Asyril Asycube 240 Operating instructions

Asycube
Programming Guide
Document
ASYCUBE_Programming_Guide_EN
000.101.572
Version
A1
Date
12.12.2017

Asycube - Asyril SA
Programming Guide
© Copyright Asyril S.A.
000.101.572
Version : A1
2/83
Table of Contents
1. INTRODUCTION..................................................................................................................................5
1.1. GENERALITIES......................................................................................................................................5
2. GENERAL DESCRIPTION OF THE ASYCUBE.............................................................................6
2.1. VIBRATION CONVENTION......................................................................................................................6
2.2. VIBRATION SETS...................................................................................................................................8
2.3. SEQUENCES.........................................................................................................................................9
2.4. LOAD/SAVE IN MEMORIES.....................................................................................................................9
3. HOW TO USE THE ASYCUBE .......................................................................................................10
3.1. INTEGRATION MODES .........................................................................................................................10
3.1.1. Direct connection to the Asycube, configuration with Asycube HMI.....................................11
3.1.2. Direct connection to the Asycube...............................................................................................12
3.1.3. Connection to the Asycube with the Plugin .NET and configuration with Asyril HMI..........13
3.1.4. Connection to the Asycube with the Plugin .NET and configuration with the customer user
interface using the Plugin .NET................................................................................................................14
3.1.5. Modbus TCP connection with the Asycube, configuration with Asycube HMI.....................15
3.2. PRODUCTION CYCLE WITH SEQUENCES.............................................................................................16
3.3. QUESTIONS AND ANSWERS................................................................................................................17
3.3.1. Which vibration set or sequence is currently selected?..........................................................17
3.3.2. How do I know if some parameters of the current vibration set have been modified?.......17
3.3.3. What is the duration of a specific sequence?...........................................................................17
3.3.4. How do I know when a vibration or a sequence is finished?..................................................17
3.3.5. How do I backup all vibration set on the computer?................................................................17
3.3.6. How is the center of mass of the components on the platform transferred to the command
ES ? 18
4. ASYCUBES PARAMETERS............................................................................................................19
4.1. CONFIGURATION ................................................................................................................................19
4.2. PLATFORM VIBRATIONS.....................................................................................................................22
4.2.1. For the Asycube 50 and Asycube 80.........................................................................................22
4.2.2. For the Asycube 240 and Asycube 530.....................................................................................23
4.3. HOPPER VIBRATIONS OR OUTPUTS ACTIVATIONS............................................................................26
4.3.1. Hopper vibrations (Asycube 50 and Asycube 80)....................................................................26
4.3.2. Outputs activations (Asycube 240 and Asycube 530).............................................................27
4.4. SEQUENCES.......................................................................................................................................28
5. TCIP/IP COMMUNICATION.............................................................................................................32
5.1. CONFIGURATION ................................................................................................................................32
5.2. ASYCUBE COMMUNICATION PROTOCOL.............................................................................................32

