Operating Manual
Asyfeed Pocket
Module
Operating Manual
Document
Asyril_MODULE_ASYFEED _Operating_Manual_EN
000.100.512
Version
A5
Date
11.08.2016
Asyfeed Pocket Module - Asyril SA
Operating Manual
Introduction
© Copyright Asyril S.A.
Version: A5
Table of Contents
1.
INTRODUCTION ............................................................................................................................... 5
1.1.
GENERALITIES .......................................................................................................................... 5
1.2.
SAFETY PRECAUTIONS ............................................................................................................. 6
1.2.1. General safety precaution ................................................................................................... 6
1.2.2. Specific warnings .................................................................................................................. 7
2.
1.3.
W ARRANTY INFORMATION ........................................................................................................ 8
1.4.
RELATED MANUALS .................................................................................................................. 8
1.5.
EC INFORMATION ..................................................................................................................... 9
DESCRIPTION ................................................................................................................................ 10
2.1.
FIRST GLIMPSE AT THE PRODUCT........................................................................................... 10
2.1.1. Asycube ............................................................................................................................... 11
2.1.2. Robot pocket delta ............................................................................................................. 11
2.1.3. Standard configurations ..................................................................................................... 12
2.2.
GENERAL CHARACTERISTICS ................................................................................................. 13
2.2.1. Technical features .............................................................................................................. 13
2.2.2. Overall dimensions ............................................................................................................. 14
2.2.3. Workspace ........................................................................................................................... 15
2.2.4. Asyview performances ....................................................................................................... 17
2.3.
ELECTRIC INTERFACES .......................................................................................................... 19
2.3.1. Overview .............................................................................................................................. 19
2.3.2. Wiring of the Asyfeed Pocket Module ............................................................................. 19
2.3.3. Digital Input/Output connector (A) .................................................................................... 21
2.3.4. Power connection (B) ......................................................................................................... 22
2.3.5. RJ 45 connectors (C) ......................................................................................................... 23
2.3.6. Control unit .......................................................................................................................... 24
2.4.
PNEUMATIC INTERFACES ........................................................................................................ 25
2.4.1. Pneumatic connection........................................................................................................ 25
2.4.2. Compressed air characteristics ........................................................................................ 25
2.5.
MECHANICAL INTERFACES ..................................................................................................... 26
2.5.1. Attachment of the Asyfeed Pocket Module ..................................................................... 26
2.5.2. Control unit .......................................................................................................................... 26
2.5.3. Tooling.................................................................................................................................. 27
2.6.
ACCESSORIES AND OPTIONAL MODULES ............................................................................... 28
2.6.1. Robot calibration tool ......................................................................................................... 28
2.6.2. Calibration plate (for Asycube) ......................................................................................... 29
2.6.3. Ionizer ................................................................................................................................... 30
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Operating Manual
Introduction
3.
© Copyright Asyril S.A.
Version: A5
TRANSPORTATION, HANDLING AND INSTALLATION ....................................................... 31
3.1.
PACKAGING OF THE PRODUCT, TRANSPORTATION AND HANDLING ....................................... 31
3.2.
UNPACKING INSTRUCTIONS .................................................................................................... 31
3.3.
INSTALLATION AND STORAGE ENVIRONMENT ......................................................................... 32
3.3.1. Installation environment ..................................................................................................... 32
3.3.2. Storage environment .......................................................................................................... 33
4.
MAINTENANCE AND REPAIR .................................................................................................... 34
4.1.
SAFETY PRECAUTIONS ........................................................................................................... 34
4.1.1. General safety precautions ............................................................................................... 34
4.2.
PERSONNEL RESPONSIBLE FOR MAINTENANCE OR REPAIR................................................... 34
4.3.
MAINTENANCE ........................................................................................................................ 35
4.3.1. Periodic maintenance schedule ....................................................................................... 35
4.3.2. General maintenance ......................................................................................................... 36
4.3.3. PocketDelta maintenance ................................................................................................. 37
4.3.4. Asycube maintenance........................................................................................................ 38
4.4.
REPAIR.................................................................................................................................... 40
4.5.
TECHNICAL SUPPORT ............................................................................................................. 42
4.5.1. For better service … ........................................................................................................... 42
4.5.2. Contact ................................................................................................................................. 42
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Asyfeed Pocket Module - Asyril SA
Operating Manual
Introduction
© Copyright Asyril S.A.
Version: A5
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 another manual, or refer
to another 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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Operating Manual
Introduction
1.2.
© Copyright Asyril S.A.
Version: A5
Safety precautions
1.2.1. General safety precaution
1.2.1.1. 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”
1.2.1.2. 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 the main unit or controller may come in
contact with water or oil droplets.
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Operating Manual
Introduction
© Copyright Asyril S.A.
Version: A5
1.2.1.3. Disposal
As soon as the product becomes out of use or outdated, please take care of its proper
disposal prevailing to industrial waste.
NOTE :
Please respect the valid legal regulation for appropriate disposal and environment
protection.
