asyfeed pocket moduleasyril.com/.../asyril_mfeed-poc-01_operating_manual_e.pdfasyfeed pocket module...
TRANSCRIPT
Asyfeed Pocket module
Operating Manual
Document Asyril_MFEED-POC-01_Operating_Manual_E
Version v1.3 Date 20.09.2011
Articles MFEED-POC-01--01-01-01-01
MFEED-POC-01--01-01-02-01
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Introduction v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 3/41
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
1.3. WARRANTY INFORMATION ........................................................................................................ 8
1.4. EC INFORMATION ..................................................................................................................... 8
1.5. RELATED MANUALS .................................................................................................................. 8
2. DESCRIPTION ................................................................................................................................ 10
2.1. FIRST GLIMPSE AT THE PRODUCT........................................................................................... 10
2.1.1. Asycube ............................................................................................................................... 11
2.1.2. Robot pocket delta ............................................................................................................. 11
2.2. GENERAL CHARACTERISTICS ................................................................................................. 12
2.2.1. Technical features .............................................................................................................. 12
2.2.2. Overall dimensions ............................................................................................................. 13
2.2.3. Workspace ........................................................................................................................... 14
2.2.4. Asyview performances ....................................................................................................... 16
2.3. ELECTRIC INTERFACES .......................................................................................................... 18
2.3.1. Overview .............................................................................................................................. 18
2.3.2. Wiring of the MFEED ......................................................................................................... 18
2.3.3. Digital Input/Output connector (A) .................................................................................... 20
2.3.4. Power connection (B) ......................................................................................................... 21
2.3.5. RJ 45 connector (C) ........................................................................................................... 22
2.4. PNEUMATIC INTERFACES ........................................................................................................ 23
2.4.1. Pneumatic connection........................................................................................................ 23
2.4.2. Compressed air characteristics ........................................................................................ 23
2.5. MECHANICAL INTERFACES ..................................................................................................... 24
2.5.1. Attachment of the MFEED ................................................................................................ 24
2.5.2. Mechanical Interface .......................................................................................................... 25
2.5.3. Compliance .......................................................................................................................... 27
2.5.4. Ionizer ................................................................................................................................... 28
3. TRANSPORTATION, HANDLING AND INSTALLATION ....................................................... 29
3.1. PACKAGING OF THE PRODUCT, TRANSPORTATION AND HANDLING ....................................... 29
3.2. UNPACKING INSTRUCTIONS .................................................................................................... 29
3.3. INSTALLATION AND STORAGE ENVIRONMENT ......................................................................... 31
3.3.1. Installation environment ..................................................................................................... 31
3.3.2. Storage environment .......................................................................................................... 31
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Introduction v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 4/41
4. MAINTENANCE AND REPAIR .................................................................................................... 32
4.1. SAFETY PRECAUTIONS ........................................................................................................... 32
4.1.1. General safety precautions ............................................................................................... 32
4.2. PERSONNEL RESPONSIBLE FOR MAINTENANCE OR REPAIR ................................................... 32
4.3. MAINTENANCE ........................................................................................................................ 33
4.3.1. Periodic maintenance schedule ....................................................................................... 33
4.3.2. General maintenance ......................................................................................................... 34
4.3.3. PocketDelta maintenance ................................................................................................. 34
4.3.4. Asycube maintenance........................................................................................................ 35
4.4. REPAIR.................................................................................................................................... 37
4.5. TECHNICAL SUPPORT ............................................................................................................. 39
4.5.1. For better service … ........................................................................................................... 39
4.5.2. Contact ................................................................................................................................. 39
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Introduction v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 5/41
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
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Introduction v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 6/41
1.2. 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.
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Introduction v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 7/41
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 MFEED
NOTE :
It is the customer’s responsibility to install warning signs informing that anyone working
around the MFEED 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 Fitter Engineer Support
Carrier
agent Dismantler
Construction X
Transportation X
Installation X X
Commissioning X
Use X
Setting & Programming X
Operation X
Cleaning X X
Maintenance X
Decommissioning
Dismantling X
Table 1-1: Intervention groups
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Introduction v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 8/41
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 MFEED 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 Manual reference Description of the
content
MFEED
Operating
manual
MFEED-POC-01_Operating_Manual_E_V1.0 THIS MANUAL
MFEED HMI
manual
MFEED-POC-01_HMI_Manual_E_V1.0 Describes how to
communicate with the
MFEED, how to program
it, and how to use the
HMI.
