human- machine interface - asyril · 2019-05-03 · this manual contains all the information...

Human-Machine Interface

Operating Manual

Document Asyril_XFEED-XXX-XX_User_Interface_Manual_EE

Version v1.8 Date 28.11.2012

Articles

AFEED-POC-01--XX-XX-XX-XX

AFEED-DES-01--XX-XX-XX-XX

MFEED-POC-01--XX-XX-XX-XX

MFEED-DES-01--XX-XX-XX-XX

HMI version From: v1.8.x To: 1.9.x

Human-Machine Interface - Asyril SA

Operating Manual © Copyright Asyril S.A.

Contents v1.8 FO 32.03.118

Manuel Utilisateur - Asyril SA 3/98

Contents

CONTENTS ................................................................................................................................................... 3

1. INTRODUCTION ............................................................................................................................... 5

1.1. GENERAL INFORMATION ........................................................................................................... 5

1.2. OTHER MANUALS ...................................................................................................................... 6

1.3. HMI FUNCTIONALITIES.............................................................................................................. 7

1.3.1. Installing the HMI software on a specific computer ......................................................... 7

1.3.2. PC Asyview and HMI ........................................................................................................... 8

1.3.3. Parties involved ..................................................................................................................... 8

2. "HEADER" SCREEN ....................................................................................................................... 9

2.1. OVERVIEW ................................................................................................................................ 9

2.2. DESCRIPTION OF MACHINES STATES ..................................................................................... 10

2.3. DETAILED DESCRIPTION ......................................................................................................... 12

2.3.1. "States" tab .......................................................................................................................... 12

2.3.2. "Statistics" tab ..................................................................................................................... 12

2.3.3. "Alarms" tab ......................................................................................................................... 13

2.3.4. "Shortcuts" tab .................................................................................................................... 14

2.3.5. "Login" tab ........................................................................................................................... 19

2.3.6. "Recipes" tab ....................................................................................................................... 20

3. CONFIGURATION SCREEN ........................................................................................................ 21

3.1. REMOTE DESKTOP CONNECTION ........................................................................................... 21

3.1.1. Ethernet connection for the main components .............................................................. 21

3.1.2. Connection test ................................................................................................................... 21

3.2. GENERAL OVERVIEW .............................................................................................................. 22

3.3. DETAILED DESCRIPTION ......................................................................................................... 23

3.3.1. "Asycube" screen................................................................................................................ 23

3.3.2. "Process" screen ................................................................................................................ 27

3.3.3. "Robot" screen .................................................................................................................... 35

3.3.4. "Vision" screen .................................................................................................................... 47

3.3.5. "Recipe" screen .................................................................................................................. 53

3.3.6. "Users" screen .................................................................................................................... 56

4. CREATING AND CONFIGURING A NEW RECIPE ................................................................. 60

4.1. INTRODUCTION ....................................................................................................................... 60

4.2. CREATING A NEW *.VREC FILE ................................................................................................ 61

4.3. CONFIGURING THE ASYCUBE ................................................................................................. 62

4.3.1. Configuring the vibrations .................................................................................................. 62

4.3.2. Configuring the vibration sequences ............................................................................... 63

4.4. SELECTING THE JOB TYPE ...................................................................................................... 64



Contents v1.8 FO 32.03.118


4.4.1. Various job types ................................................................................................................ 64

4.4.2. Creating a new *.avaf file .................................................................................................. 65

4.5. CONFIGURING THE ILLUMINATION PARAMETERS .................................................................... 65

4.6. PROGRAMMING THE VISION MODEL ....................................................................................... 66

4.6.1. Preliminary step .................................................................................................................. 66

4.6.2. Acquiring an image ............................................................................................................. 67

4.6.4. Logging on to the Asyview PC remotely ......................................................................... 68

4.6.5. Programming the Vision model ........................................................................................ 69

4.7. END OF PROGRAMMING .......................................................................................................... 89

4.8. VISION MODEL TEST ............................................................................................................... 90

4.9. PERMANENTLY SAVING THE VISION MODEL ........................................................................... 91

5. CALIBRATION ................................................................................................................................ 92

5.1. ASYCUBE "ROBOT – VISION" CALIBRATION ........................................................................... 92

5.1.1. Vision .................................................................................................................................... 92

5.1.2. Picking Robot frames ......................................................................................................... 94

6. TECHNICAL SUPPORT ................................................................................................................ 96

6.1. FOR A BETTER SERVICE … ..................................................................................................... 96

6.2. CONTACT ................................................................................................................................ 96

REVISION TABLE ..................................................................................................................................... 97



Introduction v1.8 FO 32.03.118


1. Introduction

1.1. General information

This document is the property of Asyril S.A.; it may not be reproduced, modified or communicated,

in whole or in part, without our prior written authorisation. Asyril S.A. reserves the right to modify

any information contained in this document for reasons related to product improvements without

prior notice. Before using the product, please read this entire document in order to ensure that the

product is used correctly. However, if you encounter difficulties when using the product, do not

hesitate to contact our customer service department.

In this manual, the safety information that must be respected is split into three types: "Danger",

"Important" and "Note". These messages are identified as follows:

DANGER!

Failure to respect this instruction may result in serious physical injury.

DANGER!

This instruction identifies an electrical hazard. Failure to respect this instruction may

result in electrocution or serious physical injury due to an electric shock.

IMPORTANT!

Failure to respect this instruction may result in serious damage to equipment.

NOTE:

The reader's attention is drawn to this point in order to ensure that the product is used

correctly. However, failure to respect this instruction does not pose a danger.

Reference …

For more information on a specific topic, the reader is invited to refer to another manual or

another page of the current manual.

IMPORTANT!

Asyril cannot be held responsible for damage to property or persons caused by the failure to

respect the instructions specified in the "Safety instructions" paragraph. It is the client's

responsibility to inform the personnel concerned.

NOTE:

All dimensions and values are expressed in millimetres (mm) in this manual.





1.2. Other manuals

The table below provides a list of documents supplied with the product. Each of these manuals

forms an integral part of the set of documentation associated with the product.

This manual contains all the information necessary to use the human-machine interface (HMI),

calibrate the system and configure new recipes.

Manual title Reference Description of the

content

AFEED

Operating

Manual

AFEED-POC-01_Operating_Manual_F Contains a technical

description of the product,

its functionalities and

provides maintenance and

transport information

concerning the product

AFEED

HMI Manual

XFEED-XXX-XX_User_Interface_Manual_F THIS MANUAL

ARL

Reference

manual

Asyril_ARL__-XXX-

XX_Programming_Guide_F

Explains the operation of

the robot and describes

how to program it

Table 1-1: Other manuals





1.3. HMI functionalities

1.3.1. Installing the HMI software on a specific computer

NOTE:

In the case of an AFEED-DES or AFEED-POC unit, the "HMI" software is already installed on

the appropriate control unit. This chapter explains how to install the HMI on your own

computer when using a MFEED module for example.

Step 1 Insert the HMI installation CD into the CD player of the PC on which the HMI should be installed

Step 2 Double-click on the setup.exe executable file to launch the installation procedure

Figure 1-1: HMI setup wizard

Step 3 Follow the instructions provided by the wizard

Step 4 When installation is complete, click on "close" to close the wizard.

Figure 1-2: Installation complete

NOTE:

Check that your version of the ".net framework" is up to date (version 4.0 is necessary as a

minimum). You can download this version from the Microsoft website:

http://www.microsoft.com/download/

http://www.microsoft.com/download/





1.3.2. PC Asyview and HMI

The two control units (HMI and PC Asyview)

are supplied configured and ready for use.

IMPORTANT!

These two units are configured for Asyview

and HMI software only and NOT for any other

program! Failure to respect this instruction

will invalidate the warranty.

Figure 1-3: Asyview PC

1.3.3. Parties involved

This table defines the roles assigned to each professional permitted to work on the AFEED unit

during its life cycle.

Operator Technician Integrator

Switch on/switch off the unit

Login/Logout

Select a recipe

Launch/Stop production

Save a history

Create/Modify a recipe

Add/Modify an operator

Calibrate a pallet

Advanced access to the Robot

Advanced access to Asyview

Advanced access to the HMI

Table 1-2: Parties involved



"Header" screen v1.8 FO 32.03.118


2. "Header" screen

2.1. Overview

The header screen is always structured as follows in the case of a AFEED or MFEED unit:

Figure 2-1: General overview of the header screen

Ref. Designation Description

(A) Logo The default logo is the Asyril logo, but you can replace this with your own logo.

(B)

or

(B’)

Machine state

or

List of programs

The machine states for the AFEED unit are described in the next chapter.

In the case of an MFEED, a dropdown menu is displayed providing the list of programs.

(C) Control buttons Press one of these buttons to activate or stop production.

(D) Specific zone The information contained in these tabs will be described in the following chapters.