1.2.2. Specific warnings
1.2.2.1. Safety Equipment for Operators
For safety reasons operators must wear the following safety equipment when they are
working with (or near) the robot workspace :
-
Safety glasses when using the backlight of the Asycube
-
Safety shoes when transporting the Asyfeed Pocket Module
NOTE :
It is the customer’s responsibility to install warning signs informing that anyone working
around the Asyfeed Pocket Module must wear safety equipment.
1.2.2.2. Intervention groups
The following table defines the roles affected to each professional involved on the machine at
any time during its life cycle.
Operator
Construction
Fitter
Engineer
Support
Carrier
agent
Dismantler
X
Transportation
X
Installation
X
Commissioning
X
X
Use
X
Setting & Programming
X
Operation
X
Cleaning
X
Maintenance
X
X
Decommissioning
X
Dismantling
Table 1-1: Intervention groups
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Operating Manual
Introduction
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Version: A5
1.2.2.3. Specific warnings concerning this product
NOTE :
It is the customer’s responsibility to install warning signs informing that his specific process
can be dangerous for operators
1.3.
Warranty information
You will find all the Asyril warranty information (duration, scope of warranty …) on the general
sales conditions.
1.4.
Related manuals
As described in the Table 1-2, this manual is an integral part of the Asyfeed Pocket Module
documentation set. This manual covers the installation, a technical description, the
maintenance, and the repair of your system. Information on the transport and safety
precautions are also included in this manual.
Manual Title
Operating
Description of the
Manual reference
MODULE_ASYFEED_Operating_Manual_EN
content
THIS MANUAL
manual
HMI manual
Accessible directly via the
HMI
Programming
MODULE_ASYFEED_Programming_Guide_EN
Guide
User Guide
Description of the ARL
instructions
MODULE_ASYFEED_User_Guide_EN
Description of the main
functionalities of the
machine and of the
standard P&P and
calibration cycles
User Guide
SMARTSIGHT_User_Guide_EN
Describes how to configure
the feeding and the vision
detection
Table 1-2 : Related manuals
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Operating Manual
Introduction
1.5.
© Copyright Asyril S.A.
Version: A5
EC information
The declaration of incorporation as a partly completed machinery can be found here below.
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Operating Manual
Description
© Copyright Asyril S.A.
Version: A5
2.
Description
2.1.
First glimpse at the product
The Asyfeed Pocket Module consists
in a linear vibratory conveyor, a vision
system to localize the parts, and a
PocketDelta robot to handle them.
(A)
Asycube
(B)
Camera
(C)
PocketDelta robot
(D)
Electrical box
(D)
(C)
(B)
(E)
WARNING !
There are no user serviceable parts
(F)
(A)
inside the electrical box. Contact a
supplier to operate a service. In
cases
of
non
respectation,
the
(G)
product guarentee will expire.
(E)
DOAL (Diffused On Axis Light)
(F)
Asyfeed Pocket Module connections
(G)
Tool changer
Figure 2-1 : Asyfeed Pocket Module
A controller unit (PC) is also part of
the Asyfeed Pocket Module :
(H)
(H)
Controller unit (Asyview)
For more information on the wiring of
the
PC
to
the
Asyfeed
Pocket
Module, please, refer to « 2.3 Electric
Interfaces »on page 19.
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Figure 2-2 : Controller unit (Asyview)
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Operating Manual
Description
© Copyright Asyril S.A.
Version: A5
2.1.1. Asycube
Asycube sets new standards in miniature part feeding. Its 3D vibratory platform allows fast
and flexible presentation of miniature parts (0.2 mm to 5 mm) to a robot equipped with a
vision system. It consists in :
(A)
A 3D platform with integrated
backlight
(B)
(A)
A removable bulck where the
(B)
components are stored
(C)
Electrical interfaces performed
across a RS232 or a RS485
connection.
(C)
(D)
A specific tool allowing to remove the
(D)
platform easily
Figure 2-3 : Asycube overview
2.1.2. Robot pocket delta
The PocketDelta has a parallel kinematics giving 3 degrees of freedom in translation. The
robot PocketDelta consists in :
(A)
Control box
(B)
Electrical interfaces
(C)
3 motors
(B)
(D)
Forearms
(C)
(E)
Platform
(F)
Workspace
(A)
(D)
(E)
(F)
Figure 2-4 : PocketDelta Robot overview
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Operating Manual
Description
© Copyright Asyril S.A.
Version: A5
2.1.3. Standard configurations
The following standard configurations are available:
Reference
Designation
900.007.763
ASYFEED POCKET MODULE
STANDARD RESOLUTION
Description
- Asycube Mezzo with green backlight
- Green frontlight
- camera 2 MPx, FoV 45x36mm
- included controller unit
- ideal solution for parts with simple geometry
900.006.396
ASYFEED POCKET MODULE
HIGH RESOLUTION
- Asycube Mezzo with green backlight
- Green frontlight
- camera 5 MPx, FoV 45x36mm
- included controller unit
- ideal solution for parts from 1mm to 15mm
900.007.775
ASYFEED POCKET MODULE
REDUCED FIELD OF VIEW
- Asycube Mezzo with green backlight
- Green frontlight
- camera 5 MPx, Field of View 30x25mm
- included controller unit
- ideal solution for very small parts (< 1mm)
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Operating Manual
Description
2.2.