Table 1-2 : Related manuals
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Introduction v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 9/41
1.5. EC information
The declaration of incorporation as a partly completed machinery can be found here below.
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Description v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 10/41
2. Description
2.1. First glimpse at the product
The Asyfeed module (MFEED)
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
WARNING !
There are no user serviceable parts
inside the electrical box. Contact a
supplier to operate a service. In
cases of non respectation, the
product guarentee will expire.
(E) DOAL (Diffused On Axis Light)
(F) MFEED connections
(G) Tool changer
A controller unit (PC) is also part of
the MFEED :
(H) Asyview PC
For more information on the wiring of
the PC to the MFEED, please, refer to
« 2.3 Electric Interfaces »on page 18.
Figure 2-1 : Asyfeed Module (MFEED)
Figure 2-2 : Arbor PC (Asyview)
(H)
(C)
(B)
(G)
(A)
(D)
(E)
(F)
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Description v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 11/41
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 removable bulck where the
components are stored
(C) Electrical interfaces performed
across a RS232 or a RS485
connection.
(D) A specific tool allowing to remove the
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
(D) Forearms
(E) Platform
(F) Workspace
Figure 2-4 : PocketDelta Robot overview
(B)
(A)
(D)
(C)
(C)
(A)
(D)
(E)
(F)
(B)
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Description v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 12/41
2.2. 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
MFEED
Feeder system Asycube
Robot type PocketDelta
Cycle time 100 picks/min
Placing precision + 0.01mm
Handled part size 0.15 – 5 mm
Maximal force 2 N
Handled parts
materials
Metal, ruby, ceramics, glass,
semiconductor components
Tool changer
Components
position and
orientation
recognition
Sound level < 60dBA
Flexibility Adaptable to the customer’s
process
Easy
configuration of
new recipe
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Description v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 13/41
2.2.2. Overall dimensions
Figure 2-5 : Overall dimensions (In millimeters)
Characteristic Value
Footprint 327.5 x 490 mm
Weight 27kg
490
275.5
223
327.5
122
371.5
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Description v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 14/41
2.2.3. Workspace
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.
55
103
Ø150 55
165
30
103
30
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Description v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 15/41
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
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Description v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 16/41
2.2.4. Asyview performances
2.2.4.1. Lighting
The following table summarizes the combinations of lighting that we propose.
"DD" Resolution field of view
lighting
no lighting Doal 75 green Doal 50 green
02 3Mpx 46 x 35 mm Special program
Special program
03
5Mpx
46 x 35 mm Special program
04 30 x 25 mm Special program Special
program
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 :
'DD' Resolution sensor size field of view Minimal
detail size in pixels
Minimal detail size in micrometers Width length width length
Mpx px px mm mm Px µm
02 3 1200 1600 35 46
20 575
10 288
1 29
03 5 2050 2448 35 46
20 376
10 188
1 19
04 5 2050 2448 25 30
20 245
10 123
1 12
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Description v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 17/41
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
[pixels] D < 10px 10px < D < 20px D > 20px
Example
Localisation
of the part
¼px precise
¼px precise
¼px precise
¼px precise
Detection of
the detail
Localisation
of the detail
¼px precise
NOTE
You can find the configuration of your specific product on the product key. the "DD" refer to
the field of view and camera number of pixels :
P P P
D
P
D
P
D
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Description v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 18/41
2.3. Electric Interfaces
2.3.1. Overview
The electrical interfaces to the
MFEED are situated on the right.
