Sylvac S25 User manual

Automation Manual for
SCAN S25
Robot
English
Original version drafted in French

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TABLE OF CONTENTS
1 Schematic Diagram of Sylvac Solution 3
2 Safety System 4
2.1 Functioning of the safety system 4
2.2 Activating the robot mode 5
2.3 Connections of the Scan S25 6
2.4 Description of the D-SUB 15p safety connector 6
2.5 Functioning of the safety system with a robot 7
2.6 Safety application diagram with a robot 9
2.7 Description of the safety application diagram with a robot 10
2.8 Safety schematic diagram with a robot 11
3 Remote Mode 12
3.1 Location of the Remote Mode button 12
4 Program Mapping 13
5 Wired Solution 14
5.1 Configuration 14
5.2 Diagnostics 14
5.3 Description of the I/O diagnostics 15
5.4 Description of the main D-SUB 37p I/O pins 16
5.5 Description of pin D-SUB 15p I/O additional tools 18
6 OPC/UA Server 19
6.1 Configuration 19
6.2 Diagnostics 20
6.3 Methods 20
6.4 Nodes 21
7 Modbus TCP/IP Server 22
7.1 Configuration 22
7.2 Diagnostics 23
7.3 Input table (Coils, Read-Write, FC1, FC5, FC15) 23
7.4 Input table (Holding Register, Read-Write, FC3, FC6, FC16) 24
7.5 Output table (Discrete Input, Read-Only, FC2) 24
7.6 Output table (Input Register, Read-Only, FC4) 25
8 Profinet via Gateway 26
8.1 Configuration of the local IP address 26
8.2 Gateway configuration 27
8.3 Changing the IP address 28
8.4 I/O data mapping 29
9 Example of a Robot Sequence 31
9.1 I/O sequence 32
9.2 Modbus TCP/IP sequence 33
9.3 OPC/UA sequence 33
10 Pneumatic System 34
10.1 Features 34
10.2 Pneumatic connections 34
10.3 Software Configuration 34
11 Troubleshooting 35
11.1 In case of failure 35
11.2 Problems at start up 35
11.3 FAQ 35

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1. SCHEMATIC DIAGRAM OF SYLVAC SOLUTION
Profinet
Modbus
TCP/IP
OPC/UA I/O cable
Camera/controller

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2. SAFETY SYSTEM
The only safety element of Scan S25 is an emergency stop button with double signal.
When the emergency stop button is pressed, the electric power to the Scan is cut off, the motors are no longer
under power, the Scan S25 is in a fault condition.
To restore power to the Scan S25 and be able to continue the measurements, two actions are necessary (in this
order) :
1. Pull the emergency stop button (to restore the safety signals).
2. Start a measurement (from ReflexScan or from the touchscreen).
Emergency Stop
Button
2.1 Functioning of the safety system

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All occurrences of the word robot can be replaced by the word Automation where appropriate.
To use the machine in robot mode, move down the No Rob switch on the machine’s motherboard. This requires
removing the back cover of the machine.
2.2 Activating the robot mode
Now the Scan S25 is in fault mode, you must connect a robot to its D-SUB safety connector and carry out the
operations described in Section 2.5.

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2.3.Connections of the Scan S25
2.4 Description of the D-SUB 15p safety connector
A. Main power supply
H. Ethernet plug CTRL, CAMERA and Display
I. I/O connectors
J. Security connector
K. Pneumatic input
L. Footswitch input
All inputs and outputs, to and from the Scan, must either be at +24V (binary 1) or at GND (binary 0). All signals
to the Scan must come from the robot.