© Copyright Asyril S.A.
Version: A5
General Characteristics
WARNING !
Do not use the product outside its specifications. In particular, observe the maximum loading
capacity. In cases of non-respectation, the product guarantee will expire.
2.2.1. Technical features
Asyfeed Pocket Module
Feeder system
Asycube
Robot type
PocketDelta
Cycle time
100 picks/min
Placing precision
+ 0.01mm
Handled part size
0.15 – 5 mm
Maximal force
Handled parts materials
2N
Metal, ruby, ceramics, glass,
semiconductor components
Tool changer
Components position and
orientation recognition
Sound level
< 60dBA
Adaptable to the customer’s
Flexibility
process
Easy configuration of new
recipe
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Operating Manual
Description
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Version: A5
2.2.2. Overall dimensions
371.5
122
490
275.5
223
327.5
Figure 2-5 : Overall dimensions (In millimeters)
Characteristic
Value
Footprint
327.5 x 490 mm
Weight
27kg
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Version: A5
2.2.3. Workspace
30
165
55
Ø150
30
123
103
55
Figure 2-6 : Workspace defined by the platform’s midplane
The customer’s process must be placed into the workspace of the robot.
NOTE
For an optimal cycle time, place your specific process as close as possible to the platform of
the cube.
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Operating Manual
Description
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Version: A5
IMPORTANT NOTE FOR INTEGRATION
This workspace is defined by the space accessible by the midplane of the robot platform.
When a tool (or tool holder) is mounted on the robot, the workspace will be translated down
as much as the length of the tool holder and the tool. The following example illustrates this
phenomenon :
Figure 2-7 : offset on workspace with a tool holder
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Operating Manual
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Version: A5
2.2.4. Asyview performances
2.2.4.1. Lighting
The Asyfeed Pocket Module includes a green frontlight (DOAL) as well as the integrated
backlight of the Asycube.
2.2.4.2. Detection limit
To define the detection limit associated with Asyview, two situations arise:
-
You want to locate a precise detail (eg location of a part on the surface of the
Asycube, or quality control of the position of a hole on a part) in this case, details must
be larger than 20 pixels to ensure accuracy of a quarter pixel.
-
You want to verify the presence or absence of a detail (eg pitch and toss recognition)
in this case, a size of 10 pixels is sufficient.
Conversion of pixels into millimeters depends on the field of view and on the resolution of the
camera. The Table below gives the minimal size of the detail in micrometers :
sensor size
Configuration
Mpx
Minimal
Minimal
detail size detail size in
length
in pixels micrometers
field of view
Resolution
Width
length
width
px
px
mm
mm
Standard
resolution
2
1200
1600
35
46
High
resolution
5
2050
2448
35
46
Reduced field
of view
5
2050
2448
25
30
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Asyfeed Pocket Module - Operating Manual
Px
µm
20
10
1
20
10
1
20
10
1
575
288
29
376
188
19
245
123
12
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Description
© Copyright Asyril S.A.
Version: A5
This table summarizes the minimal part or detail size in order to locate or detect them:
Part size
[pixels]
P < 20px
P > 20px
Detail size
D < 10px
[pixels]
P
P
10px < D < 20px
P
D > 20px
P
P
Example
D
D
D
Localisation
of the part
¼px precise
¼px precise
¼px precise
¼px precise
Detection of
the detail
Localisation
of the detail
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¼px precise
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Operating Manual
Description
2.3.
© Copyright Asyril S.A.
Version: A5
Electric Interfaces
2.3.1. Overview
The
electrical
interfaces
to
the
Asyfeed Pocket Module are situated
on the right.
(A)
Digital Input/Output connector
(B)
Power connection
(C)
RJ 45 connector (x3)
(D)
Auxiliary ionizer cable outlet
(D)
(A)
(B)
NOTE :
None of the cables coming on the
(C)
side of the Asyfeed Pocket Module is
supplied. Only the power connector
(B) is supplied.
Figure 2-8 : Electrical interfaces to the Asyfeed
Pocket Module
2.3.2. Wiring of the Asyfeed Pocket Module
When shipped, the Asyfeed Pocket Module is completely wired (robot PocketDelta, Asycube,
lighting, camera, ...) however, the following section provides information on the electrical
interfaces of the PocketDelta robot and Asycube.
For deltailled information about the interfaces of the PocketDelta robot or the Asycube,
please refer to Operating Manual of the concerned product.
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The
© Copyright Asyril S.A.