(A) Digital Input/Output connector
(B) Power connection
(C) RJ 45 connector (x3)
Figure 2-8 : Electrical interfaces to the MFEED
2.3.2. Wiring of the MFEED
When shipped, the MFEED is completely wired (robot PocketDelta, Asycube, Asyview ...)
however, the following section provide information on the electrical interfaces of each
component :
Figure 2-9 : Ethernet connection of the main components
AsycubePocketDelta
robotCamera
4 2
Switch
3 1
RJ 45 out
REMOTE PROCESS ACUBE CAM1 CAM2 CAM3
PC
Bus I/O
optional
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Description v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 19/41
The electrical interfaces to the
Asycube are :
(D) Diagnosis-reserved connector
(E) Communication connector
(F) manual switch to change the address
of the Asycube
(G) Power connection
(H) Backlight synchronization
The electrical interfaces to the
PocketDelta robot are :
(I) Power connection
(J) Main stop switch
(K) Input/output connection
(L) Ethernet connector
(M) Robot platform
Figure 2-10 : Electrical interfaces to the Asycube
Figure 2-11 : Electrical interfaces to the
PocketDelta Robot
(K)
(L) (J)
(I)
(M)
(D)
(E)
(F)
(G)
(H)
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Description v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 20/41
2.3.3. Digital Input/Output connector (A)
A few inputs/outputs are available on
the module to pilot local sensors or
actuators. The connector (on the
MFEED side) is a D-Sub Connectors
15 Female. The pin-out is given in the
table below :
Pin Signal Description Pin
1 OUT 4 Vcc (24V)
IN Vcc (24V)
9
2 Not wired
10
3 Not wired
11
4 OUT 4 (0V)
12
5 Not wired
Not wired 13
6 IN 1
Not wired 14
7 IN 0
Ground 15
8 IN Vcc (24V)
Maximal output current : 1A (24V DC)
Figure 2-12 : I/O connector
Sub-D 15 female
(looking at the pins)
Below is a picture explaining the wiring of an input (represented by a lamp) and an output
(represented by switch)
Figure 2-13 : Example of an I/O connection
(8) (1)
(15) (9)
1 8
9
15
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Description v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 21/41
2.3.4. Power connection (B)
The MFEED is powered with
24VDC/10A.
Characteristic Value
Voltage 24V DC
Current 10 A
Power 240 W
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 2-14 : Electrical interfaces
D-Sub 3W3 connector
(on the MFEED side)
WARNING !
- Before supplying power to the product, check that your voltage distribution is the same
as the nominal voltage of the MFEED.
- Never disconnect the power cables when the system is operating. Always turn the
machine off and then turn the power down.
(A1) (A3) (A2)
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Description v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 22/41
2.3.5. RJ 45 connector (C)
The three RJ 45 connection enables
to communicate with :
(A) 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
The electrical interfaces to the
Asyview PC are :
(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
mouse
Characteristic Value
Voltage 12V DC
Power 60W Adapter
Figure 2-16 : Electrical interfaces to the Asyview
(A) (B) (C)
(A) (B)
(G)
(C) (D) (E) (F)
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Description v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 23/41
2.4. Pneumatic interfaces
2.4.1. Pneumatic connection
The pneumatic connection of the
MFEED consists in one connector :
(A) Tool changer and venturi connection
connector Nominal
pressure
Diameter
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 :
Characteristic Value
Nominal filtration rating < 5 µm
Recommended lubricant No lubrication
(A)
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Description v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 24/41
2.5. Mechanical Interfaces
2.5.1. Attachment of the MFEED
The MFEED must be mounted on a smooth, flat and solid surface. Ensure yourself that the MFEED is
not submitted to excessive mounting flexure. Failure to do so would degrade performances.
Figure 2-18 : Attachment of the MFEED
NOTE
the plate is 20 mm thick
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Description v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 25/41
2.5.2. Mechanical Interface
2.5.2.1. Robot tool
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.
For more information on the robot platform, please, refer to the robot’s documentation.
Figure 2-19: 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.
Free geometry
(depending on the
component to
manipulate)
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Description v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 26/41
2.5.2.2. 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.
Perfectly suited for a control
camera with front light lighting.
Perfectly suited for a control
camera with dark field lighting.
Perfectly suited for a control
camera with front light lighting.
Perfectly suited for calibrating
holes of Ø1.1mm.
Perfectly suited for calibrating
holes of Ø1.5mm.
Perfectly suited for calibrating
holes of Ø1.5mm.