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2.5 Functioning of the safety system with a robot
All red signals represent a D-SUB 15p safety connector pin.
When using the Scan with a robot, a double signal must be provided, which becomes a new safety element in
addition to the emergency stop button.
Pin Function Description Direction Type
1 +24V_ROB Input +24V robot (common with
other connectors) Input Persistent
2 SCAN_OK1 Safety output Scan ready 1 Output Persistent
3 SCAN_OK2 Safety output Scan ready 2 Output Persistent
4 ROBOT_OK1 Safety input robot ready 1 Input Persistent
5 ROBOT_OK2 Safety input robot ready 1 Input Persistent
6 +24V_SCAN Output +24V Scan (common with
the other connectors) Output Persistent
7 RESTART_ROB Restart impulse from the robot Input Rising flank
8 RESTART_SCAN Restart impulse from the Scan Output Rising flank
9 Not allocated
10 Not allocated
11 Not allocated
12 Not allocated
13 GND_ROB Robot ground (common with the
other connectors) Input Persistent
14 GND_SCAN Scan ground (common with the
other connectors) Output Persistent
15 SHIELD Shielding - -

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For the robot to be able to send these signals to the Scan S25, +24V must be supplied to +24V_ROB pin 1 and
GND to GND_ROB pin 13.
The status of the robot needs to be provided to the Scan by the double signal ROBOT_OK1 pin 4 and ROBOT_OK2
pin 5, a binary 1 state indicates that the robot is ready and a binary 0 state that the robot is faulty.
The status of the Scan S25 is provided to the robot by a double signal SCAN_OK1 pin 2 and SCAN_OK2 pin 3, a
binary 1 state indicates that a Scan S25 is ready and a binary 0 state that a Scan S25 is faulty.
If the binary state is different on the two inputs, e.g. ROBOT_OK1 at 1 and ROBOT_OK2 at 0, the Scan considers
the robot state as faulty.
If one of the two elements is in fault condition (Emergency Stop Button or robot), the following two actions must
be carried out (in this order) to make the Scan S25 ready again :
1. Check the safety components and restore them to their normal operating state (restore the safety signals).
2. Start a measurement, from the Scan S25, ReflexScan or the robot, or restart the Scan from the robot RES-
TART_ROB pin 7 (signal of at least 200 ms).
For the Scan and the robot to work together, the diagram in the next Section 2.6 must be observed.
Emergency Stop
Button
Robot Emergency
Stop

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2.6 Safety application diagram with a robot
B.2.0
A.0
B.1
C.0
D.0
B.2.1
B.2.2
B.2.3
E.0
Scan ON
Scan OK
Remote control
mode ON
Scan ready
to work with
a robot
Scan Faulty
Check E-Stop
Check robot
safety
Restart
Scan faulty

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2.7 Description of the safety application diagram with a robot
Each red signal refers to a pin of the D-SUB 15p safety connector.
Each signal must remain in the last defined state if not otherwise specified.
Binary 1 defines a state where there is +24V present.
Binary 0 defines a state where there is GND.
When the robot is connected to the Scan, the robot must provide the signals +24V_ROB Pin 1
(binary 1) and GND_ROB pin 13 (binary 0) and all other necessary inputs signals to the Scan.
A.0 The Scan is turned on and a ReflexScan session is opened.
B.1 Scan OK (signals SCAN_OK1 pin 2 and SCAN _OK2 pin 3 in binary 1).
B.2.0 Scan in fault state (signals SCAN _OK1 pin 2 and/or SCAN _OK2 pin 3 in binary 0).
B.2.1 Check the Scan emergency stop button (must be pulled out).
B.2.2 Check the safety signal from the robot (signal ROBOT_OK1 pin 4 and ROBOT_OK2 pin 5 in binary 1).
B.2.3 Restart the Scan (binary 1 for at least 200 ms on the signal RESTART_ROB pin 7, then return to logic 0).
C.0 The remote mode must be activated in ReflexScan.
D.0 The Scan is ready to work with the solution of your choice: Wired, OPCA/UA, Modbus TCP/IP, Profinet.
E.0 If a Scan or robot fault occurs during operation, (signals SCAN_OK1 pin 2 and/or SCAN_OK2 pin 3 in
binary 0 and/or signals ROBOT_OK1 pin 4 and/or ROBOT_OK2 pin 5 in binary 0), return to step B.2.1.