Version: A5
electrical
interfaces
to
the
Asycube are :
(E)
(E)
Diagnosis-reserved connector
(F)
Communication connector
(G)
manual switch to change the address
(F)
(I)
of the Asycube
(G)
(H)
Power connection
(I)
Backlight synchronization
(H)
Figure 2-9 : Electrical interfaces to the Asycube
The
electrical
interfaces
to
the
PocketDelta robot are :
(L)
(J)
(J)
Power connection
(K)
Main stop switch
(L)
Input/output connection
(M)
Ethernet connector
(N)
Robot platform
(M)
(K)
(N)
Figure 2-10 : Electrical interfaces to the
PocketDelta Robot
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2.3.3. Digital Input/Output connector (A)
A few inputs/outputs are available on
the module to pilot local sensors or
(1)
(8)
actuators. The connector (on the
Asyfeed Pocket Module side) is a DSub Connectors 15 Female. The pinout is given in the table below :
Pin
1
Signal Description
Pin
OUT 4 Vcc (24V)
(15)
(9)
9
2
Not wired
3
Not wired
10
IN Vcc (24V)
11
4
OUT 4 (0V)
12
5
Not wired
6
Not wired
13
Not wired
14
IN 1
7
Figure 2-11 : I/O connector
IN 0
Ground
8
15
Sub-D 15 female
IN Vcc (24V)
(looking at the pins)
Maximal output current : 1A (24V DC)
Below is a picture explaining the wiring of an input (represented by a switch) and an output
(represented by led)
8
15
1
9
Figure 2-12 : Example of an I/O connection
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2.3.4. Power connection (B)
The
Asyfeed
Pocket
Module
is
powered with 24VDC/10A.
Characteristic
Value
Voltage
24V DC
Current
10 A
Power
240 W
(A1) (A2) (A3)
The pin-out is given in the table below
Pin
Signal Description
A1
0V (power)
A2
24V (communication)
A3
24V (power)
WARNING !
The 0V pin (A1) must be grounded !
Figure 2-13 : Electrical interfaces
D-Sub 3W3 connector
(on the Asyfeed Pocket Module side)
WARNING !
-
Before supplying power to the product, check that your voltage distribution is the same
as the nominal voltage of the Asyfeed Pocket Module.
-
Never disconnect the power cables when the system is operating. Always turn the
machine off and then turn the power down.
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2.3.5. RJ 45 connectors (C)
Figure 2-14: Ethernet connection of the main components
NOTE :
The switch as well as the I/O Bus module is optional component out of the standard
configurations. Contact Asyril for more information.
The three RJ 45 connection enables
to communicate with :
(A)
(A)
(B)
(C)
The Camera
NOTE :
The camera must be wired with a
category 6 quality Ethernet cable
(B)
The Asycube
(C)
The PocketDelta Robot
Figure 2-15 : RJ 45 connection
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2.3.6. Control unit
The electrical interfaces of the control
unit are:
(B)
(A)
Remote Ethernet connection
(B)
Process (robot) Ethernet connection
(C)
Asycube Ethernet connection
(D)
Camera 1 Ethernet connection
(E)
Camera 2 Ethernet connection
(F)
Camera 3 Ethernet connection
(G)
USBs connection for keyboard or
(A)
(G)
(F)
(E) (D)
(C)
mouse
Figure 2-16 : Electrical interfaces of the control unit
2.3.6.1. Power
The connector provided must be connected to a power supply (not delivered by Asyril) with
the following characteristics:
Specifications
Value
Voltage
24 VDC
Power
120 W
Table 2-1 : Control unit power supply
2.3.6.2. Connection to the Human-Machine interface (HMI)
The graphical interface is installed on the Control unit. A keyboard, mouse and screen
(supplied by the customer) are necessary for interaction and can be connected to the Control
unit via the USB, VGA or DVI interfaces.
The screen must have the following characteristics:
Characteristic
Value
Resolution
1280 x 1024
Table 2-2: optimal screen resolution for the HMI
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2.4.
© Copyright Asyril S.A.
Version: A5
Pneumatic interfaces
2.4.1. Pneumatic connection
The pneumatic connection of the
Asyfeed Pocket Module consists in
one connector :
(A)
Tool changer and venturi connection
connector
Nominal
Diameter
(A)
pressure
A
5 Bar
6mm
NOTE :
It is the customer’s responsibility to
install
a
manometer
system
for
maintenance and control purpose.
Figure 2-17 : Pneumatic connection
2.4.2. Compressed air characteristics
To ensure optimum performances of the pneumatic interfaces, the following characteristics
must be followed :
000.100.512
Characteristic
Value
Nominal filtration rating
< 5 µm
Recommended lubricant
No lubrication
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Description
2.5.
© Copyright Asyril S.A.
Version: A5
Mechanical Interfaces
2.5.1. Attachment of the Asyfeed Pocket Module
The Asyfeed Pocket Module must be mounted on a smooth, flat and solid surface. Ensure yourself
that the Asyfeed Pocket Module is not submitted to excessive mounting flexure. Failure to do so would
degrade performances.
Figure 2-18 : Attachment of the Asyfeed Pocket Module
NOTE
the plate is 20 mm thick
2.5.2.