Figure 2-20 : 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 HMI manual.
11.2
Ø1.5
Ø1.1
11.2
Ø2
Ø1.5
11.2
Ø2
Ø1.5
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Description v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 27/41
2.5.2.3. 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 2-21 : Plaque de calibration pour asycube
Figure 2-22 : Detail of the holes position on the calibration plate.
For more information about the calibration procedure, refer to the HMI manual.
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Description v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 28/41
2.5.3. Ionizer
The ionizer, give 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.
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Transportation, handling and installation v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 29/41
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 MFEED 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.
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Transportation, handling and installation v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 30/41
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
Asyril. Figure 3-3 : Location of the identification plate
on the product
The product key gives the product designation as follows:
PRODU - TYP - VE - - AA - BB - CC - DD
Product
MFEED - Asyfeed module
Robot type
POC - Pocket Delta robot
Version
01 - Version number
Robot
01 - ROBOT-POC-01--15-03-02-01
Feeder
01 – ACUBE-MEZ-02--01-01-01-02
Vision
03- AVIEW-INT-03--01-01-01-01
Option
02- FOV 45 x 36; 2 Mpx
03- FOV 45 x 36; 5 Mpx
04- FOV 30 x 25; 5 Mpx
Figure 3-4 : Product key
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Transportation, handling and installation v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 31/41
3.3. Installation and storage environment
WARNING !
The MFEED must be mounted on a smooth, flat and strong surface. Be sure that the
MFEED is not exposed to excessive vibrations or mounting flexure. Failure to do so
would deteriorate the MFEED’s performance.
3.3.1. Installation environment
The MFEED 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 MFEED.
- Humidity: 30% to 95% max. non-condensing
WARNING !
In the case of extreme humidity, note that it might affect the global performances of the
MFEED. 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 MFEED 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.
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Maintenance and repair v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 32/41
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.
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Maintenance and repair v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 33/41
4.3. 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
General Cleaning of the machine Week A 4.3.2.1
Tool changer Visual inspection of the tools (control of the
state) Change of nozzles in poor condition Week B
Cleaning of the tool’s drillings. Week A
Optical parts Visual check of the optical parts and if
necessary cleaning and calibration of the
Asyview
Year C Contact
Asyril
Pneumatics If necessary exchange of the air filter Year B
Asycube VoiceCoils control and audit of component
behavior Year C Contact
Asyril
Visual check and cleaning of the bulk and plate Week A 4.3.4.1
Visual check and Cleaning 3D vibration
module Year B 4.3.4.3
Robot Visual check, clean and lubricate the
articulations of the parallel structure (including
moving platform and compliance)
Year C Contact
Asyril
Cleaning the robot Year B 4.3.3.1
Table 4-1 : Periodic maintenance schedule
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
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Maintenance and repair v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 34/41
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
MFEED (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 MFEED could malfunction.
For more information on this operation, please contact the Asyril’s customer service.
4.3.3. PocketDelta maintenance
4.3.3.1. Cleaning robot
Material needed :
- Lint-free cloth
- isopropanol alcohol
- Vacuum-cleaner
Step 1 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)
Figure 4-2 : Cleaning the robot PocketDelta
(A)
(B)
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Maintenance and repair v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 35/41
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.
- Clean the air filter
4.3.4. Asycube maintenance
4.3.4.1. Cleaning bulk
Material needed :
- Lint-free cloth
- isopropanol alcohol
- Allen key (1.5mm)
Step 1 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
(A)
(B)
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Maintenance and repair v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 36/41
4.3.4.2. Control and Cleaning of the platform
Material needed :
- Lint-free cloth
- isopropanol alcohol
Step 1 Control the surface state of the
platform (A) and be particularly
careful to the following points :
- Scratches
- Dirt
- Spotted surface
- Oily or greasy surface
WARNING :
If the surface damage is such that
the vision or the behavior of parts
is disturbed, its replacement must
be proceeded.
Step 2 Clean the surface of the platform
Figure 4-4 : Platform
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.
