Asyril Asycube Series User manual

Asycube
User guide
Document
Asyril_ASYCUBE_User_Guide_EN
000.101.029
Version
C
Date
23.07.2019

Asycube
User Guide
© Copyright Asyril S.A.
000.101.029
Version: C
2/46
Table of Contents
1. INTRODUCTION..................................................................................................................................4
1.1. GENERAL INFORMATION.......................................................................................................................4
2. USER GUIDE INTRODUCTION........................................................................................................5
2.1. GENERAL OPERATION ..........................................................................................................................5
2.2. GENERAL PROCEDURE OVERVIEW.......................................................................................................7
2.3. DEFINITIONS.........................................................................................................................................8
3. ASYRIL HMI INSTALLATION .........................................................................................................11
3.1. PREREQUISITE ...................................................................................................................................11
3.2. INSTALLING THE HMI SOFTWARE ON A SPECIFIC COMPUTER ...........................................................11
3.2.1. Pre-installation...............................................................................................................................11
3.2.2. Installation......................................................................................................................................11
3.2.3. Starting the HMI............................................................................................................................11
3.2.4. Configuring the HMI......................................................................................................................12
3.2.5. Troubleshooting ............................................................................................................................12
4. HOPPER VIBRATION/OUTPUT ACTIVATION............................................................................13
4.1. ASYCUBES 50 AND 80........................................................................................................................13
4.2. ASYCUBES 240, 380 AND 530...........................................................................................................14
5. PLATFORM VIBRATION..................................................................................................................16
5.1. ASYCUBES 50 AND 80........................................................................................................................17
5.2. ASYCUBES 240, 380 AND 530...........................................................................................................20
5.3. ASYCUBE 240 & 380 &530: SIMPLIFIED ADJUSTMENT METHOD "EASY-TUNING"..........................21
6. SEQUENCE........................................................................................................................................24
6.1. ACTIONS.............................................................................................................................................25
6.1.1. Hopper/output................................................................................................................................25
6.1.2. Platform..........................................................................................................................................25
6.1.3. Wait.................................................................................................................................................25
6.1.4. None ...............................................................................................................................................25
6.2. DURATION MODES..............................................................................................................................26
6.2.1. ‘Fixed’ .............................................................................................................................................26
6.2.2. ‘Quantity adjusted’ ........................................................................................................................26
6.2.3. ‘Vibration ratio’...............................................................................................................................27
6.3. SMART VIBRATIONS............................................................................................................................27
6.3.1. ‘Centring’ ........................................................................................................................................27
6.3.2. ‘Quantity adjusted’ ........................................................................................................................28
6.4. HMI SIMULATION:TEST SEQUENCE...................................................................................................29

Asycube
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6.4.1. Case 1: No smart vibration..........................................................................................................29
6.4.2. Case 2: ‘Quantity adjusted’ .........................................................................................................30
6.4.3. Case 3: ‘Centring’ .........................................................................................................................30
6.4.4. Case 4: Mixed smart vibrations ..................................................................................................31
7. SAVING ...............................................................................................................................................32
8. BACKLIGHT.......................................................................................................................................34
8.1. ACTIVATION........................................................................................................................................34
8.2. INTENSITY...........................................................................................................................................35
9. EXAMPLE ...........................................................................................................................................36
9.1. INSTALL AND CONFIGURE THE ASYRIL HMI.......................................................................................36
9.2. ADJUST PLATFORM AND HOPPER VIBRATIONS...................................................................................36
9.2.1. Platform vibration..........................................................................................................................36
9.2.2. Hopper vibration/output activation..............................................................................................38
9.3. ADJUSTING SEQUENCES ....................................................................................................................39
9.3.1. Flat platform: Feed and distribute parts.....................................................................................39
9.3.2. Structured platform: Feed and pre-orient parts........................................................................40
9.3.3. Flat platform: Distribute parts (Asycube 240, 380 and 530)...................................................40
9.4. SAVE ALL THE PARAMETERS IN THE ASYCUBE ..................................................................................41
9.5. CONFIGURE THE BACKLIGHT..............................................................................................................41
9.6. EXECUTE COMMANDS FROM PLC......................................................................................................41
9.7. CONTROL THE ASYCUBE FROM YOUR PLC THROUGH MODBUS TCP..............................................42
10. TECHNICAL SUPPORT ...................................................................................................................44
10.1. FOR BETTER SERVICE …...................................................................................................................44
10.2. CONTACT............................................................................................................................................44