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5.3. COMMUNICATION ERROR CODE (SERIAL BIT)....................................................................................34
5.4. COMMANDS ........................................................................................................................................35
5.4.1. Description and ranges of parameters.......................................................................................35
5.4.2. Level access..................................................................................................................................36
5.4.3. Access Single Parameters ..........................................................................................................36
5.4.4. Access to parameters...................................................................................................................37
5.4.4.1. Platform Vibration Parameters.............................................................................................................. 37
5.4.4.2. Hopper Vibration Parameters (Asycube 50 and 80).......................................................................... 38
5.4.4.3. Outputs Activation Parameters (Asycubes 240 and 530)................................................................. 38
5.4.4.4. Sequence Parameters ........................................................................................................................... 40
5.4.4.4.1. Load...................................................................................................................................................... 40
5.4.4.4.2. Save ..................................................................................................................................................... 41
5.4.5. Vibration set and sequence selection........................................................................................41
5.4.6. Backlight.........................................................................................................................................42
5.4.7. System States ...............................................................................................................................42
5.4.8. Platform Vibrations (C for Cube) ................................................................................................43
5.4.9. Hopper vibration or Outputs activation ......................................................................................44
5.4.9.1. Asycubes 50 and 80: Hopper Vibrations (B for Bulk) ........................................................................ 44
5.4.9.2. Asycubes 240 and 530: Outputs activation......................................................................................... 45
5.4.10. Sequence, centering and feeding execution.............................................................................46
5.4.10.1. Sequence............................................................................................................................................. 47
5.4.10.1.1. Various formats of the command ES............................................................................................... 48
5.4.10.2. Centering............................................................................................................................................. 50
5.4.10.3. Feeding................................................................................................................................................ 51
5.4.11. Flash Operation.............................................................................................................................52
5.4.12. States..............................................................................................................................................53
5.4.13. General...........................................................................................................................................53
5.4.14. Warnings........................................................................................................................................54
5.4.15. Alarms.............................................................................................................................................54
6. MODBUS TCP....................................................................................................................................55
6.1. CONFIGURATION ................................................................................................................................55
6.2. PERFORMANCE ..................................................................................................................................55
6.2.1. Communication .............................................................................................................................55
6.2.2. Timing.............................................................................................................................................56
6.3. ASYCUBE MODBUS REGISTER TABLE ...............................................................................................57
6.3.1. Control Holding Registers (Write-only zone, offset=0)............................................................58
6.3.2. Status Holding Registers (Read-only zone, offset=64)...........................................................63
6.3.3. Recipe Read Holding Registers (Read-only zone, offset=128).............................................67
6.3.4. Recipe Write Holding Registers (Write-only zone, offset=1536) ...........................................72
6.4. ERRORS..............................................................................................................................................77

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6.4.1. Main Modbus exception codes ...................................................................................................77
6.4.2. Holding Register: error codes .....................................................................................................77
6.4.3. Asycube warnings and alarms....................................................................................................78
6.5. EXAMPLE OF USE ...............................................................................................................................78
6.5.1. Set up the Modbus master (e.g. PLC).......................................................................................78
6.5.2. Handle the Status and Control Holding Registers ...................................................................79
6.5.3. Vibration, sequence, backlight, read/write parameter.............................................................79
7. TECHNICAL SUPPORT ...................................................................................................................81
7.1. FOR BETTER SERVICE …...................................................................................................................81
7.2. CONTACT............................................................................................................................................81

Asycube - Asyril SA
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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. General description of the Asycube
The Asycube contains its own intelligence and memories (one volatile for working and one
flash memory for backup).
To use the Asycube, the user has access to vibrations parameters (called “Vibration Sets” and
including the parameters of the outputs activations) and sequences. The Asycube has also
global parameters which are general parameters adjusted usually by Asyril technician.
Asycube
MCU
Volatile memory
- Current vibrations set
- All sequences
- Global parameters
- Status
Flash memory (non-volatile)
- All vibrations sets
- All sequences
- Global parameters
Load and save parameters
Communication
- Synchro backlight (input)
- Ethernet communication
Power unit
- Actuators
- Outputs
- Backlight PWM
Commands received and
responses
Execute actions requested
Real time execution
- Commands processing
- Vibrations execution
- Ouputs activation
- Sequences execution
- Backlight ON/OFF
- Overheating management
Figure 2-1 : description of Asycube
2.1. Vibration convention
The Asycube has 26 different vibrations, named from ‘A’ to ‘Z’. As a convention, some of the
vibrations are set for a given direction while the others can be used for custom vibrations.
The Table 2-2 presents the convention used in the Asycubes (please be aware of the
differences between the Asycubes models). The Figure 2-3 presents graphically the
convention for an Asycube.