(E) HMI state This LED (green/yellow/red) describes the global state of the interface

(F) Tab selection Pressing one of these buttons (statistics, recipes, login, etc.) will display the corresponding zone (D).

(G) Name of the recipe in progress

The name of the last global recipe (*.rec) loaded or saved is displayed in this field and visible from all tabs.

(A)

(B)

(C)

(D)

(E)

(F)

(G

(B’)





2.2. Description of machines states

The AFEED unit can be controlled using the following buttons:

Button Description

This "start" button is used to start production if a recipe has already been loaded. It also enables production to be resumed if the "pause" button was pressed beforehand. (when production is in process, this button adopts the function of a "pause" button).

The "pause" button enables production to be in "pause" mode. When production is paused, this button adopts the function of a "start" button. When a pause request is made, the pause button turns grey whilst production is paused.

DANGER! Pressing the "pause" button does not necessarily stop movement. In fact, depending on the program compiled by the integrator, the robot may still move (move to a safe height, etc.). However, it is not advisable to include movements in this program section. The only way to stop the robot and associated processes is by pressing the emergency stop button.

This "stop" button enables production to be halted. The robot and associated processes will be stopped.

DANGER! Pressing the "stop" button does not necessarily stop movement. In fact, depending on the program compiled by the integrator, the robot may still move (place the tool, move to a safe height, etc.). The only way to stop the robot and associated processes is by pressing the emergency stop button.

The "stop" button is greyed out when it is impossible to stop production (for example, when production has already stopped).

This "clear" button is only available from the alarm tab. It is used to clear the alarm. When no alarm has occurred, this button is greyed out.

DANGER! Pressing the "clear" button may result in a series of robot movements (place a tool, move to a safe height, etc.)





The AFEED unit is programmed to operate according to the following states:

Figure 2-2: AFEED unit machine states

The states shown by a dotted line on the diagram above represent transition states to a final state

represented by a solid line.

Depending on the state in which the AFEED unit is in at a particular point in time t, the operator

has the following options available:

Current state Action Next state

Stopped Press START Running

Paused Press START Running

Alarm Press CLEAR Stopped

Running Press STOP Stopped

Press PAUSE Held

RUNNING

PAUSED

ALARMSTOPPEDSTOPPED ALARM

FINISHED

PAUSED PAUSED

RUNNING





2.3. Detailed description

2.3.1. "States" tab

Pressing the "States" button (A) will display the following screen:

Figure 2-3: Overview of the "states" tab


(A) "States" button Press this button to display the "states" screen

(B) Software version This version number should be communicated in the event of any contact with the After-Sales department of Asyril SA.

(C) Table of states This table provides more information about the connection state of each module (robot, process and Asyview) and indicates whether an alarm has occurred. In addition, the "data" column indicates whether the data related to each module has loaded or not.

2.3.2. "Statistics" tab

Pressing the "Statistics" button (A) will display the following screen:

Figure 2-4: Overview of the "statistics" tab


(A) "Statistics" button Press this button to display the "Statistics" screen.

(B) Advanced statistics The statistics displayed in this table are defined by Asyril SA.; for more information about this functionality, please contact Asyril customer services.

(C) Basic statistics This table enables the value of a variable defined in the ARL program to be easily tracked.

(D) Date and time

NOTE:

The date and time can be modified directly from the Windows toolbar

(A) (B)

(C

(A)

(C) (D) (B)





2.3.3. "Alarms" tab

Pressing the "Alarm" button (A) will display the following screen (this screen is also displayed

automatically when an error occurs)

Figure 2-5 Overview of the "Alarm" tab


(A) "Alarm" button Press this button to display the "Alarm" screen.

(B) "Clear alarm" button

This button is available when an alarm occurs, and is greyed out under normal conditions.

(C) Table of alarms This table provides useful information for diagnosing errors:

- The "Module" column gives the name of the module

issuing the error (such as the Robot, Asyview, HMI, etc.);

- The "Information" column contains a clear explanation

of the error encountered and possibly a solution to

resolve it.

- The "Time" column provides information about the time

and date on which the error occurred.

(D) "Delete" and "Delete all" buttons

These buttons are used to delete one or more preselected alarm messages.

(E) Machine states The machine state is indicated as an "alarm" when an alarm occurs.

(F) HMI state The HMI state is indicated as an "error" when an alarm occurs.

NOTE:

When an error occurs, the situation that generated the alarm must be resolved and then the

alarm cleared by clicking on the " " button

NOTE:

When an alarm message is deleted using the "delete" or "delete all" buttons, the alarm is not

deleted, only the message is cleared. It is necessary to press the " " button before being

able to resume production.

(A)

(C)

(B)

(D)

(E)

(F)





2.3.4. "Shortcuts" tab

2.3.4.1. Overview

The "shortcuts" tab enables the functions that are frequently used to be executed. Pressing the

"Shortcuts" button (A) will display the following screen:

Figure 2-6: Overview of the "Shortcuts" tab


(A) "Shortcuts" button Press this button to display the "Shortcuts" screen.

(B) Process shortcuts The two buttons "load tool" and "unload tool" enable a tool to be loaded or unloaded from the robot's platform. Any other program whose name begins with " _ " will be displayed in this list in the form of a shortcut button.

IMPORTANT NOTE:

The programs executed from this list no longer respect the sequence of states described in the previous chapter. The program will be directly executed without passing through the "starting", "stopping" phases, etc.

(C) Robot shortcuts The "off" button is used to activate the brakes and to switch off the power to the motors.

The "idle" button is used to activate the power to the robot and to initialise it.

The "slowspeed" box enables the robot to be set at slow speed.

If it is necessary to release the brakes (for the calibration steps for example), the "brakes release" box should be ticked.

(D) Asyview shortcuts Pressing the "acquire" button enables a photo of the platform to be taken depending on the configuration performed. Pressing the "abort" button enables this image capture to be cancelled.

If necessary, the "stop" button may be pressed to stop the Asyview.

(E) Asycube shortcuts This box is used to switch on or switch off the backlight of the Asycube

(A)

(B) (C) (D) (E)





It is possible to scroll through the shortcut bar, in order to display the following elements:

Figure 2-7: Overview of the "Shortcuts" tab


(F) Language (optional)

A specific language may be chosen by pressing the associated name then by clicking on "validate"

NOTE:

Some languages are available on request; for more information, please contact Asyril customer services.

(G) Other shortcuts The "reload" button enables all of the HMI parameters to be loaded again.

The "clean" button is used to deactivate the touch screen for 20 seconds to facilitate cleaning.

(H) Creating a production report

These fields make it possible to define the creation dates of a statistical report, configured by Asyril SA.

For more information about this functionality, please contact Asyril customer services.

(F) (G (H)





2.3.4.2. Procedure for changing the tool

2.3.4.2.1. With the "single" tool changer

The AFEED-POC unit and MFEED-POC module are equipped with a semi-automatic tool changer

that enables a tool to be loaded and unloaded from the robot's platform.

DANGER!

The procedure must be performed by a single person (risk of a hand injury when

loading or unloading the tool if another person gives the order whilst the adjuster is

installing the tool in the zone).

Figure 2-8: Procedure for changing the tool

To change the tool, please respect the following steps.

Step 1 Press the "Shortcuts" button to display the "Shortcuts" screen.

Step 2 Press the "unload tool" button and wait until the unload procedure is complete.

Step 3 Open the doors of the AFEED unit and change the tool in the tool changer. Then close the doors.

Step 4 Press the "load tool" button and wait until the load procedure is complete.

(Step 5) Press the "Start" button to start production

EQUIPMENT DANGER!

When the unit is stopped (switched off), no tool must be loaded onto the platform or

tool holder. Failure to observe this regulation may result in the robot being damaged

during the next initialisation procedure.

1-

4-

2-

5-





2.3.4.3.1. With the "multi-position" tool changer

The AFEED-DES unit is equipped with an automatic tool changer enabling a tool to be loaded and

unloaded on the robot's platform. In addition, this tool changer has 10 positions making it possible

to store the tools directly in the unit.

Figure 2-9: Procedure for changing the tool

To change the tool, please respect the following steps.


Step 2 Press the "unload tool" button and wait until the unload procedure is complete.

Step 4 Press the "load tool" button and wait until the load procedure is complete.

(Step 5) Press the "Start" button to start production

EQUIPMENT DANGER!

When the unit is stopped (switched off), no tool must be loaded onto the platform or

tool holder. Failure to observe this regulation may result in the robot being damaged

during the next initialisation procedure.

1-

2-

4-

5-





2.3.4.4. Releasing the brakes

EQUIPMENT DANGER!

When the brakes are released, the robot's platform is no longer held by any force; it is

therefore essential to secure it to prevent the platform or tool from crashing.

Figure 2-10: Procedure for releasing the brakes

To release the brakes of the robot, please respect the following steps


Step 2 Press the "off" button to switch off the motors. The brakes are then automatically applied to prevent a robot crash.

