Asycube Gateway. User Guide. Document

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1 Document Asyril_ASYCUBE_User_Guide_EN Version A Date

2 Table of Contents 1. INTRODUCTION GENERALITIES USER GUIDE INTRODUCTION ASYCUBE GATEWAY CONNECT THE ASYCUBE GATEWAY PREPARATION CONNECT THE GATEWAY POWER SUPPLY CONNECT THE GATEWAY TO THE ASYCUBE FEEDER CONNECT THE GATEWAY TO THE MACHINE CONTROLLER POWER ON COMMISSIONING AND INTEGRATION GENERAL PRINCIPLES Import the fieldbus device description file Add the Gateway in the configuration Program and run the application EXAMPLE FOR ETHERCAT ON TWINCAT Import the fieldbus device description file Add the Gateway in the configuration Program and run the application EXAMPLE FOR PROFINET ON SIEMENS TIA PORTAL Import the fieldbus device description file Add the Gateway in the configuration Program and run the application EXAMPLE FOR ETHERNET/IP ON ROCKWELL RSLOGIX Import the fieldbus device description file Add the Gateway in the configuration Program and run the application TROUBLESHOOTING MODIFY THE STATION NAME FOR THE PROFINET GATEWAY MODIFY THE IP ADDRESS FOR THE ETHERNET/IP GATEWAY THE SYS LED BLINKS ALTERNATIVELY YELLOW/GREEN EVERY SECOND TECHNICAL SUPPORT FOR BETTER SERVICE CONTACT /29

3 1. Introduction 1.1. Generalities The following document is the property of Asyril S.A. and may not be copied or circulated without permission. The information contained in this document is subject to change without notice for the purpose of product improvement. Before operating your product, please read this document in order to ensure a correct use of the product. Nevertheless, if you meet difficulties during the operation or the maintenance, please, feel free to contact Asyril customer service. In this manual, the safety precautions that you must respect are classified as: Danger, Warning and Note ; the following symbols are used: DANGER! Failure to observe the instruction may result in death or serious injury. DANGER! Failure to observe the instruction may result in electrocution or serious injury due to electric shock WARNING! Failure to observe the instruction may result in injury or property damage. NOTE : The user should read carefully this information to ensure the correct use of the product, although failure to do so would not result in injury. Refer to For more information on a specific subject, the reader should read other manual, or refer to other paragraph. WARNING! Asyril shall not be liable whatsoever for any loss or damage arising from a failure to observe the items specified in Safety Precautions of the OPERATING MANUAL. The customer is responsible to provide the necessary instruction to the persons concerned. NOTE : All dimensions in this document are expressed in millimeters 3/29

2. Introduction This presents the Asycube Gateway used to communicate between a machine controller (PLC, ) and an Asycube feeder using fieldbuses such as Ethercat, Profinet and Ethernet/IP, etc.

Chapter 3 shows how to connect the Gateway. Chapter 4 explains how to integrate the Gateway with a machine controller. 2.1.

4 2. Introduction This presents the Asycube Gateway used to communicate between a machine controller (PLC, ) and an Asycube feeder using fieldbuses such as Ethercat, Profinet and Ethernet/IP, etc. The machine controller is a fieldbus Master (client) while the Asycube Gateway is a fieldbus Slave (server). This chapter quickly presents the Asycube and the Gateway. Chapter 3 shows how to connect the Gateway. Chapter 4 explains how to integrate the Gateway with a machine controller Asycube The Asycube is a flexible feeding system, which spreads the parts on the picking surface using smart vibrations. The 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 Please refer to the Asycube for more information Gateway A gateway is a protocol converter device. The Asycube Gateway is configured to allow a seamless communication between the Asycube feeder and an external controller based on fieldbus. Several models of the Asycube Gateway are provided by Asyril based on the selected fieldbus. Figure 2-1: The Asycube Gateway. Please refer to Hilscher documentation for more information on the gateway. 4/29

3. Connect the Asycube Gateway This chapter presents the steps to connect the Asycube Gateway (also simply referred as Gateway). 3.1.

