backlight Synchronization A standard M8 three pins female cable enables to synchronize camera acquisition and Asycube backlight illumination it must be connected as follows Pin Signal Cable option 1 Not wired braun 3 0V GND blue 4 24 V pulse illumination synch black Connector ...

Страница 20: ... supply 3 0V GND 4 Input 24VDC Connector type on Asycube side M8 3P female Figure 2 14 Digital input Digital output for hoppers 1 and 2 A standard M8 four pins male cable enables to transmit digital output signal and analog output signal to hopper It must be connected as follows Pin Signal Hopper 1 0V GND Analog Output 1 2 0 10VDC 3 0V GND Digital Output 1 4 24VDC Connector type on Asycube side M8...

Страница 21: ...the Asycube To guarantee a proper behavior of the Asycube a tight fastening to a solid underground is necessary The holes in the base plate of the Asycube can be used to attach it with four M6 screws Repeatable positioning of the Asycube can be done by using positioning pins possible on both sides Figure 2 16 attachment of the Asycube ...

Страница 22: ...a large variety of components mainly components with a flat surface allowing a stable resting position Grooves deep E g Screws rivets A structured platform with deep grooves is used to supply screw type components to be fitted vertically A platform with transverse grooves is used to supply components with a maximum length of 60 mm Note in case of grooves going through the plate it is necessary to ...

Страница 23: ...This reduces adhesion forces and improves the component displacements on the feeder surface It also improves the pick performance of the robot Holes Ex Pins Holes are useful when cylindrical components are to be fed and presented upright NOTE For more information on these bespoke platforms contact Asyril customer s service The customer can also make his own platforms in this case plate fixation ki...

Страница 24: ...Asycube 240 Operating Manual 000 100 500 Version A6 000 100 500 Asycube 240 Operating Manual 24 52 Mechanical interfaces of the platform ...

Страница 25: ...feeder For more information on the backlight color and the procedure to exchange the backlight please refer to 4 3 1 Exchanging installing the backlight on page 38 NOTE For more information on these bespoke backlights contact Asyril customer s service Cables Following cables are available Product Power cable 5m Ethernet RJ45 cable 5m Synchro backlight cable 5m Input Cable 5m Output cable 5m NOTE F...

Страница 26: ...erence 2 litres HOPPER Depending on list of products 3 litres HOPPER These items comprise The hopper The linear vibrator Control unit The set of cables Wiring diagram The hopper is supplied with the controller and cables ready to be installed Depending on the model chosen the hopper should be supplied with 115V 10 15 50Hz 6A 115V 10 15 60Hz 6A 230V 10 15 50Hz 6A 230V 10 15 60Hz 6A Asycube OUT 1 or...

Страница 27: ...ual 000 100 500 Version A6 000 100 500 Asycube 240 Operating Manual 27 52 Control unit The vibration intensity of the hopper can be adjusted with the potentiometer NOTE place the control unit in order to reach the potentiometer ...

Страница 28: ...0 Operating Manual 000 100 500 Version A6 000 100 500 Asycube 240 Operating Manual 28 52 Hopper interfaces The hopper is delivered with fixation feet ready to be screwed 4x M8x20 2 litres version 3 litres version ...

Страница 29: ...obot workspace Work in millimeters in the field of view rather than pixels NOTE There are different ways to perform the calibration depending on the application Please contact Asyril to define the corresponding tooling if necessary The 240 calibration plate contains the checkerboard used to perform the pixel mm calibration and the reference holes used to perform the robot vision calibration Figure...

Страница 30: ...e plate B have a fairly large Z dimension The riser kit is used to adapt the calibration plate to the height of the parts in order to perform the vision and robot calibration in the same plane as the parts upper surface This ensures more accurate part detection while reducing errors caused by the parallax and also the accuracy of the robot calibration for which the maximum accuracy can be found in...

Страница 31: ...Asycube 240 Operating Manual 31 52 Robot calibration help tool To facilitate robot vision calibration using the calibration plates a robot calibration kit is available for the Asycube 240 and 530 The part number for this tool is available in the products list ROBOT ...

Страница 32: ...y shipping boxes by himself If the shipping box is to be left standing it should be in a horizontal position Do not 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 Asycube 240 Dimensions 550x400x300 mm Gross weight 12 kg Table 3 1 gross weight and dimensions of the product when packaged NOTE If the it...

Страница 33: ...e Asycube can be used under following conditions The asycube is IP20 Working temperature 5 C to 40 C Humidity 30 to 80 max non condensing WARNING In the case humidity or temperature variation note that it might affect the global performances of the Asycube Avoid extreme electromagnetic waves ultraviolet rays and radiation Avoid using the product in a place where the main unit or controller may be ...

Страница 34: ...roduct guarantee will expire DANGER Do not operate the system when it is damaged Please ensure yourself before use that no visual defects are detected DANGER Power down the system and unplug it from the mains before any kind of maintenance DANGER Do not pour water onto the product Spraying water over the product washing it with water or using it in water may cause the product to malfunction result...