Step 3 Tick the "brakes release" box to release the brakes of the robot.

2.3.4.5. Changing the HMI language

To change the HMI language, please respect the following steps:

Figure 2-11: Modifying the language


Step 2 Click on the desired language.

Step 3 Click on "OK" to confirm your choice.

NOTE:

Not all HMI languages are available by default. For more information about this functionality,

please contact Asyril customer services.

1-

2-

3-

1-

2-

3-





2.3.5. "Login" tab

2.3.5.1. Overview

Pressing the "Login" button (A) will display the following screen:

Figure 2-12: Overview of the "Login" tab

This tab is used to log in as an operator, adjuster or integrator:


(A) "Login" button Press this button to display the "Login" screen.

(B) "User" input field This input field is used to enter your user name

(C) "Password" input field This input field is used to enter your personal password, associated with a unique user name.

(D) Keyboard This touch screen keyboard appears when one of the input fields is selected.

2.3.5.2. Login - Logout

Figure 2-13: Logging in

To log in to the HMI, please proceed as follows:

Step 1 Click on the "login" button to display the screen above.

Step 2 Touch the white input box to display the touch screen keypad and type your user name

Step 3 Enter your password.

Step 4 Click on the "login" button to confirm and log in as an operator, adjuster or integrator.

(A)

(D)

(B) (C)

-1

-4 -2 -3





2.3.6. "Recipes" tab

2.3.6.1. Overview

Pressing the "Recipes" button (A) will display the following screen:

Figure 2-14: Overview of the "Recipes" tab


(A) "Recipes" button Press this button to display the "Recipes" screen.

(B) List of recipes This dropdown list makes it possible to scroll through all of the recipes configured and to load one.

(C) "Refresh list" button This button is used to refresh the content of the list (B).

(D) Descriptor table This descriptor is loaded when a recipe is selected. It may be modified then saved by clicking on the "save descriptor" button.

NOTE:

A recipe must be loaded in the D:\AsyrilData\Recipes folder in order to be displayed in the

dropdown list.

2.3.6.2. Loading a recipe

Figure 2-15: Loading a recipe

To load an existing recipe, please proceed as follows:

Step 1 Press the "recipe" button to display the screen above.

Step 2 Select the recipe that you wish to load from the dropdown list by clicking on its name (the corresponding descriptor will then be displayed).

Step 3 Press the "load" button (this button is greyed out when the unit is in production).

Step 4 Press the "Start" button to begin production.

(A)

(B) (D)

(C)

1-

2-

4-

3-



Configuration screen v1.8 FO 32.03.118


3. Configuration screen

3.1. Remote desktop connection

3.1.1. Ethernet connection for the main components

When the AFEED unit is supplied, it is wired and ready for use (Robot Pocket Delta or

DesktopDelta, Asycube, Asyview, etc.). Please refer to the documentation for your particular

machine for more information about the Ethernet wiring for the main components, as well as the

associated IP addresses. You will need these addresses for the rest of this manual.

3.1.2. Connection test

When the HMI PC connection is established, the connection to the PC Asyview and Pocket Delta

robot or Desktop Delta may be checked by performing a "ping" from their IP address.

Step 1 Click on the Windows start button

Step 2

In the "All programs\Accessories" menu, click on the following icon:

Step 3 Type the "ping" command followed by the IP address of the Asyview PC.

Then, press the "Enter" button on your keypad

Unit Examples of IP

addresses

Asyview PC 192.168.0.70

Pocket Delta robot 192.168.0.10

Desktop Delta robot 192.168.0.30

Step 4 Check that the Asyview (and the robot) responds in < 1 ms as shown in the

example below:

Figure 3-1: Robot and Asyview "Ping"





3.2. General overview

The configuration screen is separated into three distinct zones:

Figure 3-2: General overview of the configuration screen


(A) Global navigation buttons

The navigation buttons are:

- Process

- Robot (Pocket Delta or Desktop Delta)

- Vision

- Asycube

- Recipes

- Debug (for maintenance, and debug only)

(B) Navigation tabs For each navigation button selected from zone (A), a series of

tabs becomes available.

(C) Zone specific to each tab

The content of this specific zone is displayed when a tab is

selected from zone (B)

The information contained in these zones will be described in detail in the following paragraphs.

IMPORTANT NOTE:

Before changing tab, remember to click on "apply" to apply your modifications!

(A)

(C)

(B)





3.3. Detailed description

3.3.1. "Asycube" screen

3.3.1.1. "Home" tab

3.3.1.1.1. Overview

Pressing the "Asycube" button (A) followed by the "home" button (B) will display the following

screen:

Figure 3-3: Asycube-Home: Overview


(A) "Asycube" button Click on this button to display the Asycube navigation bar

(B) "Home" tab Click on this button to display the "home" screen

(C) "Backlight ON" box Tick or untick this box to switch on or switch off the backlight

(D) "Execute vibration" buttons

Click on one of these buttons to execute the preconfigured batch using fields (G) or (H).

(E) "Stop vibration" buttons

Click on this button to stop the vibration sequence in progress

(F) Box associated with a vibration time

Tick this box to permit vibrations for the length of time defined in the input field.

(G) Cube vibration batches

Click on one of the buttons (D) and configure the amplitude, frequency and vibration time for each cube batch.

(H) Bulk vibration batches Click on one of the buttons (D) and configure the amplitude, frequency and vibration time for each bulk batch.

(I) "Preview values" box When this box is ticked, pressing the buttons (D) makes it possible to select the batch without executing it.

(A)

(G)

(H)

(F)

(D)

(C)

(B)

(E)

(I)





3.3.1.1.2. Configuring the Asycube vibrations

To define the movement of parts over

the surface of the Asycube, several

parameters must be defined. Each

"movement" represented on the figure

opposite is then associated with a batch

of 12 parameters:

- Amplitude according to X, Y and Z

- Frequency according to X, Y and Z

- Type of signal (sinusoidal, sawtooth,

etc.) for X, Y and Z

- Signal phases according to X and Y

- Vibration time

Using all 12 parameters at the same

time will generate the vibration

associated with the sum of movements

caused by each of the three actuators in

the three directions: X, Y and Z.

Figure 3-4: Predefined movements

The specific zones (G) and (H) on Figure 3-3 are used to configure some of these parameters.

The others are already preconfigured by Asyril prior to delivery.

IMPORTANT NOTE:

The vibration time must always be configured as the time required for the parts to traverse

the platform from the opposite direction.

NOTE 2:

The vibration buttons (D) are only made available outside production. In fact, the Asyview

must be in "configuration" mode in order for the buttons to appear. If this is not the case, click

on the "stop" button under the Asyview shortcuts tab.





3.3.1.2. "Process" tab

3.3.1.2.1. Overview

Pressing the "Asycube" button (A) followed by the "Process" button (B) will display the following

screen:

Figure 3-5: Asycube-Process Overview


(A) "Asycube" button Click on this button to display the Asycube navigation bar

(B) "Process" tab Click on this button to display the "process" screen

(C) "Vibrate" button Click on this button to test the entire vibration sequence configured: image acquisition / analysis / bulk vibration if necessary / cube vibration.

"Refresh" button This button is used to refresh the data contained in the configuration zone (D).

"Apply" button Press this button to apply the modifications made in the configuration zone (D).

"Planar plate" button

Press this button to load the default parameters related to a planar platform.

"Structured plate" button

Press this button to load the default parameters related to a grooved platform.

"Advanced mode" box

Tick this box to access the configuration for specific parameters when a minimum or maximum number of parts is reached.

(D) "Vibration" configuration zone

Configure your vibration sequence for the cube and bulk in this table according to the number of parts detected on the surface.

The configuration of this zone is explained in the next section of this manual.

(A)

(B)

(C)

(D)





3.3.1.2.2. Configuring vibration sequences

Depending on the number of parts detected on the Asycube platform, it is possible to configure a

specific vibration sequence. Between each sequence configured, the vibration time is interpolated

linearly. (For example, if for 10 parts, the bulk must vibrate 1000 ms, and for 20 parts it must

vibrate 500 ms, for 15 parts found on the platform, the bulk will be vibrated for 750 ms).

In "advanced" mode, it is possible to differentiate the desired vibration sequence for a feed and

recirculation phase. Therefore when:

- the number of parts found on the surface is less than a defined minimum: the feed sequence

is activated

- the number of parts found on the surface is more than a defined maximum: the recirculation

sequence is activated

- the number of parts found on the surface is between the defined minimum and maximum: the

process sequence is activated

In order to reduce the component stabilisation time,

the Asycube platform may be machined (grooves,

holes, etc.). In this case, the vibration sequence must

be adapted to the type of platform (so that the parts

are directly positioned in the grooves or holes for

example). In the case of a grooved platform, a typical

vibration sequence may be:

- Flip

- Forward

- Backward

A preconfigured sequence makes it possible to

distribute the parts uniformly over the platform; to

execute this algorithm during the vibration sequence,

the word "calculated" must be added to the first

column of the vibration configuration table. In this

case, the length selected will have no influence as it

will be automatically defined by the algorithm.