Control unit
The Control unit is fixed on two rails; the dimensions are described in Figure 2-19.
Figure 2-19: Dimension of the Control unit and its mounting rails
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2.5.3. Tooling
Tools and grippers are not supplied with the robot. Their design depends on the application
and has to be adapted specifically. Tools and grippers can be attached to the robot’s
platform.
Free geometry
(depending on the
component to
manipulate)
Figure 2-20: Example of a standard tool (with free geometry for the component)
NOTE
For best performance, note that the length of the tool must be the same as the calibration
tool.
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Operating Manual
Description
2.6.
© Copyright Asyril S.A.
Version: A5
Accessories and optional modules
2.6.1. Robot calibration tool
Depending on the type of application (using a control camera or not, size of the holes on the
calibration plate...) the calibration tool might differ. The grayed column below corresponds to
the standard tool delivered with your equipment.
11.2
11.2
11.2
Ø2
Ø2
Ø1.5
Ø1.1
Ø1.5
Ø1.5
Perfectly suited for a control
Perfectly suited for a control
Perfectly suited for a control
camera with front light lighting.
camera with dark field lighting.
camera with front light lighting.
Perfectly suited for calibrating
Perfectly suited for calibrating
Perfectly suited for calibrating
holes of Ø1.1mm.
holes of Ø1.5mm.
holes of Ø1.5mm.
Figure 2-21 : Calibration tools available
NOTE :
For more information on the available calibration tools, please contact Asyril.
For more information about the calibration procedure, refer to the User Guide.
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Operating Manual
Description
© Copyright Asyril S.A.
Version: A5
2.6.2. Calibration plate (for Asycube)
A specific calibration plate is delivered
with your equipment.
The
following
drawing
gives
the
positioning of the holes used for the
robot/asycube calibration.
Figure 2-22 : Asycube calibration plate
Figure 2-23 : Detail of the holes position on the calibration plate.
For more information about the calibration procedure, refer to the HMI manual.
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Operating Manual
Description
© Copyright Asyril S.A.
Version: A5
2.6.3. Ionizer
The ionizer gives to molecules in the air the ability to carry charges .Thus the ionizer module
is in charge of neutralizing the electrostatic charges responsible for sticking the component to
the platform.
If the option was purchased, the ionizer is supplied with the unit, wired, mounted and ready to
be used.
For more information on the ionizer please, refer to the manufacturer’s datasheet.
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Operating Manual
Transportation, handling and installation
© Copyright Asyril S.A.
Version: A5
3.
Transportation, handling and installation
3.1.
Packaging of the product, transportation and handling
The product transport must be executed in accordance with the specified instructions
indicated on the package (top, bottom and fragile …). In addition, pay particular attention to
the following points :
WARNING !
-
Be aware of the weight and take care when transporting the system.
-
The operator should not carry heavy shipping boxes by himself.
-
If the shipping box is to be left standing, it should be in a horizontal position.
-
Do not climb on the shipping box.
-
Do not place heavy objects on top of the shipping box.
-
Be aware not to damage the system while handling
The Asyfeed Pocket Module is shipped on a wooden pallet and a protecting plastic film
surrounds the whole system. It must be handled with care with a forklift or a pallet truck.
Value
Dimensions
490*328*372 mm
Total weight
28 kg
Table 3-1 : Gross weight and dimensions of the product when packaged
3.2.
Unpacking instructions
Before unpacking, look at the ShockWatch Label. As to promote zero-defect shipping, all
Asyril products are shipped with a ShockWatch Label. If this is red, or if any evidence of
damage during transit was to be indicated please :
(A)
request that the carrier’s agent is present at the time of unpacking.
(B)
pay special attention to any damage on the exteriors of the product
(C)
If any damage has occurred, do not sign the delivery receipt and
contact Asyril
(D)
In any case, make a note on the delivery receipt
Figure 3-1 : ShockWatch
NOTE :
If the items received do not match your order, or are damaged, do not sign the receipt, and
contact Asyril as soon as possible.
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Operating Manual
Transportation, handling and installation
© Copyright Asyril S.A.
Version: A5
Locate the identification plate at the
back of the product and ensure that
the product you have received is the
appropriate one.
Figure 3-2 : Product key sticker
Important information is on this plate;
such as the power consumption or
the serial number that you will need
for any kind of correspondence with
Figure 3-3 : Location of the identification plate
Asyril.
3.3.
on the product
Installation and storage environment
WARNING !
The Asyfeed Pocket Module must be mounted on a smooth, flat and strong surface. Be
sure that the Asyfeed Pocket Module is not exposed to excessive vibrations or mounting
flexure. Failure to do so would deteriorate the Asyfeed Pocket Module’s performance.
3.3.1. Installation environment
The Asyfeed Pocket Module can be used under following conditions:
-
Working temperature: +5°C to +40°C
WARNING !
note that variations of temperature might affect the precision of the robot, especially if
precisions below 10 microns are necessary
-
Pay particular attention to dust : Operate the system in a clean environment.
