Asyril Asycube User manual

Gateway-EtherNet/IP / Plugin
Rockwell
User Guide
Document
Asyril_Plugin_Rockwell_Asycube_EthernetIP_User_Guide_EN
000.103.557
Version
A1
Date
30.10.2020

Gateway-EtherNet/IP / Plugin Rockwell
User Guide
© Copyright Asyril S.A.
Introduction
Version : A1
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Table of content
1INTRODUCTION..................................................................................................................................3
1.1 GENERAL INFORMATION.......................................................................................................................3
1.2 OTHER MANUALS..................................................................................................................................3
1.3 OVERVIEW............................................................................................................................................4
1.3.1 Overview of the communication plugin........................................................................................4
1.4 COMPATIBILITY.....................................................................................................................................5
1.5 GENERAL NOTICE.................................................................................................................................5
2GATEWAY CONNECTION ................................................................................................................6
2.1 POWER CONNECTION...........................................................................................................................6
2.2 ASYCUBE CONNECTION........................................................................................................................6
2.3 PLC CONNECTION................................................................................................................................6
2.4 POWER ON..........................................................................................................................................6
3PLUGIN INSTALLATION AND CONFIGURATION.......................................................................8
3.1 INSTALLATION OF THE LIBRARY............................................................................................................8
3.2ADD THE GATEWAY IN THE CONFIGURATION.......................................................................................8
3.3 LINK I/O..............................................................................................................................................12
3.4 CONNECT THE REGISTERS TO THE AO..............................................................................................12
3.5 CHANGE IP OF THE GATEWAY (IF SEVERAL GATEWAYS ARE CONNECTED TO THE SAME PLC)......13
4INTEGRATION EXAMPLES............................................................................................................14
4.1 STANDARD INTEGRATION...................................................................................................................14
4.2 OTHER INTEGRATION .........................................................................................................................15
5ADD-ON INSTRUCTIONS DESCRIPTION ...................................................................................16
5.1 AO_EXECUTE_SEQUENCE................................................................................................................16
5.2 AO_EXECUTE_PLATFORM_VIBRATION ............................................................................................19
5.3 AO_EXECUTE_HOPPER_VIBRATION................................................................................................21
5.4 AO_BACKLIGHT .................................................................................................................................23
6TECHNICAL SUPPORT ...................................................................................................................25
6.1 FOR BETTER SERVICE …...................................................................................................................25
6.2 CONTACT............................................................................................................................................25
A. APPENDIX 1: REGISTER LIST ......................................................................................................26

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Introduction
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1 Introduction
1.1 General information
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 (mm)
1.2 Other manuals
The table below provides a list of all the standard documents where you can find additional
information and help on how to configure the Asycube:

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Introduction
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Manuel name
Reference
Description of the content
Operating
manual
Asycube-050-080_Operating_Manual_EN
Asycube-240_Operating_Manual_EN
Asycube-380-530_Operating_Manual_EN
Contains a technical
description of the product
and its functionalities
together with instructions for
its transportation and
maintenance
Programming
guide
Asycube_Programming_Guide_EN
Contains information about
communication and use of
the product at the
programming level
User guide
Asycube_User_Guide_EN
Contains all the necessary
information for a user to
configure and use a new
asycube
HMI guide
Accessible directly via the HMI
Explains how to use the
Asyril HMI
Table 1.1. Other manuals.
1.3 Overview
The pre-configured EtherNet/IP Ascube Gateway (Figure 1-1) is used to communicate from a
PLC or a robot with an Asycube through EtherNet/IP fieldbus. The PLC or the robot is the
fieldbus master (client) and the Asycube Gateway is the slave (server).
The Asycube Gateway can be used to integrate the Asycube with a Rockwell PLC using the
plugin described in the next pages or with any devices communicating over EtherNet/IP. To
make your integration, you will find on the USB stick delivered with every Asycubes the
electronic datasheet of the Gateway and some register files.
.
Figure 1-1. Pre-configured EtherNet/IP Gateway
1.3.1 Overview of the communication plugin
The Asycube-Rockwell-EtherNet/IP plugin is dedicated to control one or several Asycubes
using pre-programmed Add-On instructions on a Rockwell PLC through a pre-configured
EtherNet/IP Gateway.
The plugin provides the following functionalities:
•Add-On instruction to trigger the execution of a vibration sequence and to trigger the
backlight. (AO_Execute_Sequence)