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Vibration
Number
Platform direction
Hopper direction
(only for Asycubes 50
and 80)
Hopper: outputs activation
(only for Asycubes 240 and
530)
A
0
Forward
Forward
Output 1
B
1
Forward left
Output 2
C
2
Forward right
D
3
Left
E
4
Right
F
5
Backward
G
6
Backward left
H
7
Backward right
I
8
Flip
J
9
Long axis centering
(only for Asycubes 240 and
530)
K
10
Short axis centering
(only for Asycubes 240 and
530)
Table 2-2: Vibration direction convention
Figure 2-3: Graphical representation of the direction convention for the Asycube 240

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2.2. Vibration sets
The vibration parameters are organized in vibration sets. There are 26 different vibration sets
(the 26th is reserved for Asyril technician).
Each of the vibration set contains 26 vibrations for the platform identified by letters A to Z and
26 outputs activations (to control two hoppers) identified by other letters A to Z.
For the platform, the 11 first vibrations (A to K) are by convention used for standard vibrations
(movements forward, backward, left, right, flip, long axis centering, etc).
For the Asycubes 50 and 80 which have an integrated hopper, the first hopper vibration is by
convention used for standard vibration ‘Forward’.
The Asycubes 240 and 530 do not have integrated hoppers but outputs that can be activated
to control an external hopper. For the outputs activations, the 2 first activations are by
convention used for standard activations (A activate the output 1 and B the output 2).
The table below shows the organization of the vibration sets:
Vibration Sets
1 to 26
ID 26
Platform Vibration
Pag
e 1
B
C
D
E
F
Forward
Forward left
Forward right
Left
Right
Backward
A
G Backward left
H Backward right
I Flip
Pag
e 1
K
L
M
N
O
Custom
Custom
Custom
Custom
Custom
Custom
J
P Custom
Q Custom
R Custom
S
T
U
V
Custom
Custom
Custom
Custom
W Custom
X Custom
Y Custom
Z Custom
Custom
Output activation
Pag
e 1
B
C
D
E
F
Output 1
Output 2
Custom
Custom
Custom
Custom
A
G Custom
H Custom
I Custom
Pag
e 1
K
L
M
N
O
Custom
Custom
Custom
Custom
Custom
Custom
J
P Custom
Q Custom
R Custom
S
T
U
V
Custom
Custom
Custom
Custom
W Custom
X Custom
Y Custom
Z Custom
Custom
ID 1
Platform Vibration
Pag
e 1
B
C
D
E
F
Forward
Forward left
Forward right
Left
Right
Backward
A
G Backward left
H Backward right
I Flip
Pag
e 1
K
L
M
N
O
Custom
Custom
Custom
Custom
Custom
Custom
J
P Custom
Q Custom
R Custom
S
T
U
V
Custom
Custom
Custom
Custom
W Custom
X Custom
Y Custom
Z Custom
Custom
Output activation
Pag
e 1
B
C
D
E
F
Output 1
Output 2
Custom
Custom
Custom
Custom
A
G Custom
H Custom
I Custom
Pag
e 1
K
L
M
N
O
Custom
Custom
Custom
Custom
Custom
Custom
J
P Custom
Q Custom
R Custom
S
T
U
V
Custom
Custom
Custom
Custom
W Custom
X Custom
Y Custom
Z Custom
Custom
Standard
Vibrations
Standard
Activations
Figure 2-4 : description of vibration sets

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2.3. Sequences
The Asycube contains 26 different sequences (the 26th is reserved for Asyril technician). Each
sequence contains 7 customizable actions. It can be none (no action), platform vibration,
output activation or stabilization (a delay).
Sequences
ID 1
Page 1
Action 2
Action 3
Action 4
Action 5
Action 6
Action 1
Action 7
ID 2
Page 1
Action 2
Action 3
Action 4
Action 5
Action 6
Action 1
Action 7
ID 26
Page 1
Action 2
Action 3
Action 4
Action 5
Action 6
Action 1
Action 7
1 to 26
Figure 2-5 : description of sequences
More details in the commands descriptions.
2.4. Load/save in memories
Because of the size of the volatile memory, it can only contain one of the 26 vibration sets. At
startup, the Asycube loads from flash memory the last selected vibration set, the 26
sequences and the global parameters.
When the user selects another vibration set, the parameters are loaded from the flash memory
and overwrite the previously selected vibration set (all modifications made before selecting
another vibration set are lost if the user did not save the vibration set with the command {DV},
which saves the vibration parameters in the flash memory). A status indicates if a value has
been modified and can be read with the command {?50}. The time needed to load a new
vibration set from the flash memory to the volatile memory is approximatively 0.3 seconds.
Every 20 minutes, the global parameters are automatically saved. If the user tries to save
during this ongoing process, his command will be refused until the automatic saving is
finished.

