Asyril Asycube User manual

Asycube Gateway
User Guide
Document
Asyril_ASYCUBE_GATEWAY_User_Guide_EN
000.101.794
Version
B1
Date
14.10.2019

Asycube Gateway
User Guide
© Copyright Asyril S.A.
000.101.794
Version : B1
2/32
Table of Contents
1. INTRODUCTION..................................................................................................................................4
1.1. GENERALITIES......................................................................................................................................4
2. ASYCUBE 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 ETHERCAT ON TWINCAT 3.1......................................................................................11
5.2.1. Import the fieldbus device description file.................................................................................11
5.2.2. Add the Gateway in the configuration........................................................................................12
5.2.3. Program and run the application ................................................................................................16
5.3. EXAMPLE FOR PROFINET ON SIEMENS TIA PORTAL.........................................................................19
5.3.1. Import the fieldbus device description file.................................................................................19
5.3.2. Add the Gateway in the configuration........................................................................................20
5.3.3. Program and run the application ................................................................................................23
5.4. EXAMPLE FOR ETHERNET/IP ON ROCKWELL RSLOGIX 5000..........................................................23
5.4.1. Import the fieldbus device description file.................................................................................23
5.4.2. Add the Gateway in the configuration........................................................................................26
5.4.3. Program and run the application ................................................................................................27
6. TROUBLESHOOTING......................................................................................................................28
6.1. MODIFY THE STATION NAME FOR THE PROFINET GATEWAY............................................................28
6.2. MODIFY THE IP ADDRESS FOR THE ETHERNET/IP GATEWAY...........................................................28
6.3. THE SYS LED BLINKS ALTERNATIVELY YELLOW/GREEN EVERY SECOND..........................................29

Asycube Gateway
User Guide
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000.101.794
Version : B1
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7. TECHNICAL SUPPORT ...................................................................................................................30
7.1. FOR BETTER SERVICE …...................................................................................................................30
7.2. CONTACT............................................................................................................................................30

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User Guide
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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

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2. Asycube 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 Gateway User Guide for more information.
Machine Controller
Asycube Gateway
Asycube Feeder
Ethernet-based fieldbus
X2-IN
X3
The IP Address MUST be set to
the default value:
192.168.127.254
Machine
Controller
PC

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3. User Guide Introduction
This User Guide presents the Asycube Gateway used to communicate between a machine
controller (PLC, …) and an Asycube feeder using fieldbuses such as Ethercat, Profinet and
Ethernet/IP, etc. The machine controller is a fieldbus Master (client) while the Asycube
Gateway is a fieldbus Slave (server).
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. Several models of the Asycube Gateway are provided by Asyril based on the
selected fieldbus.
Figure 3-1: The Asycube Gateway.
NOTE:
The Asycube Gateway is ready to use. Do not erase or modify its internal configuration.

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4. Connect the Asycube Gateway
This chapter presents the steps to connect the Asycube 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 Gateway
•A 24VDC power supply unit (it can be the same as the one used for the Asycube
feeder)
•Your machine controller (PLC, …)
•Two RJ45 cables
•A 2-wires cable for the gateway power supply
•A 2-wires cable for the gateway power supply
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 X3 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
X3 port is 192.168.127.1.

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4.4. Connect the gateway to the machine controller
Connect the Gateway X2-IN port to the machine controller Ethernet-based fieldbus port with
a RJ45 cable. The IP Address of the Gateway X2-IN port is set 192.168.127.254 and cannot
be changed (See exception in Section 6.2).
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.

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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 Gateway
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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