-
Avoid exposure to excessive light or direct radiation, failure to do so could affect Asyview
performances.
WARNING !
It is the customer’s responsibility to install protective equipment against dust and
excessive light around the Asyfeed Pocket Module.
-
Humidity: 30% to 95% max. non-condensing
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Operating Manual
Transportation, handling and installation
© Copyright Asyril S.A.
Version: A5
WARNING !
In the case of extreme humidity, note that it might affect the global performances of the
Asyfeed Pocket Module. In addition, if humidity is below 30% electrostatic forces may
perturb the components behavior.
-
Avoid extreme electromagnetic waves, ultraviolet rays and radiation.
-
Avoid using the product in a place where the main unit or controller may be exposed to water
or oil droplets.
-
Clean room application: cleanliness class ISO47 and ISO8
WARNING !
Do not use the product in an atmosphere of corrosive gases. Oxidation may occur and
damage certain elements of the product.
3.3.2. Storage environment
The storage environment should be similar to the operating environment. In addition, you
should protect the Asyfeed Pocket Module against dust.
NOTE :
After a period of inactivity, the robot may require a new calibration.
For more information on the calibration procedure please, refer to the programming manual.
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Operating Manual
Maintenance and repair
© Copyright Asyril S.A.
Version: A5
4.
Maintenance and repair
4.1.
Safety precautions
4.1.1. General safety precautions
WARNING !
There are no user serviceable parts inside the product. Contact a supplier to execute
maintenance. In cases of non respectation, the product guarantee will expire.
DANGER !
Do not operate the system when it is damaged. Please ensure yourself before use
that now defects are to be noticed.
DANGER !
Power down the system and unplug it from the mains before any kind of
maintenance.
DANGER !
Do not wash the product with water. Failure to do so could result in malfunction,
injury, electric shock...
4.2.
Personnel responsible for maintenance or repair
Maintenance operation must be done by personnel that have been trained on the system,
nevertheless, we can define three types of personnel :
(A)
Maintenance technician without any specific schooling from Asyril
(B)
Maintenance technician with a specific schooling from Asyril
(C)
Technician from Asyril’s customer service
Make sure that the person who will be working on the maintenance has received and read
this manual and will be able to work according to specified instructions given in the following
sections. All personnel must observe the safety precautions listed in this manual.
NOTE :
For every maintenance executed by Asyril, a specific report will be issued.
For more information on our maintenance service, please call the Asyril customer service.
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Asyfeed Pocket Module - Asyril SA
Operating Manual
Maintenance and repair
4.3.
© Copyright Asyril S.A.
Version: A5
Maintenance
NOTE :
The information given in the “Table 4-1 : Periodic maintenance schedule” is only
informative. Maintenance and frequency must be adapted by the operator according to
the customer specific process, its operating environment and the work charge.
4.3.1. Periodic maintenance schedule
Our robots are largely maintenance-free, however, simple inspections should be done at
regular intervals to ensure optimum performances, and safe operating of your product.
Item
Period
Personnel
Reference
Week
A
4.3.2.1
Week
B
Week
A
Year
C
Year
B
behavior
Year
C
Visual check and cleaning of the bulk and plate
Week
A
4.3.4.1
Year
B
4.3.4.3
Year
C
Year
B
General
Cleaning of the machine
Tool changer
Visual inspection of the tools (control of the
state) Change of nozzles in poor condition
Cleaning of the tool’s drillings.
Optical parts
Visual check of the optical parts and if
necessary cleaning and calibration of the
Asyview
Pneumatics
Asycube
If necessary exchange of the air filter
VoiceCoils control and audit of component
Visual check and Cleaning 3D vibration
module
Robot
Visual check, clean and lubricate the
articulations of the parallel structure (including
moving platform and compliance)
Cleaning the robot
Contact
Asyril
Contact
Asyril
Contact
Asyril
4.3.3.1
Table 4-1 : Periodic maintenance schedule
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Operating Manual
Maintenance and repair
© Copyright Asyril S.A.
Version: A5
WARNING !
For any kind of maintenance, always use original factory replacement parts.
NOTE :
It is the customer’s responsibility to schedule the maintenance of his specific process
4.3.2. General maintenance
4.3.2.1. Cleaning of the machine
Material needed :
-
Lint-free cloth
-
isopropanol alcohol
Clean all the exterior surfaces of the
Asyfeed Pocket Module
(baseplate,
chassis… )
Figure 4-1 : Cleaning of the machine
4.3.2.2. Optical parts checking and cleaning
Visual check of the optical parts (camera lens, DOAL, Mirror) and cleaning if necessary
NOTE :
This maintenance operation can only be performed by an Asyril technician.
In case of non-respectation the Asyfeed Pocket Module could malfunction.
For more information on this operation, please contact the Asyril’s customer service.
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Operating Manual
Maintenance and repair
© Copyright Asyril S.A.