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3. How to use the Asycube
This chapter gives the main information about the use and tuning of the Asycube. It shows
general information and behavior, presents the main procedure from setup to running in
production with an Asycube and describes then each step. The next chapters will detail the
chosen working mode.
3.1. Integration modes
Different ways of integration are available. Here below is a brief description of the main ones.
More information is then available in the corresponding section. The main tasks necessary to
use, configure and integrate the Asycube are described depending the chosen integration
mode. The next tables and figures describe the tasks in charge of the Asycube and the ones
due to the integrator. The light blue color represents the levels offered by Asyril, the white
one the levels in charge of the integrator.

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3.1.1. Direct connection to the Asycube, configuration with Asycube HMI
In this integration mode, the integrator uses the Asycube HMI (installed on a computer, the
same as the integrator system or another one) to configure the Asycube, and communicates
with the Asycube from his own system in order to execute the vibrations. All the
configurations are made with the Asycube HMI and can be exported in different types of files
(*.fconf and *.fseqfiles).
HMI PC (can be the same as controller)
PC
Controller
Asycube HMI
.fconf
.fseq
CAMERA
ROBOT
.dll
ASYCUBE
Firmware
LEVEL
TASKS
Asycube
Generation and synchronization of the desired vibration
Execute sequences
Save and reload 25 vibration sets (26 for the reload)
Save and reload 25 sequences (26 for the reload)
Activation of the outputs and backlight
Choice/Management of the optimal sequence based on the vision feedback
Asycube HMI
Configuration and optimization of the feeding (vibration) parameters
Configuration and optimization of the sequences
Integrator
Communication with the Asycube
Recipe management (memorize vibration set ID and sequence ID for each
component).
Synchronization of the feeder and the machine
Optional
Treatment of the recipe (read/write parameters)
Table 3-1: Integration mode: Asycube only

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3.1.2. Direct connection to the Asycube
In this integration mode, the integrator develops his own HMI to configure the Asycube and
communicates with the Asycube from his own system in order to execute the vibrations.
PC
Controller
Customer HMI
Customer HMI
CAMERA
ROBOT
ASYCUBE
Firmware
recipe
LEVEL
TASKS
Asycube
Generation and synchronization of the desired vibration
Execute sequences
Save and reload 25 vibration sets (26 for the reload)
Save and reload 25 sequences (26 for the reload)
Activation of the outputs and backlight
Choice/Management of the optimal sequence based on the vision feedback
Integrator
Communication with the Asycube
Recipe management (memorize vibration set ID and sequence ID for each
component).
Configuration and optimization of the feeding (vibration) parameters
(customer HMI)
Configuration and optimization of the sequences (customer HMI)
Synchronization of the feeder and the machine
Optional
Treatment of the recipe (read/write parameters)
Table 3-2: Integration mode: Asycube only

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3.1.3. Connection to the Asycube with the Plugin .NET and configuration
with Asyril HMI
In this integration mode, the integrator uses the Asycube HMI (installed on a computer, the
same as the integrator system or another one) to configure the Asycube and communicates
with the Asycube from his own system in order to execute the vibrations by using the
Asycube Plugin .NET. This Plugin simplifies the development and allows to export and import
the same recipe files as in the Asycube HMI.
PC
Controller
.dll
Asycube HMI
.fconf
.fseq
CAMERA
ROBOT
.dll
ASYCUBE
Firmware
LEVEL
TASKS
Asycube
Generation and synchronization of the desired vibration
Execute sequences
Save and reload 25 vibration sets (26 for the reload)
Save and reload 25 sequences (26 for the reload)
Activation of the outputs and backlight
Choice/Management of the optimal sequence based on the vision
feedback
Asycube Plugin
.NET
Communication with the Asycube (access to the parameters of the
vibrations and sequences, vibrations and sequences execution, etc)
Treatment of the recipe (read/write parameters)
Asycube HMI
Configuration and optimization of the feeding (vibration) parameters
Configuration and optimization of the sequences
Integrator
Synchronization of the feeder and the machine
Recipe management (memorize vibration set ID and sequence ID for
each component).
Table 3-3: Integration mode: Asycube with Plugin .NET and HMI