(A)
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Maintenance and repair v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 37/41
4.4. 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 MFEED-POC-01--01-01-03-02
Name of the part Type Article number
PC ARBOR FPC-7500-8-i5-8-i340 B 900 006 825
CAMERA 1/1.8'' ECO274 GIGE CCD C 602 700 139
OBJECTIF 50mm C-MOUNT 2/3'' 1.3M C 602 700 664
MIRRO-POC-01--15-02-01-01 C 600 831 006
ECLAIRAGE DOAL 75X75 mm2 G Led 24V B 602 700 354
CAPTEUR STATIQUE D-F8PSAPC B 220 000 466
TABLE LINEAIRE PNEUMATIQUE MXJ8-20CP B 420 002 641
PATIN RESSORT B F M6x14 B 420 002 960
FOURCHE MOBILE CHANGEUR D'OUTIL B 420 004 850
CONVERT ETHERNET/SERIAL MOXA NPORT 5150A B 602 001 602
ELECTRODISTRIBUTEUR EVT307-5DO-01F-F-Q B 420 002 822
VENTURI COMPACT ZQ1101U-K15LO-EBG-00-Q B 420 002 817
ELECTRODISTRIB. 5/2 MONO 24VCC SY3120 B 602 001 731
FILTRE XT534-5-001-AS A 420 011 708
MODULE ETHERNET MOXA 8xRJ45 10/100/1000 B 602 001 768
FUS. T 2A GS 5x20 A1 142 054 202
FUS. T 5A GS 5x20 A1 142 054 502
OPTOCOUPLEUR PLC-OSP- 24DC/24DC/2 B 210 000 171
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Maintenance and repair v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 38/41
Table 4-3 : Replaceable parts for Module MFEED-POC-01--01-01-03-03
Name of the part Type Article number
PC ARBOR FPC-7500-8-i5-8-i340 B 900 006 825
CAMERA 2/3'' ECO655 GIGE CCD C 602 700 140
ACCESS. AVIEW OBJECTIF LENS 60 C 660 831 008
MIRRO-POC-01--15-02-01-01 C 600 831 006
ECLAIRAGE DOAL 75X75 mm2 G Led 24V B 602 700 354
CAPTEUR STATIQUE D-F8PSAPC B 220 000 466
TABLE LINEAIRE PNEUMATIQUE MXJ8-20CP B 420 002 641
PATIN RESSORT B F M6x14 B 420 002 960
FOURCHE MOBILE CHANGEUR D'OUTIL B 420 004 850
CONVERT ETHERNET/SERIAL MOXA NPORT 5150A B 602 001 602
ELECTRODISTRIBUTEUR EVT307-5DO-01F-F-Q B 420 002 822
VENTURI COMPACT ZQ1101U-K15LO-EBG-00-Q B 420 002 817
ELECTRODISTRIB. 5/2 MONO 24VCC SY3120 B 602 001 731
FILTRE XT534-5-001-AS A 420 011 708
MODULE ETHERNET MOXA 8xRJ45 10/100/1000 B 602 001 768
FUS. T 2A GS 5x20 A1 142 054 202
FUS. T 5A GS 5x20 A1 142 054 502
OPTOCOUPLEUR PLC-OSP- 24DC/24DC/2 B 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
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Maintenance and repair v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 39/41
4.5. 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.ch
You can also contact us by mail or call our support service :
+41 26 653 7190
Asyfeed Pocket module - Asyril SA
Operating Manual © Copyright Asyril S.A.
Maintenance and repair v1.3 FO 32.03.118
Operating Manual Asyfeed Pocket module - Asyril SA 40/41
Review history
Rev. Date Author Comments
1.0 20.09.2011 SiA Version Initiale
1.1 19.10.2012 SiA Mise à jour liste pièce de rechange
Modification maintenance asycube (nettoyage interne)
1.2 16.01.2014 SiA Mise à jour passage de 1PC lanner à 1PC arbor (images,
légendes, liste de pces)
1.3 24.02.2015 SiA Mise a jour suite a modification du produit (1 passage
pneumatique, modification interfaces de fixation, modification
liste de pièces de rechange)
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
ch-1690 villaz-st-pierre
switzerland
tel. +41 26 653 71 90
fax +41 26 653 71 91
www.asyril.ch