Figure 3-6: Example of a grooved

platform

NOTE 1:

The Vision model must be configured BEFORE a complete vibration sequence is tested (by

clicking on the "vibrate" button). In fact, a photo is taken in order to establish the position of

the parts, and their quantity and therefore be able to calculate the vibration sequence

adapted.





3.3.2. "Process" screen

3.3.2.1. "Home" tab

3.3.2.1.1. Overview

Pressing the "Process" button (A) followed by the "Home" button (B) will display the following

screen:

Figure 3-7: Process-home: Overview


(A) "Process" button Click on this button to display the process navigation bar


(C) List of programs This dropdown list contains all of the programs created from the "programming" tab

(D) "Apply" button Click on this button to apply all of the modifications made to the table (F).

(E) "Refresh" button This button is used to refresh the content of the table (F). The previous parameters saved on the robot will be loaded.

(F) "Dynamic data" table This table contains all of the parameters as well as the values associated with them. When a value is edited, the "apply" button must be pressed so that the modifications are registered.

3.3.2.1.2. Adjusting the process

Use the dropdown list (C) to determine the program to be modified. Then change the values of the

parameters to be modified in the table (F) and finally click on the "apply" button (D) to observe the

effect of the modifications made.

(F)

(A)

(B)

(E)

(D) (C)





3.3.2.2. "Programming" tab

3.3.2.2.1. Overview

Pressing the "Process" button (A) then the "Programming" button (B) will display the following

screen:

Figure 3-8: Process-programming: Overview



(B) "Programming" tab Click on this button to display the "programming" screen

(C) List of programs This dropdown list contains all of the recipe programs in progress

List of sub-programs This dropdown list contains all of the recipe sub-programs in progress

"Apply" button Click on this button to apply all of the modifications made to the table (F) and edit area (D)

"Refresh" button This button is used to refresh the content of the table (F) and the edit area (D).

"Add" button Click on this button to create a new sub-program

"Remove" button Click on this button to remove a sub-program selected in the previous list.

Sub-program input field

Type the name of a new sub-program in this input field and add it by clicking on "add"

(D) Program edit area When a program (or sub-program) is selected in the dropdown list, its content is displayed in this zone.

(E) Advanced handling Click on the "add" or "remove" button to add a program or permanently remove a program

(F) "Remove" button Click on this button to remove the unused parameters from the table (G)

(G) "Dynamic data" table This table contains the name of the dynamic variables as well as their values. (read section 3.3.2.2.3 for more information)

(A)

(B)

(D)

(G)

(F)

(E)

(C)





3.3.2.2.2. Adding a new program

Figure 3-9: Adding a new program

To add a new program, follow these steps: (if a program is in the process of being executed, first

press the "stop" button):

Step 1 Click on the "process" button

Step 2 Click on the "programming" tab to display the screen above

Step 3 Type the name of your new program

IMPORTANT!

Names corresponding to a machine state (execute, aborting, stopping, resetting, starting, clearing, holding, suspending, unholding, unsuspending, completing, etc.) are reserved. Creating or modifying one of these programs may cause the machine to behave in an undesirable manner.

NOTE:

If the name of the program starts with the " _" character, a button to execute this program directly will be added to the shortcuts present in the header screen.

Step 4 Click on the "add" button to add the program to the list

Step 5 Type the content of your program in the appropriate window.

Step 6 Click on the "apply" button to apply your modifications

NOTE: when the "apply" button is pressed, the modifications are simply applied but NOT

saved. For more information about saving a recipe, read chapter 3.3.5.

-1

-2

-5

-3

-4 -6





3.3.2.2.3. Modifying an existing program

Figure 3-10: Modifying an existing program

To edit an existing program, follow these steps: (if a program is in the process of being executed,

first press the "stop" button):



Step 3 Select the program to be modified in the list of programs

Step 4 Modify the content of your program in the appropriate window.

For more information about the programming language specific to Asyril robots, read the programming manual supplied with your product.

NOTE:

The table of dynamic variables (dynamic data) contains a list of parameters

and associated values. The adjuster only has access to this table and not to

the complete code. In order for a parameter to be added to the table, the

following command must be entered:

k:= loaddata ‘name_parameter’;

The ‘name_parameter’ name must not contain any special characters other than ‘ _ ’ and ‘ ] ’ and ‘ [ ‘

Step 5 The dynamic variables added in the edit area are automatically added to the table on the right. A value must imperatively be entered in each box before clicking on "apply"


-1

-2

-4

-3

-6

-5





3.3.2.2.4. Adding dynamic variable shortcuts

It is possible to add boxes to the "shortcuts" screen making it possible to select the value for a

boolean type dynamic variable. The following steps are necessary:

Figure 3-11: Creating a dynamic variable



Step 3 Select the program to be modified in the list of programs

Step 4 Create your dynamic variable

Step 5 Select "boolean" from the "shortcuts" dropdown list


Step 7 A tick box is automatically added to the shortcuts tab.

-4

-6

-5

-7





3.3.2.3. "Statistics" tab

3.3.2.3.1. Overview

Pressing the "Process" button (A) followed by the "Statistics" button (B) will display the following

screen:

Figure 3-12: Process-Statistics Overview



(B) "Statistics" tab Click on this button to display the "statistics" screen

(C) Handling statistics Add or delete statistics in this zone

(D) "Refresh" button This button is used to display the last average rate obtained in the table (E1)

"Reload from scratch" button

This button is used to refresh the content of the list (E2)

(E) Process history The first table in this history area (E1) indicates the last average rate.

The second table (E2) indicates the complete history of all rates since the machine was commissioned

(A) (B)

(E)

(D)

(C)





3.3.2.3.2. Adding a new statistic

Step 0 In the "programming" tab of the "process" screen, create the variables you want to see being displayed as statistics

IMPORTANT NOTE:

You can add any variables defined in the program as statistics, however certain statistics

must have a default name in order to be displayed correctly on the header screen in the

"statistics" section:

- The counter must be defined as "counter"

- The average time [ms] must be defined as "averageTime"

- The current time [ms] must be defined as "currentTime"

The figure below illustrates the use of these variables

Figure 3.13: Robot-Home: Inputs-Outputs

0






Step 2 Click on the "statistics" tab

Figure 3.14: Robot-Home: Inputs-Outputs

Step 3 Enter the name of one of the variables defined in step 0 and click on "add"

Step 4 The name of the variable appears in the statistics table.

If the name of the variable begins with " _ ", during the next production process, the value of this variable will be displayed on the header screen (statistics tab).

1

2

3

4





3.3.3. "Robot" screen

3.3.3.1. "Home" tab

3.3.3.1.1. Overview

Pressing the "Robot" button (A) followed by the "Home" button (B) will display the following

screen:

Figure 3.15: Robot-Home: Relative and absolute movements and I/O


(A) "Robot" button Click on this button to display the robot navigation bar


(C) "Relative movement" zone

The buttons in this zone are used to move the robot relative to the current position in a given frame and using a specified tool.

NOTE:

Press and hold the button to perform a continuous movement.

(D) "Relative movement" zone

The buttons in this zone are used to move the robot absolute to the current position in a given frame and using a specified tool.

(E) "Live coordinates" zone

This field indicates the position of the robot in real time. By default, the position is sent in the basic reference (world: frame 0 tool 0, in metres). The dropdown lists make it possible to select which frame and which tool should be used to read the current position of the robot.

(F) "Robot state" zone

Read section 3.3.3.1.2 for detailed information about the robot states

(G) Robot inputs

Input deactivated

Input activated

(H) Robot outputs

Click on this button to activate the output

Click on this button to deactivate the output

(A)

(D)

(C) (B)

(F)

(E)

(G)

(H)





3.3.3.1.2. Robot states

The robot states are described in the following table:

Display Robot state Next action

The robot is in the "off" state

Press on the " "

button to change to the

"homing" then "idle"

state

The robot is in the "homing"

state Wait …

The robot is in the "idle" state

(the robot is ready to start a

program) and is in slow speed

Press the " " button

to shift to the "off" state

The robot is in the "error"

state

Press the " " button

to clear the error and

shift to the "off" state

The robot is in the

"emergency" state

Release the emergency

stop button then press

the " " button to

switch to the "idle" state

Figure 3.16 Robot states





3.3.3.2. "Advanced" tab

Pressing the "Robot" button (A) followed by the "Advanced" button (B) will display the following screen:

Figure 3.17: Robot-Advanced: Step by step movements and console



(B) "Advanced" tab Click on this button to display the "Advanced" screen

(C) "Move step by step" zone

The buttons in this zone make it possible to move the robot in a step by step manner. The size of the step and the starting setpoint must be specified.