Version: A5
4.3.3. PocketDelta maintenance
4.3.3.1. Cleaning robot
Material needed :
Step 1
-
Lint-free cloth
-
isopropanol alcohol
-
Vacuum-cleaner
(A)
Clean all exterior surfaces of the
robot. And pay specific attention to
the front arms (B)
Step 2
Use the vacuum cleaner to remove
dust accumulated in the filters (A)
(B)
Figure 4-2 : Cleaning the robot PocketDelta
4.3.3.2. Controlling the parallel structure
NOTE :
This maintenance operation can only be performed by an Asyril technician.
For more information on this operation, please contact the Asyril’s customer service.
-
Clean and lubricate the joints of the parallel structure
-
Control the front arms wear
-
Control the clearance of the robot platform
4.3.3.3. Controlling the engine group
NOTE :
This maintenance operation can only be performed by an Asyril technician.
For more information on this operation, please contact the Asyril’s customer service.
-
Control the engine
-
Control the brakes
4.3.3.4. Inspection of the control box
NOTE :
This maintenance operation can only be performed by an Asyril technician.
For more information on this operation, please contact the Asyril’s customer service.
-
000.100.512
Clean the air filter
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Asyfeed Pocket Module - Asyril SA
Operating Manual
Maintenance and repair
© Copyright Asyril S.A.
Version: A5
4.3.4. Asycube maintenance
4.3.4.1. Cleaning bulk
Material needed :
Step 1
(A)
-
Lint-free cloth
-
isopropanol alcohol
-
Allen key (1.5mm)
(B)
Unscrew the six screws (A) of the
Plexiglas lid (B) of the bulk
Step 2
Clean all interior surfaces of the
bulk
Figure 4-3 : Bulk
4.3.4.2. Control and Cleaning of the platform
Material needed :
Step 1
-
Lint-free cloth
-
isopropanol alcohol
Control the surface state of the
platform (A) and be particularly
careful to the following points :
-
Scratches
-
Dirt
-
Spotted surface
-
Oily or greasy surface
(A)
WARNING :
If the surface damage is such that
the vision or the behavior of parts
Figure 4-4 : Platform
is disturbed, its replacement must
be proceeded.
Step 2
Clean the surface of the platform
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Operating Manual
Maintenance and repair
© Copyright Asyril S.A.
Version: A5
4.3.4.3. Cleaning 3D vibration module
NOTE :
This maintenance operation can only be performed by an Asyril technician.
For more information on this operation, please contact the Asyril’s customer service.
4.3.4.4. Voicecoils control and audit of component behavior
NOTE :
This maintenance operation can only be performed by an Asyril technician.
For more information on this operation, please contact the Asyril’s customer service.
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Asyfeed Pocket Module - Asyril SA
Operating Manual
Maintenance and repair
4.4.
© Copyright Asyril S.A.
Version: A5
Repair
This section gives a list of the spare parts in the system with their product key. The product
must be returned to the manufacturer for any repair work. For exceptional cases, and after
acceptation of Asyril S.A. this work can be performed on the costumer’s site by trained
personnel as defined in section 4.2.
WARNING !
For any kind of repair, always use original factory replacement parts.
Two kind of parts are defined :
(A)
Part that may be changed every year – or critical – or wear part
(B)
Part that may be changed after 2 to 5 years
(C)
Parts that may never be replaced
Table 4-2 : Replaceable parts for Module STD RESOLUTION (900.007.763)
Designation
Type
PC ARBOR FPC-7500-8-i5-8-i340
CAMERA 1/1.8'' ECO274 GIGE CCD
OBJECTIF 50mm C-MOUNT 2/3'' 1.3M
MIRRO-POC-01--15-02-01-01
ECLAIRAGE DOAL 75X75 mm2 G Led 24V
CAPTEUR STATIQUE D-F8PSAPC
TABLE LINEAIRE PNEUMATIQUE MXJ8-20CP
PATIN RESSORT B F M6x14
FOURCHE MOBILE CHANGEUR D'OUTIL
CONVERT ETHERNET/SERIAL MOXA NPORT 5150A
ELECTRODISTRIBUTEUR EVT307-5DO-01F-F-Q
VENTURI COMPACT ZQ1101U-K15LO-EBG-00-Q
ELECTRODISTRIB. 5/2 MONO 24VCC SY3120
FILTRE XT534-5-001-AS
MODULE ETHERNET MOXA 8xRJ45 10/100/1000
FUS. T 2A GS 5x20
FUS. T 5A GS 5x20
OPTOCOUPLEUR PLC-OSP- 24DC/24DC/2
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Asyfeed Pocket Module - Operating Manual
B
C
C
C
B
B
B
B
B
B
B
B
B
A
B
A1
A1
B
Reference
900.006.825
602.700.139
602.700.664
600.831.006
602.700.354
220.000.466
420.002.641
420.002.960
420.004.850
602.001.602
420.002.822
420.002.817
602.001.731
420.011.708
602.001.768
142.054.202
142.054.502
210.000.171
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Operating Manual
Maintenance and repair
© Copyright Asyril S.A.