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3.1.4. Connection to the Asycube with the Plugin .NET and configuration
with the customer user interface using the Plugin .NET
In this integration mode, the integrator uses the Asycube Plugin .NET to communicate with
the Asycube and creates his own HMI to configure the vibrations, the sequences, etc. By
choosing this integration mode, the integrator can design his own HMI and benefits from the
simplification brought by the Plugin .NET.
Customer HMI
Customer HMI
PC
Controller
.dll
CAMERA
ROBOT
ASYCUBE
Firmware
.fconf
.fseq
LEVEL
TASKS
Asycube
Generation and synchronization of the desired vibration
Execute sequences
Save and reload 25 vibration sets (26 for the reload)
Save and reload 25 sequences (26 for the reload)
Activation of the outputs and backlight
Choice/Management of the optimal sequence based on the vision
feedback
Asycube Plugin
.NET
Communication with the Asycube (access to the parameters of the
vibrations and sequences, vibrations and sequences execution, etc)
Treatment of the recipe (read/write parameters)
Integrator
Configuration and optimization of the feeding (vibration) parameters (HMI)
Configuration and optimization of the sequences
Synchronization of the feeder and the machine
Recipe management (memorize vibration set ID and sequence ID for
each component).
Table 3-4: Integration mode: Asycube Plugin .NET

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3.1.5. Modbus TCP connection with the Asycube, configuration with
Asycube HMI
In this integration mode, the integrator uses the Asycube HMI to configure the Asycube from
an external PC (e.g. Laptop). The integrator communicates with the Asycube from his own
system (e.g. PLC) through Modbus TCP in order to execute the vibrations. Please refer to
Chapter 6 for more information on Modbus TCP. As an option, a gateway can be used to
convert the Asycube Modbus TCP data to industrial fieldbus data for the controller.
HMI PC (can be the same as controller)
PC
Controller
Asycube HMI
.fconf
.fseq
CAMERA
ROBOT
.dll
ASYCUBE
Firmware
MODBUS TCP
LEVEL
TASKS
Asycube
Generation and synchronization of the desired vibration
Execute sequences
Save and reload 25 vibration sets (26 for the reload)
Save and reload 25 sequences (26 for the reload)
Activation of the outputs and backlight
Choice/Management of the optimal sequence based on the vision feedback
Asycube HMI
Configuration and optimization of the feeding (vibration) parameters
Configuration and optimization of the sequences
Integrator
Communication with the Asycube
Recipe management (memorize vibration set ID and sequence ID for each
component).
Synchronization of the feeder and the machine
Optional
Treatment of the recipe (read/write parameters)
Table 3-5: Integration mode: Asycube only

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3.2. Production cycle with sequences
Follow this diagram to work with Asycube and sequences in direct communication.
Start production
Select the vibrations set
Select the sequence
depending of number of
parts on the surface
Select the vibrations set : {UV1}
Select the sequence : {US1}
Image acquisition and
analyse
Parts to take?
Take parts on platform
Execute the sequence Execute sequence : {ES:(10;50;-0.100;0.130;1)}
Wait sequence finished
Return the sequence duration
Wait the time value received from the ExecuteSequence method
no
yes
Figure 3-6 : description of sequences
For details of the different parameters, see the complete description of the commands below
in this documentation.

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3.3. Questions and answers
Here are some recurrent questions and their answers for the integration with TCP/IP
communication.
3.3.1. Which vibration set or sequence is currently selected?
To know which vibration set is selected, use the command {UV?}.
For the selected sequence, use the command {US?}.
3.3.2. How do I know if some parameters of the current vibration set
have been modified?
To obtain the state of the selected vibration set, use the command {?50}. If the
returned value is 1, parameters have been modified.
3.3.3. What is the duration of a specific sequence?
The duration of a sequence (or a centering and feeding) is returned by the execution
function. For example, the command {ES:(10;20;-0.1;0.8;1)} will receive as answer
the string {ES:(10;20;-0.1;0.8;1;1830)} and 1830 is the duration of the sequence in
milliseconds.
3.3.4. How do I know when a vibration or a sequence is finished?
For the vibration, the remaining time of the platform vibration is given by the answer
of the command {?42}. For the hopper, use the command {?44} and for the
sequence {?46}. The value returned indicates the remaining time in milliseconds.
3.3.5. How do I backup all vibration set on the computer?
If you do not use the Asycube HMI, you have to read all the vibration parameters
vibration by vibration and save the received data in a file. For example, use the
command {LCA} for the vibration A. The returned values correspond to the
parameters of this vibration (amplitude of actuator 1, frequency of actuator 1, etc)
For the hopper vibration A, the corresponding command is {LBA}.