NOTE:

The "auto move" box is used to move the robot each time the "+" or "-" button is pressed without having to press the "move to" button

(D) Robot console The console is used to send a TCP command directly to the robot from the text zone. The response sent by the robot is transcribed in the bottom area.

NOTE:

For more information about the programming language and TCP/IP communication with the robot, please consult the programming manual supplied with your product.

(E) "Live coordinates" zone

This field indicates the position of the robot in real time. By default, the position is sent in the basic reference (world: frame 0 tool 0, in metres). The dropdown lists make it possible to select which frame and which tool should be used to read the current position of the robot.

(F) "Robot state" zone

Read section 3.3.3.1.2 for detailed information about the robot states

(A)

(D)

(C)

(B)

(F)

(E)





3.3.3.3. "Collection" tab

3.3.3.3.1. Overview

Pressing the "Robot" button (A) followed by the "Collection" button (B) will display the following

screen:

Figure 3.18: Robot-Points: Importing a new collection of points



(B) "Collection" tab Click on this button to display the "Collection" screen

(C) "Import" button Click on this button to import a new collection of points

NOTE: A collection of points is a text file containing the coordinates of points on each line (X, Y, Z) separated by a space, tab or semicolon.

(D) "Name" input field Type the name to be given to the collection of points translated in a format suited to Asyril robots.

NOTE:

You must refer to this name in the ARL program in order to obtain the coordinates of a point distinguished by a unique identifier.

(E) "Create" button After having selected a name for your points file, create the file converted into a suitable format by clicking on this button

(F) "Cancel" button Click on this button to cancel the conversion

For more information about the programming language specific to using the points files, please

consult the programming manual supplied with your product.

(A)

(D)

(C)

(E)

(F)

(B)





3.3.3.3.2. Creating a points file

Step 1 Click on the "Robot" button

Step 2 Click on the "Collection" tab

Figure 3.19: Robot-Points: Importing a new collection of points

Step 3 Click on the "Import" button

Step 4 Choose the points file that you wish to import

NOTE:

A collection of points is a text file containing the coordinates of points on each line (X, Y, Z) separated by a space, tab or semicolon.

Step 5 Select a name for the points file converted into Asyril format

Step 6 Click on the "Create" button; your points file is then ready to be used!

For more information about using this points file, please refer to the programming manual

supplied with your machine.

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-4

-3

-2

-5





3.3.3.4. "Frames" tab

Pressing the "Robot" button (A) followed by the "Frames" button (B) will display the following

screen:

Figure 3.20: Robot-frames: Managing references and sub-references



(B) "Frames" tab Click on this button to display the "Frames" screen

(C) Zone for previewing all of the frames

This zone is used to view all of the frames created, as well as any possible parent.

The "+" button enables a new frame to be created.

The "x" button enables a frame to be deleted.

The "save" button enables all of the modifications made in the robot to be saved.

NOTE:

When this button is not pressed, it is possible to go back by clicking on the "reload" button which will reload the values contained in the robot.

(D) Edit area for a particular frame

Enter all of the information required to create a frame here:

Identifier from 1 to 99 type Name [optional] Parent, by default: world Configuration points Calibration points if type 1 or 2 frame

For more information about the types of frames, and their operation, please refer to the programming guide supplied with your equipment.

(E) Information area An explanatory drawing makes it possible to view which type of frame has been used.

(F) "Robot state" zone Read section 3.3.3.1.2 for detailed information about the robot states.

(A)

(D)

(C)

(E)

(B)

(F)





IMPORTANT NOTE:

Before changing tabs, save your modifications otherwise the changes will be lost.

3.3.3.4.1. View of a type 3 frame in the "Frames" tab

Pressing the "Robot" button (A) followed by the "Frames" button (B) will display the following

screen:

Figure 3.21: Robot-type 3 frame



(B) "Frames" tab Click on this button to display the "Frames" screen

(C) Zone for previewing all of the frames

See the explanation in section 3.3.3.4.

(D) Edit area for a particular type 3 frame

Enter all of the information required to create a frame here:

Identifier from 1 to 99 type Name [optional] Parent, by default: world Number of points

(A)

(D)

(C)

(E)

(B)

(F)





Correction limit (used for calibration and the graphic display)

For more information about the types of frames, and their operation, please refer to the programming guide supplied with your equipment.

(E) Graphic display area

This area is used to display a graph of the results obtained during the calibration of this frame. The colours represent the correction distance between the setpoint position and the position given by the robot.

(F) "Node parameter" area

This area enables the data for each point of the frame to be read:

Target position (x, y, z, rz) Corrected position (x, y, z, rz) Correction vector (x, y, z, rz) Distance correction The state of the point (programmed or otherwise)





3.3.3.5. "Tools" tab

3.3.3.5.1. Overview

Pressing the "Robot" button (A) followed by the "Tools" button (B) will display the following

screen:

Figure 3.22: Robot-tools: Managing tools and sub-tools



(B) "Tools" tab Click on this button to display the "Tools" screen

(C) Zone for previewing all tools

This zone is used to view all of the tools created, as well as any possible parent.

The "+" button enables a new tool to be created.

The "x" button enables a tool to be deleted.


NOTE:


(D) Edit area for a particular tool

Enter all of the information required to create a tool here:

Identifier from 1 to 99 Name [optional] Parent, by default: world Tool lengths (x,y,z)

Tip:

You can insert the current position of the robot with and without the tool then automatically calculate the difference for X, Y and Z.

(E) "Robot state" zone Read section 3.3.3.1.2 for detailed information about the robot states.

IMPORTANT NOTE:

Before changing tabs, save your modifications otherwise the changes will be lost!

(A)

(D) (C)

(B)

(E)





3.3.3.6. "Points" tab

3.3.3.6.1. Overview

Pressing the "Robot" button (A) followed by the "Points" button (B) will display the following

screen:

Figure 3.23: Robot-Points: Managing points and sub-points



(B) "Points" tab Click on this button to display the "Points" screen

(C) Zone for previewing all points

This zone is used to view all of the points created, as well as any possible parent.

The "+" button enables a new point to be created.

The "x" button enables a point to be deleted.


NOTE:


(D) Edit area for a particular point

Enter all of the information required to create a point here:

Identifier from 1 to 99 Name [optional] Parent, by default: world Coordinates for the point (x,y,z,rz)

Tip:

You can insert the current position of the robot with and without the tool then automatically calculate the difference for X, Y and Z.

(E) "Robot state" zone Read section 3.3.3.1.2 for detailed information about the robot states.

If you are using a large number of points, consider using a collection of points that can be

imported in the form of a text file containing the coordinates of points on each line (X, Y, Z)

separated by a space, tab or semicolon.

(A)

(D)

(C)

(B)

(E)





IMPORTANT NOTE:


3.3.3.7. "Settings" tab

Pressing the "Robot" button (A) followed by the "Settings" button (B) will display the following

screen:

Figure 3.24: Robot-settings: Managing robot settings



(B) "Settings" tab Click on this button to display the "Settings" screen

(C) Robot parameters The fields for this zone make it possible to adjust the speeds, acceleration, maximum jerk, as well as the regulation parameters.

IMPORTANT!

Modifying these parameters may result in serious machine malfunctions or even cause the machine to crash.

(D) "Save parameters" button

Click on this button after having clicked on "set" to save the parameters in the robot.

(E) Network parameters

This area is used to modify the domain name, or IP address of the robot

IMPORTANT!

Modifying these parameters may cause serious machine malfunctions.

(F) Information version This area contains the robot version number, serial number and the date of the last update. This data is provided for information purposes only; it cannot be modified.

IMPORTANT NOTE:


(A)

(F)

(C)

(B)

(E)

(D)





3.3.3.8. "Display settings" tab

Pressing the "Robot" button (A) followed by the "Settings" button (B) will display the following

screen:

Figure 3.25: Robot-display settings: Managing robot display settings



(B) "Settings" tab Click on this button to display the "Settings" screen

(C) Display Rz information

This area is used to select whether you want to display the coordinates of the RZ rotation axis. If you do not have an RZ axis on your robot, the choice is not available and indicates "robot does not have a rotation axis"

(D) Number of decimals

Choose the number of decimals to be displayed in the "home" and "advanced" tabs here. The figure entered must be between 0 and 9.

(E) Coordinate scaling

(F) Apply changes Click on this button to apply the modifications made to this tab.

IMPORTANT NOTE:


(A)

(F)

(B)

(C) (D)

(E)





3.3.4. "Vision" screen

IMPORTANT NOTE:

If you have several cameras (Asycube camera, control camera, etc.), the "vision" screen will be

duplicated for each camera.

3.3.4.1. "Home" tab

Pressing the "Vision" button (A) followed by the "Home" button (B) will display the following

screen:

Figure 3-26: Vision-Home: Overview


(A) "Vision" button Click on this button to display the Vision navigation bar


(C) "Acquire and process" button

This button is used to acquire an image from the camera and to

analyse it.