254). A Gateway A 24VDC power supply unit (it can be the same as the one used for the Asycube feeder) Your machine controller (PLC, ) Two RJ45 cables A 2-wires cable for the gateway power supply 3.2. Connect the gateway power supply Connect the 24VDC (130 ma) power supply on the naked plug provided with the gateway.

5 3. Connect the Asycube Gateway This chapter presents the steps to connect the Asycube Gateway (also simply referred as Gateway) Preparation You will need the following elements An Asycube feeder connected to its power supply o With firmware version v o With default communication settings (i.e. IP address ). A Gateway A 24VDC power supply unit (it can be the same as the one used for the Asycube feeder) Your machine controller (PLC, ) Two RJ45 cables A 2-wires cable for the gateway power supply 3.2. Connect the gateway power supply Connect the 24VDC (130 ma) power supply on the naked plug provided with the gateway. Refer to the Figure 3-1. You will need to create the 2-wires cable between the gateway and the power supply unit. Figure 3-1: Gateway power supply Connect the gateway to the Asycube feeder Connect the Gateway X3 port to the Asycube communication port with a RJ45 cable Connect the gateway to the machine controller Connect the Gateway X2-IN port to the machine controller Ethernet-based fieldbus port with a RJ45 cable. 5/29

6 3.5. Power ON Switch the power supply ON to supply both the Asycube and the Gateway. Check the status of the Gateway LEDs: SYS: steady green ON. APL: blinking green with 2s OFF and 0.5s ON or steady green ON (if the machine controller runs). X2 LINK IN (CH0) L/A: steady green or blinking green. X3 LINK: steady green. Other LEDs may also switch on or blink. 6/29

7 4. Commissioning and integration This chapter explains how to integrate the Gateway in a machine controller (PLC, ) and provides some detailed examples for some PLC controllers. The Input/Output Registers are described in the Asycube Programming Guide (Section Asycube Modbus Register Table). The outputs correspond to the Control Holding Registers. The inputs correspond to the Status Holding Registers (do not pay attention to the 64+ offset in the address). The other Modbus Holding Registers cannot be accessed through the Gateway General principles The commissioning and the integration of the Gateway with a machine controller differ from one controller to the other. The common general principles are presented in this section. The following sections show some example with some specific machine controllers Import the fieldbus device description file In order for the machine controller to recognize the fieldbus device, the device description file (also known as electronic datasheet) needs to be imported in the machine controller. This is usually done by importing the file in the development environment or by copying the file on the machine controller. All device descriptions files for the Gateway can be found in the USB memory key provided with the Asycube Add the Gateway in the configuration The Gateway device needs to be added in the hardware configuration of the machine controller. It should then be possible to interact with the Asycube feeder through the Gateway with the automatically created input/output registers. For example, you can read the Asycube firmware version in the given input registers (WORD address or BYTE address 28-33). You can also start a platform vibration by trigging the given output register (WORD address 1 or BYTE address 2) from value 0 to Program and run the application You can now program the application. First, declare some variables and link/map them with the input/output registers. Then, program the behavior of the Asycube based on the registers described in the Asycube Programming Guide (see examples in Figure 4-1 and Figure 4-2). Finally compile and run the application. The Gateway APL LED should now be steady green ON. 7/29

8 (*error detection*) IF asycubereadregister.hr_modbus_status.w <> 0 THEN state:=-1; END_IF (*state machine*) CASE state OF -1: (*error*) 0: (*initial state*) state:=state+1; 1: (*prepare vibration*) asycubewriteregister.hr_platform_vibration_id.w:=2; (*C*) asycubewriteregister.hr_platform_vibration_duration.w:=1000; (*1000ms*) asycubewriteregister.hr_platform_vibration_trig.w:=0; state:=state+1; 2: (*start vibration*) asycubewriteregister.hr_platform_vibration_trig.w:=1; (*rising edge*) IF asycubereadregister.hr_platform_remaining_time.w>0 THEN state:=state+1; END_IF 3: (*wait for the vibration to complete*) IF asycubereadregister.hr_platform_remaining_time.w=0 THEN state:=state+1; END_IF 4: (*switch backlight on*) asycubewriteregister.hr_backlight_state_control.w:=1; (*on*) state:=state+1; 5: (*take a picture*) (*insert your code here*) (*... wait... take a picture... wait...*) (*state:=state+1;*) 6: (*switch backlight off*) asycubewriteregister.hr_backlight_state_control.w:=0; (*off*) state:=state+1; 7: (*final state*) END_CASE Figure 4-1. Programming example for a platform vibration. 8/29

