Asyril Asycube CC-Link Gateway User manual

Asycube CC-Link
Gateway
User Guide
Document
Asyril_ASYCUBE_CC-
LINK_GATEWAY_User_Guide_EN
000.103.256
Version
A
Date
14.10.2019

Asycube CC-Link Gateway
User Guide
© Copyright Asyril S.A.
000.103.256
Version : A
2/21
Table of Contents
1. INTRODUCTION..................................................................................................................................4
1.1. GENERALITIES......................................................................................................................................4
2. ASYCUBE CC-LINK GATEWAY QUICKSTART...........................................................................5
2.1. COMMUNICATION IN PRODUCTION .......................................................................................................5
2.2. ASYCUBE GATEWAY POWER SUPPLY..................................................................................................5
2.3. ASYCUBE OFFLINE CONFIGURATION (NOT CONNECTED TO THE GATEWAY).......................................5
3. USER GUIDE INTRODUCTION........................................................................................................6
3.1. ASYCUBE FEEDER................................................................................................................................6
3.2. GATEWAY .............................................................................................................................................6
4. CONNECT THE ASYCUBE GATEWAY..........................................................................................7
4.1. PREPARATION ......................................................................................................................................7
4.2. CONNECT THE GATEWAY POWER SUPPLY...........................................................................................7
4.3. CONNECT THE GATEWAY TO THE ASYCUBE FEEDER...........................................................................7
4.4. CONNECT THE GATEWAY TO THE MACHINE CONTROLLER...................................................................8
4.5. POWER ON..........................................................................................................................................8
5. COMMISSIONING AND INTEGRATION .........................................................................................9
5.1. GENERAL PRINCIPLES..........................................................................................................................9
5.1.1. Import the fieldbus device description file...................................................................................9
5.1.2.Add the Gateway in the configuration..........................................................................................9
5.1.3. Program and run the application ..................................................................................................9
5.2. EXAMPLE FOR CC-LINK ON MITSUBISHI MELSEC-Q SERIES.........................................................11
5.2.1. Setting CC-Link communication conditions with a PLC editor software to use the gateway
12
5.2.2. CC-Link Parameter step 1...........................................................................................................12
5.2.3. CC-Link Parameter step 2...........................................................................................................13
5.2.4. CC-Link Parameter step 3...........................................................................................................13
5.2.5. Example: CC-Link - Modbus TCP Memory Map......................................................................14
6. TROUBLESHOOTING......................................................................................................................15
6.1. MODIFY THE STATION ADDRESS .......................................................................................................15
6.2. MODIFY THE BAUD RATE (SPEED).....................................................................................................15
6.3. THE APL LED BLINKS TWICE RED EVERY 3SECONDS .......................................................................18
6.4. THE SYS LED BLINKS ALTERNATIVELY YELLOW/GREEN EVERY SECOND..........................................18
7. TECHNICAL SUPPORT ...................................................................................................................19
7.1. FOR BETTER SERVICE …...................................................................................................................19
7.2. CONTACT............................................................................................................................................19

Asycube CC-Link Gateway
User Guide
© Copyright Asyril S.A.
000.103.256
Version : A
3/21

Asycube CC-Link Gateway
User Guide
© Copyright Asyril S.A.
000.103.256
Version : A
4/21
1. Introduction
1.1. Generalities
The following document is the property of Asyril S.A. and may not be copied or circulated
without permission. The information contained in this document is subject to change without
notice for the purpose of product improvement. Before operating your product, please read this
document in order to ensure a correct use of the product. Nevertheless, if you meet difficulties
during the operation or the maintenance, please, feel free to contact Asyril customer service.
In this manual, the safety precautions that you must respect are classified 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 correct use of the product,
although failure to do so would not result in injury.
Refer to …
For more information on a specific subject, the reader should read other manual, or refer to
other paragraph.
WARNING!
Asyril shall not be liable whatsoever for any loss or damage arising from a failure to observe
the items specified in “Safety Precautions” of the OPERATING MANUAL. The customer is
responsible to provide the necessary instruction to the persons concerned.
NOTE:
All dimensions in this document are expressed in millimeters