Asycube
User Guide
© Copyright Asyril S.A.
000.101.029
Version: C
4/46
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. Please read this document carefully before
operating your product, to ensure it is used correctly. Nevertheless, should you encounter
difficulties during operation or maintenance, please contact Asyril customer service.
In this manual, the safety precautions contained in this manual are placed in three categories:
“Danger”, “Warning” and “Note”; the following symbols are used:
DANGER!
Failure to observe this instruction may result in death or serious injury.
DANGER!
Failure to observe this instruction may result in electrocution or serious injury due to
electric shock
IMPORTANT!
Failure to observe this instruction may result in serious injury or damage to property.
NOTE:
The reader's attention is drawn to this point in order to ensure that the product is used
correctly. However, failure to respect this instruction does not pose a danger.
Refer to …
For more information on a specific subject, the reader is invited to refer to another manual or
another paragraph.
IMPORTANT!
Asyril shall not be liable whatsoever for any loss or damage arising from failure to observe
the instructions specified in “Safety Precautions” of the USER GUIDE. The customer is
solely responsible for ensuring the necessary instructions are passed on to all persons
concerned.
NOTE:
All dimensions in this document are expressed in millimetres

Asycube
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2. User guide introduction
This chapter presents a brief introduction on the general operation of the Asycube and an
overview of the procedure for setting up the Asycube for your application, followed by a
definition of the expressions used throughout this and other Asyril documentation. The
following chapters detail how to use the Asycube and at the end, to conclude this document,
a step-by-step example is given.
The Asycube is a flexible feeder system, which spreads the parts on the picking surface
using smart vibrations. 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
2.1. General operation
The table below shows the general procedure for using the Asycube with interaction of a
vision system and a robot, starting from an initial empty platform.
#AllParts = number of parts detected on the picking surface
Threshold = upper limit of parts on the platform for feeding vibration
GoodParts = parts well oriented and ready to be picked by a robot
Initial state
#AllParts < Threshold
Feeding
The Asycube feeds the
platform from the hopper
#AllParts < Threshold
Feeding + spreading
The Asycube spreads
components with smart
vibration

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A vision system detects
which parts are ready to
be taken
Get the lists of AllParts &
GoodParts positions
A robot picks up the
good parts
The Asycube spreads
components with smart
vibration
#AllParts > Threshold
Spreading
A vision system detects
which parts are ready to
be taken
Get the lists of AllParts &
GoodParts positions
A robot picks up the
good parts
The Asycube feeds the
platform from the hopper
#AllParts < Threshold
Feeding + spreading
The Asycube spreads
components with smart
vibration
A vision system detects
which parts are ready to
be taken and a robot
picks up the good parts
…
Table 2-1: Sequence of use of a flexible feeder system

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2.2. General procedure overview
The table below presents the general procedure to set up your Asycube for your specific
application. The next chapters of this document follow the order of the general procedure and
at the end of this document, a step-by-step example summarises the different aspects
approached.
Steps
1. Install and configure the Asyril HMI
3. Asyril HMI installation
page 11
2. Adjust platform and hopper vibrations/output
activations
a. for part family 1 (vibration set 1)
b. for part family 2 (vibration set 2)
c. for part family 3 (vibration set 3)
d. etc.
4. Hopper
vibration/output
activation
5. Platform vibration
9. Example
page 13
page 16
page 36
3. Adjusting sequences
a. for scenario 1, smooth platform, (Sequence 1)
b. for scenario 2, structured platform, (Sequence 2)
c. for scenario 3, smooth platform, (Sequence 3)
d. etc.
6. Sequence
9. Example
page 24
page 36
4. Save all the parameters in the Asycube
7. Saving
page 32
5. Configure the backlight
8. Backlight
page 34
6. Control the Asycube from a PLC
(Programmable Logic Controller)
a. Select a vibration set
b. Execute a sequence
c. Activate the backlight
d. etc.
9. Example
page 36
Table 2-2: General procedure overview