9 (*error detection*) IF asycubereadregister.hr_modbus_status.w <> 0 THEN state:=-1; END_IF (*state machine*) CASE state OF -1: (*error*) 0: (*initial state and preparation*) asycubewriteregister.hr_select_vibration_set.w:=1; state:=state+1; 1: (*switch backlight on*) asycubewriteregister.hr_backlight_state_control.w:=1; (*on*) state:=state+1; 2: (*take a picture*) (*insert your code here*) (*... wait... take a picture... wait...*) (*analyze image: nbparts:=..., x:=..., y:=...*) (*state:=state+1;*) 3: (*switch backlight off*) asycubewriteregister.hr_backlight_state_control.w:=0; (*off*) state:=state+1; 4: (*take the parts on the feeder with the robot*) (*insert your code here*) (*... wait... take a part... wait... take a part... wait*) (*state:=state+1;*) 5: (*prepare sequence*) asycubewriteregister.hr_sequence_execution_nbparts.w:=nbparts; (*ex: 10*) asycubewriteregister.hr_sequence_execution_nbmax.w:=50; asycubewriteregister.hr_sequence_execution_x.w:=x; (*ex: -10*) asycubewriteregister.hr_sequence_execution_y.w:=y; (*ex: 13*) asycubewriteregister.hr_sequence_execution_sequenceid.w:=1; asycubewriteregister.hr_sequence_execution_trig.w:=0; state:=state+1; 6: (*start sequence*) asycubewriteregister.hr_sequence_execution_trig.w:=1; (*rising edge*) IF asycubereadregister.hr_sequence_remaining_time.w>0 THEN state:=state+1; END_IF 7: (*wait for the sequence to complete*) IF asycubereadregister.hr_sequence_remaining_time.w=0 THEN state:=1; (*loop back*) END_IF END_CASE Figure 4-2. Programming example for a production cycle with sequences Example for Ethercat on Twincat 3.1 This section presents the integration of the Ethercat model of the Asycube Gateway in the Beckhoff Twincat 3.1 soft-plc Import the fieldbus device description file 1. Localize the Ethercat Gateway description file Hilscher NT 100-ECS-XX V2.2.xml in the USB memory key provided with the Asycube (folder EtherCAT). 9/29

$2. Copy this file in the folder C:\TwinCAT\3.1\Config\Io\EtherCAT. 3.$ 2. Add the Gateway in the configuration 1. Restart in Config Mode 2.

10 2. Copy this file in the folder C:\TwinCAT\3.1\Config\Io\EtherCAT. 3. Restart Twincat application or click on Reload Device Descriptions Add the Gateway in the configuration 1. Restart in Config Mode 2. Scan for devices 3. Validate the HINT 4. Validate the new I/O Device found 10/29

11 5. Validate the Scan for boxes 6. Validate the Activate Free Run 7. Confirm the creation of Box1 (NT 100-RE/ECS) and the corresponding TxPDO and RxPDO 11/29

12 8. Example: read the Asycube firmware version on the TxPDO Byte in (28)-(33). Here the version is /29

13 9. Example: start the platform vibration by setting the RxPDO Byte Out (2) to value1 13/29

4.2.3. Program and run the application 1.

14 Program and run the application 1. Declare the registers in your application so that they can be linked/mapped as inputs and outputs. Here below is an example using STRUCT and UNION: a. 14/29

15 b. c. d. e. 15/29

Repeat for all variables (Inputs and Outputs). 4.