Страница 35: ...ct Item Period Reference General Cleaning of the machine Week Visual check of electrical harness Year Visual check and cleaning of the plate Week Section 4 2 3 specific process It is the customer s responsibility to schedule the maintenance of his specific process Backlight Visual check Month Table 4 1 periodic maintenance schedule NOTE The information given in the Table 4 1 periodic maintenance s...

Страница 36: ...he platform out C Release the tool the mechanism as reverse operation from step 1 to let it goes to its initial position Figure 4 1 remove the platform Control and Cleaning of the platform Material needed Lint free cloth isopropanol alcohol Step 1 Control the surface state of the platform A and be particularly careful to the following points Big claws Dirt or spotted surface Oily or greasy surface...

Страница 37: ...onents which can be replaced directly by the customer For any other repair the product must be returned to the manufacturer WARNING For any kind of reparation always use Asyril products Table 4 2 Replaceable parts Part name Backlight assembly Blue Backlight assembly Green Backlight assembly Infrared Backlight assembly Red Backlight assembly White ...

Страница 38: ... sources and other cables to the unit are disconnected before changing the backlight Material needed New backlight assembly delivered by Asyril Flat wrench size 5 5 Torx key size 10 Step 1 Unscrew the 7 screws on both sides A and A and remove the two side covers Use an torx key size 10 Step 2 On both sides unscrew the four bolts B Use a flat wrench size 5 5 A A B ...

Страница 39: ...Asycube 240 Operating Manual 000 100 500 Version A6 000 100 500 Asycube 240 Operating Manual 39 52 Step 3 Unplug the backlight connector C Remove the old backlight D and insert the new backlight E D E C ...

Страница 40: ...00 500 Asycube 240 Operating Manual 40 52 Step 5 Align the backlight module flush with the mirror support F and tighten the four bolts G Use a flat wrench size 5 5 Step 6 Plug the backlight connector H Step 7 Remount the covers I and I on both sides F G H I I ...

Страница 41: ...to display the Asycube screen B Asycube configuration button Press this button to display the Asycube configuration tab C Color select box This select box allows selecting the color of the backlight If None is chosen backlight tab and backlight switches disappear For more information about the HMI please refer to the user interface documentation With dll To modify the parameter with plugin Net use...

Страница 42: ... Using tcp commands To modify the parameter with TCP commands use this sequence of commands Command Function More informations 1 wp7 1234 Login in integrator mode 2 wp97 x Write color of backlight x 0 Green 1 Red 2 Blue 3 IR 4 UV 5 White 99 None 3 df Save configuration in flash memory 4 wp7 1 Logout ...

Страница 43: ...ort number when they are unknown and cannot be found Following this procedure you are able to connect on the Asycube with default parameters and then modify unknown parameters Step 1 Unscrew the 3 screws A and remove the cover Use an torx key size 10 Step 2 Place selector 1 in on position B Step 3 Disconnect and reconnect the power cable or switch off and switch on the power on the Asycube The Asy...

Страница 44: ...by Asycube configuration page in HMI see relative documentations for more details Step 5 When parameters are defined as desired replace selector 1 in position C Step 6 Disconnect and reconnect the power cable or switch off and switch on the power on the Asycube The Asycube will take the parameters defined by the new startup Step 7 Replace the cover and screw the 3 screws A Use an torx key size 10 ...

Страница 45: ...swers 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 You can find lot of information on our website www asyril com You can also contact us by mail or through our web site contact form support asyril com 41 26 653 7190 ...

Страница 46: ...Asycube 240 Operating Manual 000 100 500 Version A6 000 100 500 Asycube 240 Operating Manual 46 52 5 Annexes Condition of use of backlight ...

Страница 47: ...Asycube 240 Operating Manual 000 100 500 Version A6 000 100 500 Asycube 240 Operating Manual 47 52 ...

Страница 48: ...Asycube 240 Operating Manual 000 100 500 Version A6 000 100 500 Asycube 240 Operating Manual 48 52 ...

Страница 49: ...Asycube 240 Operating Manual 000 100 500 Version A6 000 100 500 Asycube 240 Operating Manual 49 52 ...

Страница 50: ...Asycube 240 Operating Manual 000 100 500 Version A6 000 100 500 Asycube 240 Operating Manual 50 52 CE Certificate ...

Страница 51: ...fo 2 6 4 and platform dwg 2 6 1 added A5 14 06 19 BeJ 2 6 4 correction of hopper frequency 3 2 removed shockwatch information A6 02 12 2019 HuG 2 2 1 addition RoHS 2 2 2 Adding picking height 2 2 3 description of the leds 2 2 4 Maximum permissible external force on the platform 2 2 5 Permissible platform weight 2 2 6 Maximum plate displacement 2 2 7 Plate Z repeatability 2 4 2 Power connection 2 6...

Страница 52: ...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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