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2.3. Definitions
Platform vibration:
A platform vibration is defined as the combination of the excitation of each actuator in order to
obtain the desired trajectory of parts on the platform. 26 platform vibrations (A –Z) are available.
Each of them is composed of several parameters for each actuator (e.g. amplitude, frequency,
etc.) as well as the vibration duration.
Please refer to chapter 5 on page 16 of this document for more information on platform
vibrations.
Hopper vibration/output activation:
Depending on the Asycube, a hopper is either integrated (Asycube 50 and 80) or not (Asycube
240, 380 and 530). The expression hopper vibration is used in the case of an integrated hopper
and the expression output activation is used for the Asycube 240, 380 and 530.
•Asycube 50/80 (integrated hopper): a hopper vibration corresponds to the excitation of
the actuator in order to obtain the desired trajectory of parts on the hopper. 26 hopper
vibrations (A –Z) are available. Each of them is composed of several parameters (e.g.
amplitude, frequency, vibration duration, etc.).
•Asycube 240/380/530: The Asycube 240/380/530 is equipped with two outputs, which
can be used to drive one or two hoppers or whatever is connected to these outputs. The
Asycube 240/380/530 contains 26 output activations (A –Z). Each of them can be
configured in order to activate or not an output, to select an analogue output value, to set
the duration of the signal etc.
Please refer to chapter 4 on page 13 of this document for more information on hopper
vibrations/output activations.
Standard vibration:
To simplify the configuration of parameters, some platform vibrations and hopper
vibrations/output activations are pre-defined vibrations called standard vibration. In the case of
Asycubes 50 and 80, there are nine standard platform vibrations (A –I) such as for example
‘Forward’, ‘Forward left’, ‘Right’, ‘Backward’ etc. In the case of Asycubes 240, 380 and 530, there
are two additional standard platform vibrations (J and K), which correspond to short and long axis
centring vibrations. Hopper vibrations / output activations present a similar structure.
Custom vibration:

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The non-standard vibrations are called custom vibrations and can be used for further
customisation.
Vibration set:
26 vibration sets are contained in the Asycube and are identified by means of its ID. One vibration
set contains 26 platform vibrations and 26 hopper vibrations/output activations (See Figure 2-1).
Note that the vibration set 26 is not modifiable by the user as it corresponds to default parameters
already adjusted in order to obtain good behaviour of a standard part on your Asycube.
Smart vibration:
A smart vibration is based on the data of a vision system in order for the Asycube to adapt to the
current situation. In addition to data from a vision system, the system uses the parameters
configured in the vibration set. Thus, its effectiveness depends strongly on well-adjusted
vibrations. There are two types of smart vibrations:
•‘Centring' vibration type: This vibration type is used to centre parts on the platform. The
direction and duration of the vibration is calculated based on the position of the parts
(centre of mass).
•‘Quantity adjusted’ duration mode: This mode is used to adapt the feeding duration of
new parts onto the picking surface based on the number of parts detected on the surface.
- The more parts detected on the surface, the less new parts are fed.
Please refer to section 6.3 on page 27 of this document for more information on smart
vibrations.
Sequence:
26 Sequences are available, each of them composed of seven actions. An action could be a
hopper or platform vibration, a certain waiting duration for part stabilisation, the 'centring' smart
vibration that adapts the direction and vibration duration depending on the part location etc.
Please refer to chapter 6 on page 24 of this document for more information on sequences.