(D) Images obtained

After having clicked on the "acquire and process" button, a photo is

taken and analysed before being displayed in zone (D); the parts

accepted are represented by a green circle, whereas those rejected

are represented by a yellow circle.

(E) List of parts accepted

The number of parts accepted, their position in the general reference

system and their position in the image feature in this table.

(F) List of parts rejected

The number of parts rejected, their position in the general reference

system, their position in the image and the reason for rejection feature

in this table.

(A)

(B)

(C) (D)

(E) (F)





3.3.4.2. "Calibration" tab

IMPORTANT NOTE:

Only the calibration process for the "Asycube" camera is presented in this manual. Calibration of

any other cameras forms the subject of a recipe specific to each machine.

3.3.4.2.1. Overview

Pressing the "Vision" button (A) followed by the "Calibration" button (B) will display the following

screen:

Figure 3-27: Vision-Calibration: Overview



(B) "Calibration" tab Click on this button to display the "Calibration" screen

(C) "Calibrate automatically" button

Click on this button to launch the automatic calibration procedure

(D) Calibration image When the automatic calibration process is complete,

the image of the plate is displayed and blue circles

indicate the position of the calibration points.

(E) "Calibration plate" table

Four calibration points are necessary for vision calibration. Each

point is associated with:

- Its coordinates in the image reference system

- Its coordinates in the new reference system

(F) "Feeder directions" table

This table indicates the position of the feeder in the associated

reference system and in the image reference system

(A)

(B)

(C)

(D)

(F) (E)





3.3.4.3. "Illumination" tab

Pressing the "Vision" button (A) followed by the "Illumination" button (B) will display the following

screen:

Figure 3-28: Vision-Illumination: Overview



(B) "Illumination" tab Click on this button to display the "Illumination" screen

(C) "Refresh" button This button is used to refresh the content of the timesets

"Apply" button This button is used to apply the modifications made to the various timesets

"Acquire" button Click on this button to acquire an image with the timesets configured

(D) Images obtained and associated "Timesets"

After an image has been acquired, the images obtained are displayed above each timeset

For more information about how to configure a timeset, read section 3.3.4.4.2

(A)

(B)

(C) (D)





3.3.4.4. "Illumination test" tab

3.3.4.4.1. Overview

Pressing the "Vision" button (A) then the "Illumination Test" button (B) will display the following

screen:

Figure 3-29: Vision-Illumination test: Overview



(B) "Illumination test" tab Click on this button to display the "Illumination test" screen

(C) "Apply and refresh" button

Click on this button to apply the modifications made to the timeset, and acquire all the associated images

NOTE:

This operation may be lengthy depending on the number of timesets configured.

"Add" button Click on this button to add a timeset to the list

"Remove" button Click on this button to remove a timeset (select the timeset to be removed beforehand by clicking on the white zone next to the table)

(D) "Copy current timeset to timeset 1 or 2" buttons

Click on this button or buttons to copy the timeset selected to the "Illumination" tab (select the timeset to be deleted beforehand by clicking on the white zone next to the table)

(E) Images obtained and associated "Timesets"

The images obtained are displayed above each timeset

(A)

(B)

(E)

(D) (C)





3.3.4.4.2. Configuring a "timeset"

The parameters available on the timesets are used to configure the image acquisition process:

- exposure time [ms]

- illumination offset [ms]

- illumination time [ms]

- intensity 1 [from 0 to 1] (backlight intensity)

- intensity 2 [from 0 to 1] (DOAL intensity)

The illumination time must be longer than the exposure time. In fact, in order to ensure that the

lighting (DOAL or backlight) is at full power when the photo is taken, it is necessary to provide an

offset. Similarly, it is preferably to switch off the lighting one to two milliseconds after image

acquisition is complete. The figure below illustrates this phenomenon:

Figure 3-30: Defining exposure time and illumination time

To configure a timeset, respect the following steps:

Step 1 Click on the "Vision" button

Step 2 Click on the "Illumination test" button

Step 3 Add as many timesets as necessary (maximum 15) and configure them with the various illumination times

NOTE:

The aim of this is to establish the optimum parameters to acquire an image with your own parts

Step 4 Click on the "Apply and refresh" button to obtain all of the photos.

Step 5 Choose the most appropriate timeset (select the timeset by clicking on the white zone next to the table) then click on the "Copy current timeset to timeset 1" button

(Step 6) If several images are necessary to detect your parts, repeat steps 1 to 5 for timeset 2

NOTE:

- timeset 1 must correspond to the backlight illumination

- timeset 2 must correspond to DOAL illumination

0 10 20 30 40 50 60 70

Exposure time

Illumination offset

Illumination time

Time [ms]





3.3.4.5. "Configuration" tab

Pressing the "Vision" button (A) followed by the "Teaching" button (B) will display the following

screen:

Figure 3-31: Vision-Configuration: Overview



(B) "Calibration" tab Click on this button to display the "Configuration" screen

(C) "Modify" button Modify the Vision recipe in progress by clicking on this button

(D) Dropdown list to choose the "job"

Select the type of job in the dropdown list when you want to create a new recipe. For more information about the various job types, read section 4.4.1

(E) "Create" button Click on this button to create a new Vision recipe after having selected the job type from the dropdown list (D).

(F) Vision recipe descriptor

This descriptor is loaded when one of the "modify" or "create" buttons is pressed. It contains information about the creation date, the name of the *.avaf file, etc.

(G) "Apply" button When modifications (or creations) have been made, click on this button to apply the modifications.

NOTE:

The modifications will NOT be saved in the *.vrec recipe! A Vision recipe must be saved when you are satisfied with the changes. For more information about saving recipes, read the following section.

(H) "Abort" button When an unwanted modification has been made, click on the "Abort" button to cancel these modifications and return to the previous version of the Vision model.

(A)

(B)

(C)

(G)

(D)

(E)

(F)

(H)





3.3.5. "Recipe" screen

3.3.5.1. Overview

Three types of recipe may be recorded or saved:

- Recipe process (with a *.prec extension): this type of recipe contains all ARL programs,

located in the "Programming" tab

- Vision recipe (with a *.vrec extension): this type of recipe contains information related to

Asycube and the Vision model

- Global recipe (with a *.rec extension): this type of recipe contains all the information

necessary for production to operate correctly

3.3.5.2. "Home" tab

Pressing the "Recipes" button (A) followed by the "Home" button (B) will display the following

screen:

Figure 3-32: Recipes-Home: Overview


(A) "Recipes" button Click on this button to display the "Recipes" navigation bar

(B) "Home" tab Click on the "Home" tab to display the screen above

(C) "Select" button Click on this button to open an explorer and select a *.rec recipe.

"Load selection" button

Click on this button to load a recipe previously selected using the "Select" button

"Save to selection" button

Click on this button to save the modifications made to a recipe previously selected using the "Select" button

"Save as" button Click on this button to save the modifications made to a new recipe.

(D) "Save descriptor" button

Click on this button to save the modifications made to the descriptor (E)

(E) Recipe descriptor

This descriptor is loaded when a recipe is selected using the "Select" button, its content can then be modified and saved. It contains data elements such as the creation or modification date.

(A)

(B)

(C)

(E)

(D)





3.3.5.3. "Process" tab

Pressing the "Recipes" button (A) followed by the "Process" button (B) will display the following

screen:

Figure 3-33: Recipes-Process: Overview



(B) "Process" tab Click on the "Home" tab to display the screen above

(C) "Select" button Click on this button to open an explorer and select a *.prec recipe.










(A)

(B)

(C)

(E)

(D)





3.3.5.4. "Asyview" tab

Pressing the "Recipes" button (A) followed by the "Asyview" button (B) will display the following

screen:

Figure 3-34: Recipes-Asyview: Overview



(B) "Asyview" tab Click on the "Home" tab to display the screen above

(C) "Select" button Click on this button to open an explorer and select a *.vrec recipe.










(A)

(B)

(C)

(D)

(E)





3.3.6. "Users" screen

3.3.6.1. "Home" tab

Pressing the "User" button (A) followed by the "Home" button (B) will display the following screen:

Figure 3-35: Users-home: Overview


(A) "User" button Click on this button to display the "User" navigation bar

(B) "Home" tab Click on the "Home" tab to display the screen above

(C) User The login information in use is displayed here

Name The name associated with the login information enables the person logged in to be identified easily.

Role The role of the person logged in is displayed here.

For more information about each of the roles and associated access rights, please read the next chapter of this manual.

Special roles This field provides information about the possibility of an advanced role.

(D) Modification of the current password

This field enables the password currently in use to be modified.

(E) "Save" button Click on this button to save your new password

(F) List of languages This dropdown list enables the default language used by the HMI when the user logs in to be chosen.