Asycube CC-Link Gateway
User Guide
© Copyright Asyril S.A.
000.103.256
Version : A
5/21
2. Asycube CC-Link Gateway Quickstart
NOTES:
The Asycube Gateway is ready to use. Do not erase or modify its internal configuration.
The Asycube Feeder needs a firmware version ≥v4.0.0.
2.1. Communication in production
2.2. Asycube Gateway Power supply
2.3. Asycube offline configuration (not connected to the Gateway)
PC running Asyril HMI
Asycube Feeder
192.168.127.X (X:1-253)
192.168.127.254
Please refer to the full Asycube CC-Link Gateway User Guide for more information.
Machine Controller
Asycube Gateway
Asycube Feeder
CC-link with default values
CC-Link version: 2
Default station address: 1 (See Section 6.1)
Default Baud Rate: 10 MBaud (See Section 6.2)
X3
X2-IN
The IP Address MUST be set
to the default value:
192.168.127.254
Machine
Controller
PC

Asycube CC-Link Gateway
User Guide
© Copyright Asyril S.A.
000.103.256
Version : A
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3. User Guide Introduction
This User Guide presents the Asycube CC-Link Gateway used to communicate between a
machine controller (PLC, …) and an Asycube feeder using CC-Link fieldbus. The machine
controller is a fieldbus Master while the Asycube Gateway is a fieldbus Slave (station).
This chapter quickly presents the Asycube and the Gateway. Chapter 4 shows how to connect
the Gateway. Chapter 5 explains how to integrate the Gateway with a machine controller.
3.1. Asycube feeder
The Asycube is a flexible feeding system, which spreads the parts on the picking surface using
smart vibrations. The displacements in all directions as well as more advanced trajectories are
the result of the sum of the excitations of the different actuators. The role of the Asycube is to:
•Distribute and flip the components over the picking surface
•Manage the feeding from the hopper in order to have enough components on the
picking surface
Please refer to the Asycube User Guide for more information.
3.2. Gateway
A gateway is a protocol converter device. The Asycube Gateway is configured to allow a
seamless communication between the Asycube feeder and an external controller based on
fieldbus.
Figure 3-1: The Asycube CC-Link Gateway.
NOTE:
The Asycube CC-Link Gateway is ready to use. Do not erase or modify its internal
configuration.

Asycube CC-Link Gateway
User Guide
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000.103.256
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4. Connect the Asycube Gateway
This chapter presents the steps to connect the Asycube CC-Link Gateway(also simply referred
as Gateway).
4.1. Preparation
You will need the following elements
•An Asycube feeder connected to its power supply
oWith firmware version ≥v4.0.0
oWith default communication settings (i.e. IP address 192.168.127.254).
•An Asycube CC-Link Gateway
•A 24VDC power supply unit (it can be the same as the one used for the Asycube
feeder)
•Your machine controller (PLC, …)
•A RJ45 cable for connection between the gateway and the Asycube
•A CC-Link cable for serial communication between the gateway and the machine
controller
4.2. Connect the gateway power supply
Connect the 24VDC (130 mA) power supply on the naked plug provided with the gateway.
Refer to the Figure 4-1. You will need to create the 2-wires cable between the gateway and the
power supply unit.
Figure 4-1: Gateway power supply.
4.3. Connect the gateway to the Asycube feeder
Connect the Gateway X2-IN port to the Asycube communication port with a RJ45 cable. The
Asycube feeder MUST have it IP Address set to its default value 192.168.127.254. The IP
Address of the Gateway X2-IN port is 192.168.127.1.
Connect the RJ45 cable from this
port to the Asycube