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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
Hopper Vibration
Pag
e 1
B
C
D
E
F
Forward
Custom
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
Hopper Vibration
Pag
e 1
B
C
D
E
F
Forward
Custom
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
Vibration
Figure 2-1: Description of vibration sets for Asycube 50 & 80
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 2-2: Description of sequences

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3. Asyril HMI installation
NOTE:
If a computer is included in your product, the "HMI" software is already installed.
This chapter explains how to install the HMI on your own computer if needed.
3.1. Prerequisite
To install and execute the HMI, you need the following elements:
•Computer with Windows 7, 8 or 10 (64-bit)
•.Net 4.0 minimum installed.
•User access defined in order to be able to install and execute software.
NOTE:
Check that your version of the ".net framework" is up to date. You can download this version
from the Microsoft website: http://www.microsoft.com/download/
3.2. Installing the HMI software on a specific computer
3.2.1. Pre-installation
Step 1
Insert the USB key into the computer on which the HMI should be installed
Step 2
Double-click on the SurfaceToolkitRuntime.msi executable file to launch the installation
procedure
Step 3
Accept the licence agreement and follow the instructions provided by the wizard
Step 4
When installation is complete, click on "Finish" to close the wizard
3.2.2. Installation
Step 1
Insert the USB key into the computer on which the HMI should be installed
Step 2
Double-click on the setup.exe executable file to launch the installation procedure
Step 3
Follow the instructions provided by the wizard
Step 4
When installation is complete, click on "close" to close the wizard
3.2.3. Starting the HMI
Step 1
Click on the shortcut created on the desktop
Step 2
Configure the HMI (see next section)

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3.2.4. Configuring the HMI
On the first start, the HMI contains no product. You have to add your product in the
configuration page to be able to work with it.
The following explanation shows you how:
Figure 3-1: HMI configuration page
Ref.
Designation
Description
(A)
Configuration"
button
Press this button to display the configuration screen.
(B)
"New product"
list
Select the product in this list that you wish to add (an Asycube in
this example).
(C)
“Asycube
parameters”
window
Fill in all the parameters for the chosen product.
(D)
"Save" button
Use this button to save the configuration changes. Then you
need to restart the HMI to apply your modifications.
Table 3-1: HMI configuration page description
For more detailed explanations, see HMI documentation.
3.2.5. Troubleshooting
Ref.
Problem
Solution
1
HMI crashes on starting
Try to start the HMI with administrator access (right-
click on shortcut, Properties/Compatibility, select “Run
this program as an administrator”).
2
The HMI starts but no buttons
are displayed
The SurfaceToolKit is missing or improperly installed.
Table 3-2: Troubleshooting list
(A)
(C)
(B)
(D)

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4. Hopper vibration/output activation
Depending on the Asycube, a hopper is either integrated (Asycube 50 and 80) or not
(Asycube 240, 380 and 530). Therefore, there are some little differences but the general
structure is similar. The following sections describe the organisation of the parameters as well
as the optimal configuration for standard hopper vibrations/output activations.
4.1. Asycubes 50 and 80
The Asycubes 50 and 80 have an integrated hopper to feed the necessary number of parts
onto the platform in order to obtain at each cycle an acceptable number of parts available for
picking by a robot. Table 4-1 below lists the parameters that are used to adjust the behaviour
of the hopper.
Parameter
name
Explanation
Effect
Unit
Range
Amplitude
Amplitude of the signal sent
to the actuator and defined
as the percentage of the
maximum amplitude
Increasing the amplitude
makes the parts jump more.
[%]
0 to 100%
Frequency
The frequency of the signal
sent to the actuator
Parts react more at a certain
frequency depending on
different factors
(mass/geometry/rigidity).
[Hz]
Typically 60-80
Hz
Waveform
Is defined as the shape of
the signal
A sinus waveform form
corresponds to smoother
part movement, whereas
with a ramp form the parts
move more hectically.
[-]
0=no signal
1=sinus
2=ramp up
3= ramp down
Duration
Amount of time the signal
(i.e. the vibration) lasts
Increasing the duration
makes the part travel a
longer distance on the
hopper (i.e. feeding more
parts). Choosing a value of
0 ms corresponds to
continuous vibration (until
the stop button is pushed).
[ms]
0 ms
1 to 30,000 ms
Table 4-1: Asycube 50 & 80 - Hopper parameters
For more information on the different commands, please refer to the programming guide for
your Asycube.