16 2. Change the link for all variables between the PLC program and the I/O. 3. Select the appropriate I/O Bytes. Repeat for all variables (Inputs and Outputs). 4. Program the behavior in the MAIN. You can refer to the examples provided in Section /29

5. Build the program. 6. Activate Configuration, Login, Start. 7.

Example for Profinet on Siemens TIA Portal This section presents the

TIA Portal (V14) environment (Simatic S7) PLC. 4.3.1. Import the fieldbus device description file 1.

17 5. Build the program. 6. Activate Configuration, Login, Start. 7. Check the Gateway LEDs status and the Asycube behavior Example for Profinet on Siemens TIA Portal This section presents the integration of the Profinet model of the Asycube Gateway in the Siemens TIA Portal (V14) environment (Simatic S7) PLC Import the fieldbus device description file 1. Look for the GSD files in the Asycube memory key. a. b. c. 17/29

18 2. Install the GSD files. a. b. c Add the Gateway in the configuration 1. Add the Gateway (drag and drop) 18/29

19 a. b. c. 2. Link the PLC and the Gateway a. 19/29

20 b. 3. Configure the network and the Name of Station (net100repns). 4. Create the 33 Outputs (type Unsigned16 Output) and then the 19 Inputs (type Unsigned16 Input). a. 20/29

b. 5. Load the configuration. 4.3.3. Program and run the application Refer to Section 4.1.

integration of the Ethernet/IP model of the Asycube Gateway in the Rockwell RSLogix 5000

21 b. 5. Load the configuration Program and run the application Refer to Section Example for Ethernet/IP on Rockwell RSLogix 5000 This section presents the integration of the Ethernet/IP model of the Asycube Gateway in the Rockwell RSLogix 5000 PLC Import the fieldbus device description file 1. Launch the EDS Installation tool. a. 21/29

22 b. 2. Register the EDS file. 3. Select the Gateway EDS file from the Asycube memory key. 22/29

23 a. b. c. 4. Complete the wizard 23/29

24 a. b. c Add the Gateway in the configuration 1. Configure the network. The default IP Address of the Gateway is Add the 33 Outputs (WORD) and 19 Inputs (WORD). Alternatively, you can add 66 Byte Outputs (BYTE or SINT) and the 38 Byte Inputs (BYTE or SINT) 24/29

25 Program and run the application Refer to Section /29

26 5. Troubleshooting This chapter presents some tricks to overcome common problems Modify the Station Name for the Profinet Gateway A Profinet fieldbus slave (IO device) is identified on the Profinet network based on the socalled Station Name. The Station Name of the Profinet Asycube Gateway is set by default to nt100repns. If several Gateways exist in the same Profinet network, the Station Name of the Gateway needs to be modified. Most Profinet masters (i.e. Siemens PLC) can persistently modify the Station Name of a device. The Hilscher tool Ethernet Device Configuration can also change the Station Name as well as other Profinet parameters Modify the IP address for the Ethernet/IP Gateway An Ethernet/IP fieldbus slave (Adapter device) is identified on the Ethernet/IP network based on its IP Address. The IP Address of the Ethernet/IP Asycube Gateway is set by default to If several Gateways exist in the same Ethernet/IP network, the IP Address of the Gateway needs to be modified. Some dedicated tools can persistently modify the IP Address of the device, such as the Molex Industrial Communication Competence Center (ICCC) EtherNetIP Tool. Please note that the IP Address persists even if the Gateway configuration is reset to the factory settings The SYS led blinks alternatively yellow/green every second Please contact the Asyril technical support. The gateway has lost its configuration. The gateway needs to be reset to the factory settings and the fieldbus configuration needs to be deployed again. 26/29

27 6. Technical support 6.1. For better service You have read the related manuals without finding answers to your questions? Before calling the support service, note the following information for your system: serial number and product key of your material Figure 6-1. The gateway serial number can be found in the field (4) on the device label. software version alarm or error message displayed on the screen 6.2. Contact You can find lot of information on our website: You can also contact us by mail or call our support service: /29

28 Review history Rev. Date Author Comments A PeD Initial Version 28/29

29 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 fax

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