Asycube CC-Link Gateway
User Guide
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000.103.256
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4.4. Connect the gateway to the machine controller
Connect the Gateway X3 port to the machine controller CC-Link with a CC-Link cable.
4.5. Power ON
Switch the power supply ON to supply both the Asycube and the Gateway.
Check the status of the Gateway LEDs:
•SYS: steady green ON.
•APL: blinking green with 2s OFF and 0.5s ON or steady green ON (if
the machine controller runs).
•X2 LINK IN (CH0) L/A: steady green or blinking green.
•X3 LINK: steady green.
•Other LEDs may also switch on or blink.
Gateway X3 port
1:DA
2:DB
3:DG
4:SLD
5:FG
DA
DB
DG
SLD
FG
CC-Link cable
Gateway X3 port Machine controller
CC-Link port
Terminating resistor
Terminating resistor
（Typical value
of the resister(Note)：
110Ω 1/4W）
CC-Link cable connection
（Note）
See the controller
manual for the
resistor value of
special usage

Asycube CC-Link Gateway
User Guide
© Copyright Asyril S.A.
000.103.256
Version : A
9/21
5. Commissioning and integration
This chapter explains how to integrate the Gateway in a machine controller (PLC, …) and
provides some detailed examples for some PLC controllers.
The Input/Output Registers are described in the Asycube Programming Guide (Section
Asycube Modbus Register Table). The outputs correspond to the Control Holding
Registers. The inputs correspond to the Status Holding Registers (do not pay attention to the
“64+” offset in the address). The other Modbus Holding Registers cannot be accessed
through the Gateway.
5.1. General principles
The commissioning and the integration of the Gateway with a machine controller differ from
one controller to the other. The common general principles are presented in this section. The
following sections show some example with some specific machine controllers.
5.1.1. Import the fieldbus device description file
In order for the machine controller to recognize the fieldbus device, the device description file
(also known as electronic datasheet) needs to be imported in the machine controller. This is
usually done by importing the file in the development environment or by copying the file on the
machine controller. All device descriptions files for the Gateway can be found in the USB
memory key provided with the Asycube.
5.1.2. Add the Gateway in the configuration
The Gateway device needs to be added in the hardware configuration of the machine
controller. It should then be possible to interact with the Asycube feeder through the Gateway
with the automatically created input/output registers. For example, you can read the Asycube
firmware version in the given input registers (WORD address 14-16 or BYTE address 28-33).
You can also start a platform vibration by trigging the given output register (WORD address 1
or BYTE address 2) from value 0 to 1.
5.1.3. Program and run the application
You can now program the application. First, declare some variables and link/map them with
the input/output registers. Then, program the behavior of the Asycube based on the registers
described in the Asycube Programming Guide (see examples in Figure 5-1 and Figure 5-2).
Finally compile and run the application. The Gateway APL LED should now be steady green
ON.

Asycube CC-Link Gateway
User Guide
© Copyright Asyril S.A.
000.103.256
Version : A
10/21
Figure 5-1. Programming example for a platform vibration.
(*error detection*)
IF asycubeReadRegister.HR_MODBUS_STATUS.w <> 0 THEN
state:=-1;
END_IF
(*state machine*)
CASE state OF
-1: (*error*)
0: (*initial state*)
state:=state+1;
1: (*prepare vibration*)
asycubeWriteRegister.HR_PLATFORM_VIBRATION_ID.w:=2; (*C*)
asycubeWriteRegister.HR_PLATFORM_VIBRATION_DURATION.w:=1000; (*1000ms*)
asycubeWriteRegister.HR_PLATFORM_VIBRATION_TRIG.w:=0;
state:=state+1;
2: (*start vibration*)
asycubeWriteRegister.HR_PLATFORM_VIBRATION_TRIG.w:=1; (*rising edge*)
IF asycubeReadRegister.HR_PLATFORM_REMAINING_TIME.w>0 THEN
state:=state+1;
END_IF
3: (*wait for the vibration to complete*)
IF asycubeReadRegister.HR_PLATFORM_REMAINING_TIME.w=0 THEN
state:=state+1;
END_IF
4: (*switch backlight on*)
asycubeWriteRegister.HR_BACKLIGHT_STATE_CONTROL.w:=1; (*on*)
state:=state+1;
5: (*take a picture*)
(*insert your code here*)
(*... wait ... take a picture ... wait ...*)
(*state:=state+1;*)
6: (*switch backlight off*)
asycubeWriteRegister.HR_BACKLIGHT_STATE_CONTROL.w:=0; (*off*)
state:=state+1;
7: (*final state*)
END_CASE