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4.2. Asycubes 240, 380 and 530
The Asycubes 240, 380 and 530 are equipped with two outputs, generally used to control
one or two hoppers to feed the necessary number of parts onto the platform in order to obtain
at each cycle an acceptable number of parts available for picking by a robot.
The configuration of the outputs obviously depends on what is actually connected to the
outputs. However, to simplify the feeding operation, 26 output activations are available in
order to customise the behaviour of a hopper or whatever is connected to the outputs. These
26 output activations (A –Z) are contained in one vibration set.
For more information on the electrical interface and connector reference, please refer to the
operating manual.
Each of the output activations contains five adjustable parameters listed in Table 4-2. These
parameters are used to choose which outputs are activated, to select the specific voltage of
each output as well as the duration of the execution of an output activation. Note that when
executing an output activation, the two outputs may be active and have a different output
value, but their duration is identical.
Parameter name
Effect
Unit
Range
Toggle output 1
Defines if the output 1 is active (1) or inactive (0)
during the execution of an output activation.
[ - ]
0 or 1
Analogue output 1
value
Gives the target value of analogue output 1 applied
during the execution of an output activation: 100%
corresponds to 10 V output.
[%]
0 to 100%
Toggle output 2
Defines if the output 2 is active (1) or inactive (0)
during the execution of an output activation.
[ - ]
0 or 1
Analogue output 2
value
Gives the target value of analogue output 2 applied
during the execution of an output activation: 100%
corresponds to 10 V output.
[%]
0 to 100%
Duration
Duration of the output activation. The two outputs may
be active and have a different output value, but the
activation duration is identical. If the value chosen is 0
ms, outputs will continue to be active until the stop
button is pressed.
[ms]
0 ms
1 to 30,000 ms
Table 4-2: Asycube 240 & 380 & 530 - Output activation parameters
NOTE:
The system has two standard vibrations: The first, ‘Output 1’ (A) activates by default the
output 1. The second, ‘Output 2’ (B) activates output 2.

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For more information on the different commands, please refer to the programming guide for
your Asycube.

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5. Platform vibration
Vibration behaviour is correct when:
•The parts slide on the surface and are able to cross the platform in all directions
•The parts jump only when the ‘Flip’ vibration type is activated
The movement of the parts on the platform depends on the combination of the different
actuator excitations of the Asycube. Each actuator can be adjusted individually using the four
parameters: Amplitude, frequency, phase and waveform (signal) in order to obtain the
desired part movement. In addition, it is necessary to set the vibration duration; This setting
applies to all the actuators. The result of these settings is called a platform vibration. See
Table 5-1 for the detailed explanation of parameters.
IMPORTANT NOTE:
It is IMPORTANT to set the vibration duration as the time the parts need to completely
cross the platform in a given direction. The effectiveness of the ‘Centring' smart vibration
and ‘Vibration ratio’ duration mode depends on well-adjusted parameters.
Parameter
Explanation
Effect
Unit
Range
Amplitude
Amplitude of the signal
sent to each actuator
and defined as the
percentage of the
maximum amplitude
Increasing the amplitude makes
the parts jump more.
[%]
0 to 100%
Frequency
The frequency of the
signal sent to the
actuators
Parts react more at a certain
frequency depending on different
factors (mass/geometry/rigidity).
Use the same frequency for all
actuators when tuning a platform
vibration.
[Hz]
Note: The
frequency range
depends on the
Asycube model
and the
configuration
(frame height,
etc.).
Phase
Phase shift with the
first actuator signal
(which corresponds to
the reference signal)
Actuator excitations combined
differently. Using a phase shift of
180° normally inverts the
movement of parts on the
platform.
[°]
0 to 359°
Waveform
Is defined as the
shape of the signal
A sinus waveform form
corresponds to smoother part
movement, whereas with a ramp
form the parts move more
[-]
0=no signal
1=sinus
2=ramp up
3=ramp down