(A)

(B)

(C)

(E)

(D)

(F)





3.3.6.2. "Manage users" tab

Pressing the "User" button (A) followed by the "Manage users" button (B) will display the following

screen:

Figure 3-36: Users - Manage Users: Overview


(A) "User" button Click on this button to display the "User" navigation bar

(B) "Manage" tab Click on the "Manage users" tab to display the screen above

(C) List of users The list of all users with access to the machine and their login information is displayed here

(D) "New" button Click on this button to create a new user

NOTE:

You can only create a user who has a hierarchical role below yours.

(E) "Edit" button Click on this button to edit the login information, role or language of a user.

NOTE:

You can only modify the content of users who have a hierarchical role below yours.

(F) "Remove" button Click on this button to permanently remove a user selected in the list.

NOTE:

You can only remove a user who has a hierarchical role below yours.

(G) Edit area For more information about creating or editing a user, please read the next chapter of this manual.

(A)

(B)

(C)

(D)

(G

(E)

(F)





3.3.6.3. Editing or creating a user

Step 1 Click on the "User" button

Step 2 Click on the "Manager users" button

Step 3 Click on the name of the user for whom you wish to edit the content, then click on the "edit" button.

Or click on the "new user" button to create a new user.

NOTE:

When a user is selected from the list, it is only possible to edit the content or remove

the user if your hierarchical level permits this.

Figure 3-37: Edit Users: Overview

Step 4 Choose or edit the login information for the user you wish to create or edit.

Step 5 Choose a user name that enables you to easily identify the person logged in.

NOTE:

This "name" is not the login information used by the user, it simply enables the person logged in to be identified.

Step 6 Choose the password for the user.

NOTE:

This password may be modified by the user him or herself from the "Home" tab

Step 7 Choose the user's role.

For the "technician" role, the "Advanced technician" option may be selected.

For more information about each of the roles and associated access rights, please read the next chapter of this manual.

Step 8 Choose the default language for the user

Step 9 Click on the "Save" button to apply your modifications.

9- 6-

8-

4-

5-

7-





3.3.6.4. Access levels

This table defines the actions that can be performed by each professional permitted to work on the

machine:

Operator Technician

Advanced

technician Integrator Developer

Switch on/switch off the unit

Login/Logout

Select/load a recipe

Launch/Stop production

Create a statistical report

Access the basic functionalities of the "header" screen

Add/modify an operator

Modify the values of the process dynamic variables

Obtain and analyse an image

Perform a new calibration

Save a recipe

Access the full ARL program

Create a new process

Access the full Vision parameters

Create a new Vision recipe

Add/modify a technician

Access maintenance/debugging

Add/modify an integrator

Advanced access to HMI, Robot and Asyview

Table 3-1: Access levels

By default, the machine is supplied with the following users:

Role Identifier Password

Operator operator operator

Technician technician technician

Advanced technician

advanced advanced

Integrator integrator integrator

Developer only Asyril S.A.



Creating and configuring a new recipe v1.8 FO 32.03.118


4. Creating and configuring a new recipe

4.1. Introduction

A Vision recipe has a *.vrec extension and contains all of the data necessary to configure the

Vision system. This entire chapter provides a tutorial describing how to configure a new Vision

recipe. However, the information contained in this chapter also applies to modifying an existing

recipe. The following steps are described in this chapter:

- Creating a new *.vrec file

- Configuring the Asycube

- Selecting your job type

- Configuring the illumination parameters

- Programming the Vision model

- Finishing programming

- Testing the Vision model

- Saving the model in a *.vrec file





4.2. Creating a new *.vrec file

NOTE:

It is not possible to create a new *.vrec file directly. It is therefore necessary to load an existing

recipe (the configuration of which is as close as possible to the file to be configured) then save it

under another name.

Figure 4-1: Creating a new *.vrec recipe

Step 1 Click on the "Recipe" button

Step 2 Click on the "Asyview" tab

Step 3 Click on the "Select" button and choose a recipe that is as similar as possible to the recipe you wish

to create. Then click on "Open"

Step 4 Click on the "Load selection" button to load the recipe selected.

IMPORTANT NOTE:

The Asyview state will change to "loading" in the header screen. Wait until the state has changed to

"Configuration – Idle" before moving on to the next step (this operation may take some time).

Step 4

Click on the "Save as" button to chose a new name for your recipe.

(Similarly, the Asyfeed state will change to "Saving"; wait until the saving procedure has finished

before moving on to the next step)

NOTE:

Ensure that you give your recipe a detailed name in order to be able to find it easily.

You can now move on to configuring the Asycube

1

2

5

3

4





4.3. Configuring the Asycube

4.3.1. Configuring the vibrations

Step 1 Click on the "Asycube" button

Step 2 Click on the "Home" tab

Step 3

Modify the vibration parameters to adapt them to your components:

- Vibrations of the Asycube platform

- Vibrations of the Asycube bulk

- Pay particular attention to configuring the vibration time

For more information about the Asycube calibration procedure, refer to section 3.3.1 on page 23

Step 4 Check that the parts vibrate uniformly in the right directions, without coming out of the platform

using the "Try out" buttons

Figure 4-2: Choosing the vibration parameters

1

3

4

2





4.3.2. Configuring the vibration sequences

Step 1 Click on the "Asycube" button

Step 2 Click on the "Process" tab

Step 3 Click on the "Planar plate" or "Structured plate" button to load the default parameters associated

with your platform.

NOTE:

You can freely modify these parameters (duration, sequence, order of vibrations) and work in

advanced mode if necessary in order to configure the sequences specific to supply and

recirculation.

In all cases, remember to finish with a stabilisation time to prevent the parts from moving when a

photo is being taken.

Step 4 Click on the "Apply" button

Figure 4-3: Defining the vibration sequences

(A)

(B)

(C)

(D)





4.4. Selecting the job type

4.4.1. Various job types

There are several types of job preconfigured by Asyril. Depending on the shape of your parts

(symmetrical or not) and the operations that you want to perform, select the suitable job:

Job name Job description

Tools included Number

of images

taken Prelocalization

Pitch and

toss

finder

Feeder

Info

JOB 1

Locating

components on the

platform with a

pattern matching

algorithm

x x

1

(backlight

or DOAL)

JOB 10

For components

requiring a single

photo.

x x x

1

(backlight

or DOAL)

JOB 101

For components

requiring two

photos in order to

detect heads or

tails.

x x x

2

(backlight

and

DOAL)





4.4.2. Creating a new *.avaf file


Step 2 Click on the "Configuration" tab

Step 3 Choose the job type to be used for this recipe: 1, 10 or 101.

For more information about each job, its specificities and the number of associated images, please

refer to the previous section of this manual.

Step 4 Click on the "Create" button and wait for the descriptor to load.

Step 5 Click on the "Apply" button

Figure 4-4: Configuring a new *.avaf file

4.5. Configuring the illumination parameters

For more information about the procedure to follow, refer to section 3.3.4.4.2

1

3

5

2

4





4.6. Programming the Vision model

4.6.1. Preliminary step


Step 2 Click on the "Configuration" tab

Step 3 Click on the "Modify" button

NOTE:

The Asyview state will change to "teaching" in the header screen. Wait until the state has changed

to "teaching" before moving on to the next step.

Figure 4-5: Preliminary step

1 3

2





4.6.2. Acquiring an image


Step 2 Click on the "Illumination" tab

Step 3 Click on the "Acquire" button and wait for the image to be displayed on the screen.

IMPORTANT NOTE:

Visually check that the image displayed on the screen is correct, as the entire Vision model will be

based on this photo!

Figure 4-6: Acquiring an image

1 3

2

Visual check





4.6.4. Logging on to the Asyview PC remotely

The following steps of this teaching should be performed on the Asyview PC.

Step 0 Open a remote desktop connection: / Accessories / Remote Desktop connection

Step 1 Enter the address of the Asyview PC: 192.168.0.70

Step 2 Click on the "Connect" button and wait until the connection is established

Figure 4-7: Remote desktop connection

Step 3 The "Asyview Teaching" window described in the next section of this report should be displayed on

the screen

2

1





4.6.5. Programming the Vision model

4.6.5.1. Overview

Click on Modify in the HMI calibration tab to display this screen on the Asyview PC:

Figure 4-8: General overview of the Asyview Teaching window


(A) 1st level of tabs Each tab corresponds to a specific tool:

- Prelocalization - Empty Picking Zone Growing (EPZG) - Model finder - Empty Picking Zone Region (EPZR) - Feeding information

(B) 2nd

level of tabs This set of tabs notably contains the "+" tab which enables the same tool to be added several times (for example when several models are required to detect the same part)

(C) 3rd

level of tabs The content of these tabs will be described in the following sections

(D) Buttons associated with the 3

rd level of

tabs.

The main buttons used include:

- "Run" button

- "Run continuously" button

(E) 4th level of tabs Clicking on the tabs will display the specific content in zone (F).