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Introduction
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•Add-On instruction to trigger the execution of a platform vibration (standard or
centering). (AO_Execute_Platform_Vibration)
•Add-On instruction to trigger the execution of a hopper vibration. (standard or quantity
adjusted) (AO_Execute_Hopper_Vibration)
•Add-On instruction to trigger the backlight in different mode (continuous of flash).
(AO_Backlight)
1.4 Compatibility
The plugin is compatible with any Asycube with a firmware version ≥v4.0.0
The plugin can be used on any system using Studio 5000 31.00.01 or higher. (for the plugin)
1.5 General notice
The use of the Add-On instructions does not prevent the use of the Asyril HMI software to
configure the Asycube vibrations and parametrize the vibration. The HMI can be installed on
any computer running windows 7 or higher.
This user guide assumes that you are familiar with Asycubes system and know how to
configure the vibrations sets and sequences.
This user guides also assumes that you are familiar with Rockwell PLCs and know how to use
and program them.

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Gateway connection
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2 Gateway connection
2.1 Power connection
Connect the 24VDC (130 mA) power supply on the naked plug provided with the Gateway (See
Figure 2-1).
Figure 2-1. Gateway power supply.
2.2 Asycube connection
Connect the Gateway X3 port to the Asycube communication port with a RJ45 cable (See
Figure 2-2). The Asycube feeder MUST have its IP Address set to its default value
192.168.127.254. The IP Address of the Gateway X3 port is 192.168.127.1.
Figure 2-2. Gateway ethernet connection
2.3 PLC connection
Connect the Gateway X2-IN port to the machine controller Ethernet-based fieldbus port with a
RJ45 cable (See Figure 2-2). The IP Address of the Gateway X2-IN port is set to
192.168.127.254 and cannot be changed.
2.4 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.

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Gateway connection
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Figure 2-3. Gateway Overview

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Plugin Installation and configuration
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3 Plugin Installation and configuration
The plugin is delivered in a “.zip” folder. Unzip it and you will find a folder containing the
files/programs displayed on Figure 3-1 and the:EDS file for this Gateway.
3.1 Installation of the library
The library contains 2 sample programs and 4 function blocks listed below.
Figure 3-1. Add-Ons of the library
We recommend you working with the sample program “Sample_Program_Asycube_Standard”
which contains everything that is necessary to implement the scenario introduced in Chapter 4
An example of integration of the other AddOns is described in the
“Sample_Program_Asycube_Advanced”. To import a sample program, right click on your task,
select “Add” and choose “Import Program…”. You will still have to link the Gateway “Controller
Tags” to your AO as described in section 3.3.
Should you want to make a customized integration of the AddOns, you can import them
separately by right clicking on “the “Add-On Instructions” folder and choosing “Import Add-On
Instructions”.
3.2 Add the Gateway in the configuration
1. Launch the “EDS Hardware Installation Tool”
Figure 3-2. EDS Hardware Installation Tool

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2. Click on “Next”
Figure 3-3. EDS Wizard
3. Select “Register an EDS file”and click on “Next”
Figure 3-4. Add a EDS Device
4. Select the Gateway EDS file delivered in with the library and on the Asycube USB Stick.
The name of the file is “HILSCHER NT 100-RE EIS V1.1.EDS”.

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Figure 3-5. Select the EDS file
5. Press 4 times on the button “Next”. Installation of the EDS file is done.
6. By being online with the PLC, right click on your Ethernet board and add a new module on
your I/O Configuration.
Figure 3-6. Add the Gateway to your configuration
7. Select the Gateway and press “Create”. Write “NT 100” in the search area to find the
Gateway. Should you have several Gateways, you will have to redo step 6 to 7 several
times. Section 3.5 describes how to change the IP address of the Gateways as they all
must have a different IP Address.

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Figure 3-7. Select the Gateway
8. In the tab “General”, press on “Change …” and configure 21 Inputs (INT) and 33 Outputs
(INT) as shown in Figure 3-8. You can modify the name of the Gateway (in the blue
rectangle). This name will be used as reference in the “Controller Tags”. Should you have
several Gateways, each of them must of course have a different name.
Figure 3-8. Configure the Gateway

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9. Configure the IP settings. The default IP Address of the Gateway (port X2-IN) is
192.168.127.254. Should you have several Gateways, section 3.5 explains how to change
the IP address of the gateway.
Figure 3-9. Configure Internet protocol
3.3 Link I/O
Once the gateway has been successfully integrated in your project, you will be able to retrieve
the registers (data) of the gateway in the “Controller Tags”. These registers can then be linked
with the I/O from your AO “regAsycubeWritePIO” and “regAsycubeReadPIO” as shown in the
next section.
Figure 3-10. Registers of gateway
3.4 Connect the registers to the AO
Here is an example of an application with the input and output registers filled in.