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hectically (typically for the hopper)
Duration
Amount of time the
signal (i.e. the
vibration) lasts
Increasing the duration makes the
parts travel a longer distance on
the platform. Set the duration so
that the parts completely cross
the platform. Choosing a value of
0 ms corresponds to continuous
vibration (until the stop button is
pushed).
[ms]
0 ms
1 to 30,000 ms
Table 5-1: Platform vibration parameters
Asycubes 50 and 80 work with three actuators in contrast to Asycubes 240, 380 and 530
which have four. This causes slight differences in behaviour. The following sections present
more in detail the behaviour of your Asycube and give some general advice on how to tune
the parameters.
NOTE:
The vibration set 26 is defined as being the default vibration set (not modifiable by the user):
The parameters are pre-adjusted so that the standard parts of your Asycube work correctly.
It is strongly recommended to use the default vibration set as a starting point for setting your
parameters.
5.1. Asycubes 50 and 80
The Asycube 50 and 80 work with three actuators: Two in-plane actuators (Figure 5-1: Act.1
and Act.2) and a vertical one (Act.3). Below are some hints that are useful to adjust the
vibrations:
•Use a small vertical vibration (non-zero amplitude for Act.3) for smooth displacement
of parts on the platform. Use a stronger vertical vibration (larger amplitude for Act.3)
for the ‘Flip’ vibration.
•With the exception of the 'Flip' vibration, the frequency of all platform vibrations is
usually identical, meaning that once a suitable frequency is found for the displacement
of the parts on the platform, the same frequency can be used for other types of
displacement.
•The direction of the movement of the parts on the platform is a result of the
combination of the two in-plane actuator vibrations (Act. 1 and Act.2). Switching the

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phase from 0° to 180° inverts the direction of displacement (Figure 5-1). The
amplitude of the Act. 3. may be different from one direction of movement to the other.
Act. 1
Act. 3
Act. 2
Act. 2
Act. 1
Act. 3
Figure 5-1: Asycube 50 and 80 –Actuator disposition and example
(green arrow) (solid line: 0° phase, dashed line: 180° phase)
•If the parts do not move exactly towards the desired target, one can adjust the
amplitude of the two in-plane actuators (Act.1 and Act.2) in order to correct the
displacement direction of the parts.
NOTE:
The hints provided are general and may not be perfectly suited to your Asycube. We
recommend the use of vibration set 26 as a starting point, as it is configured and tested on
your product using a standard part.
Table 5-2 below illustrates the directions of standard platform vibrations.
Direction
Vibration
Forward
(A)
Forward left
(B)
Forward right
(C)
Left (D)
Right
(E)
Backward
(F)
Backward left
(G)
Backward right
(H)
A
…
H

Asycube
User Guide
© Copyright Asyril S.A.
000.101.029
Version: C
19/46
Flip
(I)
I
Table 5-2: Asycube 50 & 80 –Standard platform vibrations

Asycube
User Guide
© Copyright Asyril S.A.
000.101.029
Version: C
20/46
5.2. Asycubes 240, 380 and 530
The Asycubes 240, 380 and 530 are equipped with four actuators, one in each corner of the
platform. Below are some hints that are useful to adjust the vibrations:
•The direction of the movement of the parts on the platform is the result of the
combination of the excitation of actuators on the opposite side of the target end
position of parts.
Figure 5-2 : Activating both actuators Act.3 and Act.4 makes the parts move away
from them, resulting in this case in a forward vibration. When choosing an amplitude
that is larger for actuator Act.1 than for the two neighbouring actuators Act.2 and
Act.3, we obtain a diagonal movement of parts (backward left vibration).
•For all the platform vibrations except the ‘Flip’, ‘Short’- and ‘Long axis centring' the
frequency is usually the same. Once a suitable frequency is found for the
displacement of the parts on the platform, it generally suits the other displacements
too.
•If the parts do not move exactly towards the desired target, it is possible to adjust the
amplitude of neighbouring actuators in order to correct the displacement direction of
the parts.
Act. 1Act. 3
Act. 2
Act. 4
Act. 1Act. 3
Act. 2
Act. 4
Figure 5-2: Asycube 240, 380 and 530 –Actuator disposition and example
(green: Activated, grey: Deactivated)
NOTE:
The hints provided are general and may not be perfectly suited to your Asycube. We
recommend the use of vibration set 26 as a starting point, as it is configured and tested on
your product using a standard part.