Version: A5
Table 4-3 : Replaceable parts for Module HIGH RESOLUTION (900.006.396)
Designation
Type
PC ARBOR FPC-7500-8-i5-8-i340
CAMERA 2/3'' ECO655 GIGE CCD
OBJ SKR ENTO F60-A 2/3 5MPx L16
MIRRO-POC-01--15-02-01-01
ECLAIRAGE DOAL 75X75 mm2 G Led 24V
CAPTEUR STATIQUE D-F8PSAPC
TABLE LINEAIRE PNEUMATIQUE MXJ8-20CP
PATIN RESSORT B F M6x14
FOURCHE MOBILE CHANGEUR D'OUTIL
CONVERT ETHERNET/SERIAL MOXA NPORT 5150A
ELECTRODISTRIBUTEUR EVT307-5DO-01F-F-Q
VENTURI COMPACT ZQ1101U-K15LO-EBG-00-Q
ELECTRODISTRIB. 5/2 MONO 24VCC SY3120
FILTRE XT534-5-001-AS
MODULE ETHERNET MOXA 8xRJ45 10/100/1000
FUS. T 2A GS 5x20
FUS. T 5A GS 5x20
OPTOCOUPLEUR PLC-OSP- 24DC/24DC/2
B
C
C
C
B
B
B
B
B
B
B
B
B
A
B
A1
A1
B
Reference
900.006.825
602.700.140
660.831.008
600.831.006
602.700.354
220.000.466
420.002.641
420.002.960
420.004.850
602.001.602
420.002.822
420.002.817
602.001.731
420.011.708
602.001.768
142.054.202
142.054.502
210.000.171
Tableau 4-4 : Replaceable parts for Module REDUCED FIELD OF VIEW (900.007.775)
Designation
Type
PC ARBOR FPC-7500-8-i5-8-i340
CAMÉRA 2/3'' ECO655 GIGE CCD
OBJ SKR ENTO F90-A 2/3 5MPx L60
MIRRO-POC-01--15-02-01-01
ÉCLAIRAGE DOAL 75X75 mm2 G Led 24V
CAPTEUR STATIQUE D-F8PSAPC
TABLE LINÉAIRE PNEUMATIQUE MXJ8-20CP
PATIN RESSORT B F M6x14
FOURCHE MOBILE CHANGEUR D'OUTIL
CONVERT ETHERNET/SÉRIE MOXA NPORT 5150A
ÉLECTRODISTRIBUTEUR EVT307-5DO-01F-F-Q
VENTURI COMPACT ZQ1101U-K15LO-EBG-00-Q
ELECTRODISTRIB. 5/2 MONO 24VCC SY3120
FILTRE XT534-5-001-AS
MODULE ETHERNET MOXA 8xRJ45 10/100/1000
FUS. T 2A GS 5x20
FUS. T 5A GS 5x20
OPTOCOUPLEUR PLC-OSP- 24DC/24DC/2
B
C
C
C
B
B
B
B
B
B
B
B
B
A
B
A1
A1
B
Reference
900.006.825
602.700.140
660.831.009
600.831.006
602.700.354
220.000.466
420.002.641
420.002.960
420.004.850
602.001.602
420.002.822
420.002.817
602.001.731
420.011.708
602.001.768
142.054.202
142.054.502
210.000.171
IMPORTANT NOTE :
For more information on the replaceable parts on your Asycube Mezzo, please refer to
the section "repair" of your Asycube Operating Manual
IMPORTANT NOTE :
For more information on the replaceable parts on your PocketDelta Robot, please refer
to the section "repair" of your PocketDelta Robot Operating Manual
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Operating Manual
Maintenance and repair
4.5.
© Copyright Asyril S.A.
Version: A5
Technical support
4.5.1. For better service …
Before calling the support service, note the following information for your system:
-
serial number and product key of your material
-
software version
-
alarm or error message displayed on the screen
4.5.2. Contact
You can find lot of information on our website : www.asyril.com
You can also contact us by mail or call our support service :
support@asyril.com
+41 26 653 7190
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Operating Manual
Maintenance and repair
© Copyright Asyril S.A.
Version: A5
Review history
Rev.
Date
Author
Comments
A
20.09.2011
SiA
Version Initiale
A1
19.10.2012
SiA
Mise à jour liste pièce de rechange
Modification maintenance asycube (nettoyage interne)
A2
16.01.2014
SiA
Mise à jour passage de 1PC lanner à 1PC arbor (images,
légendes, liste de pces)
A3
24.02.2015
SiA
Mise à jour suite a modification du produit (1 passage
pneumatique, modification interfaces de fixation, modification
liste de pièces de rechange)
A4
27.11.2015
DaM
Mise à jour suite à PM-140211-1
A5
08.08.2016
DaM
Mise à jour des noms des documents et produits, autres
docs, alimentation PC, numérotation connecteurs
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This 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.
asyril sa
z.i. le vivier 22
ch-1690 villaz-st-pierre
switzerland
tel. +41 26 653 71 90
fax +41 26 653 71 91
info@asyril.com
www.asyril.com
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