Asyril Asycube 240 User manual

Asycube 240
Operating Manual
Document
Asyril_ASYCUBE-240_Operating_Manual_EN
000.100.500
Version
A6
Date
13.01.2020

Asycube 240
Operating Manual
000.100.500
Version: A6
000.100.500 Asycube 240 - Operating Manual 2/52
Table of Contents
1. INTRODUCTION...............................................................................................................................4
GENERALITIES..........................................................................................................................4
SAFETY PRECAUTIONS.............................................................................................................5
General safety precaution...................................................................................................5
Danger....................................................................................................................................6
WARRANTY INFORMATION........................................................................................................7
2. DESCRIPTION..................................................................................................................................8
FIRST GLIMPSE AT THE PRODUCT.............................................................................................8
GENERAL CHARACTERISTICS...................................................................................................9
Technical features................................................................................................................9
Overall dimensions.............................................................................................................10
Visual signals ......................................................................................................................12
Maximum permissible external force on the platform ...................................................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 MODULES...............................................................................22
Additional platform..............................................................................................................22
Backlight ..............................................................................................................................25
Cables..................................................................................................................................25
Hopper..................................................................................................................................26
Calibration plate..................................................................................................................29
3. TRANSPORTATION, HANDLING AND INSTALLATION.......................................................32
PACKAGING OF THE PRODUCT,TRANSPORTATION AND HANDLING .......................................32
UNPACKING INSTRUCTIONS....................................................................................................32

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INSTALLATION AND STORAGE ENVIRONMENT.........................................................................33
Installation environment.....................................................................................................33
Storage environment..........................................................................................................33
4. MAINTENANCE AND REPARATION.........................................................................................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 CERTIFICATE....................................................................................................................50

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Operating Manual
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1. Introduction
Generalities
The following document is the property of Asyril SA 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 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.” 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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Safety precautions
General safety precaution
Transport
DANGER !
Be aware of the weight and take care when transporting the system. For more
information, please refer to chapter 3 “Transportation, handling and installation”
General
DANGER !
Be sure that all power sources and other cables to the unit are disconnected before
working on the product.
DANGER !
Only qualified personnel (trained by Asyril and with professional experience) are
authorized to work on this device.
DANGER !
Do not unscrew the housing of the system controls. Serious injury or 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 to the product in the event of power failure. Failure to do so may
cause the product to suddenly start moving when the power is restored.
DANGER !
Do not use the product in a place where it may come in contact with water or oil
droplets.
Disposal
When the product becomes no longer usable or necessary, dispose of it properly as an
industrial waste.
WARNING!
Observe the valid legal regulation for appropriate disposal protecting environment.

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Danger
Safety Equipment for Operators
- For safety reasons operators must wear protective eyewear when using the backlight
NOTE :
It is the customer responsibility to install warning signs informing that anyone working around
the Asycube must wear safety equipment.
Specific danger
Backlight
The Asycube has an integrated
Backlight that persists of LEDs (Light
Emitting Diodes). These LEDs emit
visible or non-visible radiation
depending on the color of the
Backlight. LEDs illumination can
create discomfort, cornea, retinal and
lens damage.
Figure 1-1 :Specific warnings
The used LEDs are class 0 according to the norm EN 62471, It is the responsibility of
customers to document their own application and instruct employees on procedures to limit
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. Prohibit or limit as possible direct access to the source (exposure in the axis of radiation),
see “Conditions of use of products TPL VISION” in the annexes.
D. Establish a security perimeter to prevent operators from approaching the source at
distances beyond the nominal ocular hazard recommended by the manufacturer
E. In all cases, ensure that the means used properly mitigate exposure variables
(characteristics of screens or goggles to choose based on wavelength which operators
are exposed).
Refer to “5.1 Condition of use of backlight" on page 46 for the complete calculation sheet on
minimal distance to respect for each kind of backlight.

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Temperature
The active elements into the asycube
make the surfaces shown on the
picture heating up 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.

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2. Description
First glimpse at the product
Asycube sets new standards in small part feeding. Its 3D vibratory platform allows fast and
flexible presentation of small parts (1 mm to 40 mm) to a robot equipped with a vision system.
The core of Asycube is a platform that can vibrate in three orthogonal directions. By selecting
appropriate vibration signals, a high flexibility in displacing parts on the platform is reached
(forward, backward, sidewise) and flipping is made possible.
It consists of:
(A) A 3D vibrating 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 : Asycube overview
For more information on how to remove or change the platform, please refer to ”4.2.2.
Remove the platform module”on page 36
For more information on the procedure to control the platform vibrations, please refer to the
HMI manual
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
(C)
(B)
(A)
(D)

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General Characteristics
WARNING !
Do not use the product outside the specifications. In cases of non-respectation, the product
guarantee will expire.
Technical features
Typical part size
from 2 mm to 40 mm 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
Maximal weight on the platform
0.4 kg
Digital Output for hoppers
2
Digital Input
2
Analog Output
2
RoHS

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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

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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

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Visual signals
The led give important information on the
state of the Asycube :
Led
State
Color
Meaning
1
Blinking
Time on :
100ms
green
System in standby
Blinking
Time 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
Figure 2-4 : Asycube Operating Indicator LEDs
(1)
(2)
(3)
(4)
(6)
(7)
(8)
(9)
(10)
(11)
(5)

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Maximum permissible external force on the platform
The maximum permissible external
force on a point of the platform (for
example, with the 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 addition to the maximum
platform weight)
400 gr

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Performance
Picking surface
The maximum picking surface
dimensions corresponds to the
Asycube platform size :
A
195
B
150
Figure 2-5 : Picking surface
Displacement 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 movements.
Figure 2-6 : predefined displacement of the parts
A
B

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Advanced
movement
On the Asycube 240, advanced
movements can be achieved. Indeed,
it is possible to center the
components 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 to the User manual

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Electrical Interfaces
Overview
Asycube is a standalone module with
its own controller. The electrical
interfaces to 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 Asycube
(G)
(A)
(B)
(C)
(D)
(E)
(F)

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Power connection
WARNING !
- Before supplying power to the Asycube, check that your distribution voltage is the same as
the nominal voltage.
- Never disconnect the power cables. Always turn the machine off and then cut the power
- Use PELV (protected extra-low voltage) nominal voltage
Pin
Signal description
Cable
(option)
(1)
24VDC PELV
S-Power
1
(2)
0V GND S-Power
2
(3)
24VDC PELV
Power
3
(4)
0V GND Power
4
(5)
EARTH
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 backlight danger).
The following connection schematic shows the way to connect the asycube depending if
your application requires using an external relay to ensure that the backlight is safely
switched off or not.
In any case, both “Power” and “S-Power” have to be supplied for using the backlight.
(5)
(4)
(1)
(2)
(3)

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Figure 2-10
Power connection without safety 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

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Communication
The communication with the Asycube is
established by a standard Ethernet
communication via RJ45 port (A)
Characteristic
Value
Default IP
address
192.168.127.254
Default subnet
mask
255.255.255.0
Port
4001
MAC address
Can be read by
ARP request
For more information 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 type (on Asycube side) :
M8, 3P, male
Figure 2-13 : Backlight synchronization
NOTE :
The Asycube Backlight illumination time corresponds to the length of the pulse signal.
(A)
(3)
(4)
(1)

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Digital input 1 and 2
A standard M8 three-pins male cable
enables to read two different signals, it
must be connected as follows :
Pin
Signal
(1)
+24VDC OUT (sensor
power 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, 4P, female
Figure 2-15 : Digital output for hoppers
(1)
(4)
(3)
(1)
(2)
(3)
(4)