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Figure 3-11. Example of integration
3.5 Change IP of the Gateway (If several Gateways are connected
to the same PLC)
An Ethernet/IP fieldbus slave (Adapter device) is identified on the Ethernet/IP network based
on its IP Address. The IP Address of the Ethernet/IP Asycube Gateway is set by default to
192.168.127.254. If several Gateways exist in the same Ethernet/IP network, the IP Address
of some Gateways needs to be modified. Some dedicated tools can persistently modify the IP
Address of the device, such as the Molex Industrial Communication Competence Center
(ICCC) EtherNetIP Tool (See Figure 3-12).
Figure 3-12. Molex Industrial Communication Competence Center (ICCC) EtherNetIP
Tool
Please note that the IP Address persists even if the Gateway configuration is reset to the factory
settings.
The Hilscher Sycon Software Tool must not be used to change the IP address of the Gateway.

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Integration examples
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4 Integration examples
4.1 Standard integration
Figure 4-1 shows a typical Asycube integration example. For this standard integration, you will
need one single AO_Execute_Sequence instruction per Asycube. Depending on the parts that
you want to feed, before starting the production, you will simply setup the vibration set and
sequence ID that you plan to use. When you start the production. A first image analysis will be
done and as long as parts OK to be picked are available, their coordinates will be send to the
robot until the last one is picked. When no more parts are available, you will trigger the
execution of a vibration sequences knowing how many parts are on the feeder and the position
of their center of mass (Given in the frame described in Figure 4-2). The instruction
AO_Execute_Sequence is used to do this.
We recommend triggering the backlight using the dedicated digital input. Should you not have
this possibility, the input boBacklightPIN can be used to control it.
Figure 4-1. Standard implementation example.

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Figure 4-2. Coordinates to send to the Asycube in inXPosPIN and inYPosPIN
4.2 Other integration
If thestandard integration does not fit to your application, other AOs can be used. Nevertheless,
we strongly recommend working like in the standard example above. All AOs are described in
Section 5.

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5 Add-On instructions description
5.1 AO_Execute_Sequence
This Add-On instruction can be used to trigger the execution of a vibration sequence. This Add-
On instruction also allows to turn ON or OFF the backlight of the Asycube. One instance of this
instruction is used per Asycube.
Figure 5-1. AO_Execute_Sequence
Variable
Type
Description
Working
Inputs
boStartPIN
Boolean
A rising edge starts the sequence.
boStopPIN
Boolean
A rising edge stops the sequence.
If the system is in “Error” state, a rising edge
clears the error.
inSeqIDPIN
Integer
Sequence ID (1..26)
inVibrationSetPIN
Integer
Vibration set ID (1..26)
inNbPartsPIN
Integer
Number of remaining parts currently on the
Asycube
inNbPartsMaxPIN
Integer
Desired number of parts that you want on the
Asycube
inXPosPIN
Integer
X Coordinate of the center of mass of the
remaining parts (-100..100) (See Figure 4-2)
inYPosPIN
Integer
Y Coordinate of the center of mass of the
remaining parts (-100..100) (See Figure 4-2)
boBacklightPIN
Boolean
Turns ON and OFF the backlight
Outputs
inStatePOU
Integer
State : 0 = Idle, 1 = Running, 2 = Stopping, 10 =
Error