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2.8 Safety schematic diagram with a robot

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3. REMOTE MODE
Before starting any command with the Scan, regardless of the communication protocol chosen, the robot must
check that the “Remote Mode” is activated.
To activate the remote mode, go to the ReflexScan main screen (Home) and click the Remote Mode button.
The robot can also choose to send the “Remote Lock” command to lock ReflexScan in the remote control
mode.
3.1 Location of the Remote Mode button

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4. PROGRAM MAPPING
To be able to load programs from I/Os or Modbus, you have to assign them in the Setup of the «Automation»
plugin using the “Service->Plugin->Automation->Setup” menu, then in the “Programs Mapping” tab.
For the I/Os, each program can be assigned to a 3-bit binary code, allowing up to 7 programs, with code 111
indicating no active program.
For Modbus, each program can be assigned to an identifier from 1 to 7, with 0 indicating no active program.

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5. WIRED SOLUTION
The Scan can be controlled by electrical signals grouped on two D-SUB connectors.
This approach is the most direct to implement, but also the most limited in its possibilities. For example, it is not
possible to exchange analog values (e.g. axis positions). Note that the number of functions available depends
directly on the number of input/output signals of the Scan.
The first time you use them, the IOs have to be activated.
Go to the Setup ot the “Automation” plugin from the menu“Service->Plugin->Automation->Setup” and check IOs
Enable in the IOs tab.
If you do not use IOs, IOs Enable must be unchecked.
To check the status of the IOs, go to the Diagnostics of the “Automation” plugin from the menu“Service->Plu-
gin->Automation->Diagnostics” and check the status of the IOs in the drop-down window at the bottom of the
IOs tab.
5.1 Configuration
5.2 Diagnostics

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5.3 Description of the I/O diagnostics
Inputs
Type Name Details
Commands
Park Axis All axes move to their parking position.
Start Program Starts the loaded program.
Start Calibration Starts a calibration cycle.
Status
Remote Lock Locks the Scan in remote control mode.
Program Loading
Select Program 0
3-bit code (0 to 7) for program selection.
Select Program 1
Select Program 2
Load Program Loads (or unloads) the program according to the 3-bit code (0 to 7).
Tailstock + Chuck
Lock Tailstock Lowers and locks the tailstock. The position and the force are
defined by the program which is loaded.
Unlock Tailstock
Raises and unlocks the tailstock. The position is defined by the
program which is loaded. If there is no program, the tailstock moves
up to the maximum position. **
Close Chuck Closes the pneumatic chuck. *
Open Chuck Opens the pneumatic chuck *
Outputs
Type Name Details
Status
Remote mode “True” state when the Scan is in remote control mode.
Machine Ready “True” state when the Scan is ready to receive a new command from
the robot (e.g.: unlock tailstock).
Is Calibrated “True” state when the machine has been calibrated.
Is Parked (SW) “True” state when the axes are in parking position.
Is Tailstock Locked
(SW) “True” state when the tailstock is locked on a part.
Is Tailstock Unlocked
(SW) “True” state when the tailstock is unlocked. No longer on a part.
Is Chuck Closed “True” state when the pneumatic chuck is closed.
Is Chuck Open “True” state when the pneumatic chuck is open.
Loaded Program
Loaded Program 0 3-bit code (0 to 7) of the currently selected program.

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Loaded Program 1 3-bit code (0 to 7) of the currently selected program.
Loaded Program 2
Results
Result Ready “True” state when the program has finished its execution and the
results are ready.
No Result “True” state when the program has not returned any results.
Pass “True” state when all measurement results are within the
tolerances defined by the loaded program.
Failed “True” state when all measurement results are not within the
tolerances defined by the loaded program.
Warning “True” state when one of the dimensions needs to be corrected
in the program.
Pin I/O SCAN Function Type of signal
1+24V (Robot) +24V from the robot (common
with the other connectors)
2 GND (Robot)
Ground from the robot
(common with the other
connectors)
3+24V (Scan) +24V from the Scan (common
with the other connectors)
4GND (Scan)
Ground from the Scan
(common with the other
connectors)
* Optional, you must install a pneumatic chuck to use these signals.
**Warning! A part that is not held properly before this signal is sent may fall and cause damage or injuries.
All inputs and outputs, to and from the Scan, must be +24V (binary 1), or GND (binary 0). All signals to the
Scan must come from the robot.
5.4 Description of the main D-SUB 37p I/O pins