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3.3.6. How is the center of mass of the components on the platform
transferred to the command ES ?
The positions on the platform are normalized between -1 and +1 in both directions in
order to be independent of the resolution of the camera or of the choice of the
camera manufacturer image orientation and origin.
This figure explains the standardized range:
Check in your camera specifications to find the correspondence between the
camera positions and the Asycube standardized range.

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4. Asycubes Parameters
This chapter presents the Asycube parameters used to configure the settings and to
configure the vibrations and sequences. These parameters values can be accessed using the
dedicated text commands (Section 5.4.3). Some of these parameters values can be
accessed through Modbus TCP (Chapter 6).
NOTE :
Some parameters values have a range of validity. For example, the Amplitude 1 of the
Platform vibration "A" (Address 300) ranges from 0 to 100. If you try to set a value out of this
range (e.g. 120), it will be limited to its boundary (i.e. 100) without generating an error
message. Some of a thresholds may be defined in another parameter. For example, the
backlight intensity (Backlight PWM, Address 102) has a minimal value defined in the
Backlight minimum PWM threshold parameter (Address 104).
4.1. Configuration
*: integrator write; **: developer write
Address
Parameters
Command
Comment
2
warning
rd & clear
4
alarm
rd & clear
6
password
wr
…
22
life time [day]
**
if auto-flashing enabled
24
life time [hour]
**
if auto-flashing enabled
26
life time [second]
**
if auto-flashing enabled
28
auto-flashing 20Min.
*
default: enable
30
actuators life time [hour]
**
32
actuators life time [sec]
**
34
actuators life time [msec]
**
36
Actuators number of vibrations
[nb] –0-32767
**
first 2 bytes
38
Actuators number of vibrations
[nb] –i*32768
**
bytes 3 and 4
40
IP address first byte
*
default: 192
42
IP address second byte
*
default: 168
44
IP address third byte
*
default: 127
46
IP address fourth byte
*
default: 254
48
IP subnet mask first byte
*
default: 255

Asycube - Asyril SA
Programming Guide
© Copyright Asyril S.A.
000.101.572
Version : A1
20/83
Address
Parameters
Command
Comment
50
IP subnet mask second byte
*
default: 255
52
IP subnet mask third byte
*
default: 255
54
IP subnet mask fourth byte
*
default: 0
56
TCP port
*
default: 4001
…
60
number of flash in ROM [nb] –
0-32767
**
number of flashing data in ROM
62
number of flash in ROM [nb] –
i*32768
**
number of flashing data in ROM for more
than 32767
64
average number of flash in
ROM [nb/day]
**
number of flashing data in ROM per day
…
72
Synchro backlight logic
*
0 : logic positive / 1 : logic negative
…
80
DIP switch 1 ON
**
switch state: 1 : IP default value
82
DIP switch 2 ON
**
84
DIP switch 3 ON
**
86
DIP switch 4 ON
**
…
92
Type 1: Asycube
**
0 : Unknown
1: Asycube 50
2: Asycube 80
3: Asycube 130
4: Asycube 240
5: Asycube 530
94
Type 2: Asycube
**
96
Color of Backlight
*
0: Green
1: Red
2: Blue
3: IR
4: UV
5: White
99: None
…
100
Backlight Flash Time
[ms]
102
Backlight PWM
[%]
104
Backlight minimum PWM
threshold
**
[%]
106
Frequency minimum threshold
**
[Hz]
108
Frequency maximum
threshold
**
[Hz]