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Variable
Type
Description
boDonePOU
Boolean
A rising edge indicates the end of the sequence
boBacklightStatePOU
Boolean
State: TRUE = backlight ON, FALSE =
Backlight OFF
diRemainingTimePOU
Double Integer
Remaining time of the sequence
Gateway
Inputs
boGatewayConnectionFaultPIN
Boolean
Connection fault status of the gateway.
Inputs / Outputs
regAsycubeWritePIO
Integer[0..33]
This input must be linked to the GVL structure
containing the write registers (see Chapter 3 to
import the structure)
regAsycubeReadPIO
Integer[0..19]
This input must be linked to the GVL structure
containing the read registers (see Chapter 3 to
import the structure)
Error Management
Outputs
boErrorPOU
Boolean
Goes to ‘True’ if an error occurred on the block
inErrorIDPOU
Integer
Error ID (See Table 5.2)
stErrorNamePOU
String
Error Description (See Table 5.2)
Table 5.1. AO_Execute_Sequence –Inputs and Outputs description.
N°
ID
Cause
Resolution
700
Transition error
Input that was activated is not
allowed in the current state.
Only use command when you
are in the correct state.
701
Modbus error
Refer to the Asycube
programming guide
Refer to the Asycube
programming guide
702
Internal Modbus error
Refer to the Asycube
programming guide
Refer to the Asycube
programming guide
703
Warning
Refer to the Asycube
programming guide
Refer to the Asycube
programming guide
704
Alarms
Refer to the Asycube
programming guide
Refer to the Asycube
programming guide
705
Gateway disconnected from
PLC
Communication problem on
the Ethernet/IP segment
Check the cable between
gateway and PLC
706
Asycube disconnected from
gateway
Communication problem on
the Modbus TCP segment
Check the cable between
gateway and Asycube
707
Time out
Connection was lost with the
Asycube
Check the cables.
Check that the Asycube is
supplied.
Check the Gateway state.

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N°
ID
Cause
Resolution
708
Wrong parameter
Wrong input parameter
Correct the wrong input
parameter.
709
-
N/A
-
Table 5.2. AO_Execute_Sequence –Error List.

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5.2 AO_Execute_Platform_Vibration
This Add-On instruction is used to execute a single platform vibration. Standard vibration or
centering vibration can be triggered using this instruction.
Figure 5-2. AO_Execute_Platform_Vibration
Variable
Type
Description
Working
Inputs
inSelectModePIN
Integer
Mode: 0 = Standard vibration, 1 = Centering
vibration
boStartPIN
Boolean
A rising edge starts the vibration.
boStopPIN
Boolean
A rising edge stops the vibration.
If the system is in “Error” state, a rising edge clears
the error.
inVibrationIDPIN
Integer
Vibration ID (1..26)
inVibrationSetPIN
Integer
Set of vibration (1..26)
inXPosPIN
Integer
X Coordinate of the center of mass of the remaining
parts (-100..100)(See Figure 4-2). Only if Mode = 1.
inYPosPIN
Integer
Y Coordinate of the center of mass of the remaining
parts (-100..100)(See Figure 4-2). Only if Mode = 1.
diDurationPIN
Double Integer
Duration of vibration (0 = unlimited). Only if Mode =
0.
Outputs
inStatePOU
Integer
State: 0 = IDLE, 1 = Running, 2 = Stopping, 10 =
Error
boDonePOU
Boolean
A rising edge indicates the end of the vibration.
diRemainingTimePOU
Double Integer
Remaining time of the vibration.
Gateway
Inputs
boGatewayConnectionFaultPIN
Boolean
Connection fault status of the gateway.

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Variable
Type
Description
Inputs / Outputs
regAsycubeWritePIO
Integer[0..33]
This input must be linked to the GVL structure
containing the write registers (see Chapter 3 to
import the structure)
regAsycubeReadPIO
Integer[0..19]
This input must be linked to the GVL structure
containing the read registers (see Chapter 3 to
import the structure)
Error Management
Outputs
boErrorPOU
Boolean
Goes to ‘True’ if an error occurred on the block
inErrorIDPOU
Integer
Error ID (See Table 5.4)
stErrorNamePOU
String
Error Description (See Table 5.4)
Table 5.3. AO_Execute_Platform_Vibration –Inputs and Outputs description.
N°
ID
Cause
Resolution
710
Transition error
Input that was activated is not
allowed in the current state.
Only use command when you
are in the correct state.
711
Modbus error
Refer to the Asycube
programming guide
Refer to the Asycube
programming guide
712
Internal Modbus error
Refer to the Asycube
programming guide
Refer to the Asycube
programming guide
713
Warning
Refer to the Asycube
programming guide
Refer to the Asycube
programming guide
714
Alarms
Refer to the Asycube
programming guide
Refer to the Asycube
programming guide
715
Gateway disconnected from
PLC
Communication problem on
the Ethernet/IP segment
Check the cable between
gateway and PLC
716
Asycube disconnected from
gateway
Communication problem on
the Modbus TCP segment
Check the cable between
gateway and Asycube
717
Time out
Connection was lost with the
Asycube
Check the cables.
Check that the Asycube is
supplied.
Check the Gateway state.
718
Wrong parameter
Wrong input parameter
Correct the wrong input
parameter.
719
-
N/A
-
Table 5.4. AO_Execute_Platform_Vibration –Error List.