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5 IN1 Park axis Rising edge
6 IN2 Start Program Rising edge
7 IN3 Start Calibration Rising edge
8 IN4 Remote Lock Persistent
9 IN5 Select Program 0 Persistent
10 IN6 Select Program 1 Persistent
11 IN7 Select Program 2 Persistent
12 IN8 Load Program Rising edge
13 IN9 Lock Tailstock Rising edge
14 IN10 Unlock Tailstock Rising edge
15 IN11 Reserve IN
16 IN12 Reserve IN
17 IN13 Reserve IN
18 IN14 Reserve IN
19 IN15 Reserve IN
20 IN16 Reserve IN
21 OUT1 Remote mode Persistent
22 OUT2 Machine Ready Persistent
23 OUT3 Is Calibrated Persistent
24 OUT4 Is Parked (SW) Persistent
25 OUT5 Tailstock Locked (SW) Persistent
26 OUT6 Tailstock Unlocked (SW) Persistent
27 OUT7 Loaded Program 0 Persistent
28 OUT8 Loaded Program 1 Persistent
29 OUT9 Loaded Program 2 Persistent
30 OUT10 Reserve OUT
31 OUT11 Result Ready Persistent
32 OUT12 No Result Persistent
33 OUT13 Pass Persistent
34 OUT14 Failed Persistent
35 OUT15 Warning Persistent
36 OUT16 Reserve OUT
37 Earth Shielding

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PIN #8
PIN #15 PIN #9
FEMALE
PIN #1
All inputs and outputs, to and from the Scan, must either be at +24V (edge 1) or at GND (edge 0). All signals
to the Scan must come from the robot.
«This connector is reserved for future use requiring more I/Os.»
5.5 Description of pin D-SUB 15p I/O additional tools
PIN I/O SCAN Function Type of signal
1 +24V (Robot) +24V from the robot (common
with the other connectors)
2 GND (Robot) Ground from the robot (common
with the other connectors)
3 IN17
4 IN18
5 IN19
6 IN20
7 IN21
8 IN22
9 OUT17 Chuck Open (SW) Persistent
10 OUT18 Chuck Closed (SW) Persistent
11 OUT19
12 OUT20
13 OUT21
14 OUT22
15 Earth Shielding

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6. OPC/UA SERVER
OPC UA is a communication protocol for the automation industry using an Ethernet port. It is the most flexible
automation solution supported by the Scan (e.g. access to the details of a measurement result).
Note that the Scan only supports the binary protocol opc.tcp.
The first time you use it, you must activate the OPC Server to be able to use the protocol.
Go to the Setup of the “Automation” plugin using the “Service->Plugin->Automation->Setup” menu and check
OPC Server Enable in the OPC Server tab.
If you are not using OPC/UA, OPC Server Enable must be unchecked.
To check the status of the OPC Server, go to Diagnostics of the “Automation” plugin using the “Service->Plu-
gin->Automation->Diagnostic” menu and check the status of the OPC Server in the drop-down window at the
bottom of the OPC Server tab.
To change the URL of the OPC Server, go to the Setup of the “Automation” plugin using the “Service->Plu-
gin->Automation->Setup” menu and to Endpoint URL in the OPC Server tab.
Note that the address of the Automation Ethernet port on the PC where ReflexScan is installed must be the same.
6.1 Configuration

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6.2 Diagnostics
6.3 Methods
Methods Description
Clear All Runs Clear all runs from the memory
Close Chuck Close the pneumatic chuck
Get Programs Get the list of available programs
Get Results Get the last measurement results
Load Program Load a program using the program file name
Lock Tailstock Move down and lock the tailstock
Move Rotation To Position Move the Rotation axis to a specific position
Move Slide to Position Move the Slide axis to a specific position
Move Tailstock to Position Move the Tailstock axis to a specific position
Move Tilt to Position Move the Tilt axis to a specific position
Open Chuck Open the pneumatic chuck
Park Axis Move all axes to the parking/loading position
Remote Lock Block the 'automation mode'
Set Custom SPC <special>
Start Calibration Start the execution of the calibration
Start Program Start the execution of a measurement program
Stop Program Stop the execution of the current program
Unlock Tailstock Move up and unlock the tailstock
GetToolCorrections Get the proposition for each corrector in an XML format or text format
ResetCorrectionStatus Reset the 'Correction Status'