(F) Zone specific to each tab

The content of this zone will be described in detail in the following sections

(G) Image selector Select the image you want to display in this selector (original image, with markers, etc.)

(H) Image This screen displays the image chosen in the selector (G)

(G)

(A)

(B)

(F)

(E)

(D) (C)

(H)





4.6.5.2. Prelocalization

4.6.5.2.1. Overview

The prelocalization tool enables "blobs" to be created around the parts and therefore it is possible

to locate them on the surface of the Asycube. To configure this tool, you must select the surface of

your parts in pixels as well as a threshold value defining them.

4.6.5.2.2. Configuring the tool: "MODEL" tab

Step 0 Click on the "Prelocalization" tab then on "Model" and finally on the "Settings" tab

Figure 4-9: "Prelocalization" tool, 01\Model\Settings

Step 1 Click on the button to run the tool

Step 2 Choose a "Hard Threshold (fixed)" type threshold

Step 3 Choose the polarity of your parts (black on white background or vice versa)

Step 4

a- In the image selector, choose Current.Histogram

b- Depending on the histogram, change the threshold value of the number of pixels according

to the level of grey as shown in the figure above.

4 -a

1

2

0

3

4 -b





Step 5 Click on the Region tab to display the screen below:

Figure 4-10: "Prelocalization" tool, 01\Model\Region

Step 6

Choose the zone in which you want to find components. If you want to avoid the edges, you can

draw a rectangle by choosing "cog rectangle", otherwise search the entire image by selecting <

None – Use Entire Image >

5

6





Step 7 Click on the Measurements tab to display the screen below:

Figure 4-11: "Prelocalization" tool, 01\Model\Measurements

Step 8 Add the new "Area" property by clicking on the "Add new" button

Similarly, add the "Connectivity" property

Step 9

Configure the "Area" property:

a- Choose a type of "filter" measurement and an "include" value range

b- At this stage of the configuration process, we do not know the pixel surface of the parts,

therefore choose quite a wide variation range (for example from 10 to 10,000). We will

narrow this variation range later.

Step 10 Configure the "Connectivity" property:

Choose a type of "filter" measurement and an "exclude" value range

IMPORTANT NOTE:

The value range must be set to "include 0-0" if you want to detect the hole in a part

The value range must be set to "include 1-1" if you want to detect the external outline of a part


7 8

10

9b- 9a-





Step 12 Click on the Results tab to display the screen below:

Figure 4-12: "Prelocalization" tool, 01\Model\Results

Step 13 Select "LastRun.InputImage" from the image selector

Step 14

The table displayed on this tab lists the parts found, the associated area and the connectivity.

Examine the area of each component found and determine the smallest and the largest area for

which a single component is found, as illustrated on the figure below:

NOTE:

When you select a line in the table, the corresponding blob is displayed in blue in the LastRun

image and vice versa.

Figure 4-13: Defining the area acceptance range

12

13

14

Blob too big

Blob too small

Blob surface

area too large

Blob size

correct

Blob surface

area too

small





Step 15 Return to the Measurement tab

Step 16

Modify the area range accepted as a result of the observations made in step 14, then run the tool

again.

Check that all blobs surround just one part only. Otherwise, adjust the area again.

Figure 4-14: "Prelocalization" tool, 01\Model\Measurements

NOTE:

The threshold value may also need to be adjusted; to do this, vary the value chosen in step 4.

15 16

Blob not detected:OK





4.6.5.2.3. Configuring the tool: "BOUNDING BOX" tab

Step 17 Click on the Bounding Box tab to display the screen below:

NOTE:

Pay particular attention to the configuration of this tab if you have chosen to detect a hole in a part.

In fact, the surrounding rectangle (subsequently called the "bounding box") must contain the

ENTIRE part!

Figure 4-15: "Prelocalization" tool, 01\Bounding Box\Settings

Step 18 In the "Region factor" input field, choose a multiplication factor that makes it possible to extend the

initial bounding box.

NOTE:

The initial bounding box is defined as the smallest rectangle able to contain the entire blob:

Figure 4-16: Defining the "Blob" and "Bounding Box"

Step 19

Check that your "extended bounding box" contains the entire surface area of the part:

a- Click on the button to run the tool

b- Select "LastRun.OutputImage" from the image selector

19b-

19a-

17

18

Blob

Bounding box

Enlarged bounding box





4.6.5.3. Type I exclusion zone: Empty picking zone growing

4.6.5.3.1. Overview

The Empty picking zone growing tool enables a zone to be defined around the part in which no

other part must be found, to avoid two parts being picked at the same time:

Figure 4-17: Empty Picking Zone Growing (EPZG)

4.6.5.3.2. Configuring the tool

Step 0 Click on the Empty Picking Zone Growing tab then on the "+" tab to display the screen below:

Figure 4-18: "Empty Picking Zone Growing" tool, +

NOTE:

The "Model" sub-tab of the EPZG tool is configured in a very similar way to the Prelocalization tool.

Therefore, in order not to reproduce the same step twice, this tool may be created directly by

copying the prelocalization tool exactly.

Step 1 Click on the "New from existing" button

Step 2 Choose the "Prelocalization.vpp" tool in the dropdown list

Step 3 Enter a name for this tool, for example "EPZG"

Step 4 Click on the "Create" button

EPZGKernel Size

Refused Accepted

1

2 4

3

0





IMPORTANT NOTE:

Before continuing to configure the EPZG, you must run the Prelocalization tool again as described

in step 8

Step 6

Return to the "Prelocalization" tab and click on the button to run the tool:

a- In the "Model" tab

b- In the "Bounding box" tab

Step 7 Click on the Growing tab to display the screen below:

Figure 4-19: "Empty Picking Zone Growing" tab, 01\Growing\Settings

7 9 b-

8

9 a-





Step 8 Modify the value of the "Kernel Size"

NOTE:

The Kernel value must be selected in accordance with the size of the nozzle of your robot gripping

device, in order not to take two parts at once during suction for example.

Figure 4-20: Defining the "Kernel size" parameter

Step 9

a- Click on the button to run the tool

(this operation may take some time).

b- Select "LastRun.OutputImage" from the image selector And check that the parts that you

consider to be too close to each other are not accepted (orange square) and adjust the

value of the kernel accordingly.

EPZGKernel Size





4.6.5.4. Model finder

4.6.5.4.1. Overview

The "Model Finder" tool enables a model of correct parts (pattern) to be programmed from which

the application will be able to identify a correct part from an incorrect part (notably detection of

heads or tails). The comparison algorithm of a candidate (part located with the prelocalization tool)

with the model programmed is called "pattern matching".

4.6.5.4.2. Configuring the tool: "MODEL" tab

Step 0 Click on the Model Finder tab then on the Model tab and finally on the Train parameters tab to

display the screen below:

Figure 4-21: "Model Finder" tool, 01\Model\Train Params

Step 1 Choose the "patMax & PatQuick" algorithm

Step 2 Click on the "Grab Train Image" button

Step 3 Choose "Current.TrainImage" from the image selector

0 3

1

2





Step 4 Click on the Train Region and Origins tab to display the screen below:

Figure 4-22: "Model Finder" tool, 01\Model\Train Region & Origins

Step 5 Choose the shape most appropriate to your part (circle, rectangle, ellipsis, etc.)

Step 6 Adjust the shape to a typical part that you want to recognise as a correct part.

Step 7

Define the centre and orientation of the part

Tip: you can move the system of coordinates manually, but it is more accurate to use the "center

origin" button

NOTE:

Pay particular attention to defining the centre of the reference as it is the coordinates of this point

that will be sent to the robot as the "PickPosition"

Step 8 When the pattern has been programmed, click on the "Train" button in the "Train Params" tab.

The image of the model programmed is displayed in the window that was initially blue

Figure 4-23: Pattern programmed

4

6

5

7b-

7a-

8





Step 9 Click on the Run Params tab to display the screen below:

Step 10

Modify the parameters as follows:

a- Algorithm: Best trained

b- Mode: Search image

c- Approx number to find: 1

d- Accept threshold: relatively high (between 0.7 and 0.9)

e- If necessary, modify the rotation angle value accepted for the components (in relation to

the model programmed) and the scale if your correct parts are not all exactly the same

size.

Figure 4-24: "Model Finder" tool, 01\Model\Run Params


Step 12

Select "LastRun.OutputImage" from the image selector And check that the parts that you have

defined as "correct" are accepted and that the others are rejected. Otherwise, modify the threshold

value according to the score of incorrect parts (displayed in the results table)

9

12

10e-

10a- 10b-

10c-

10d-

11





4.6.5.4.3. Configuring the tool: "RESULTS" tab

In the previous tab, we configured the model to enable the tool to distinguish a correct part from

an incorrect part. In this tab, we are going to test this model on each of the candidates selected by

the prelocalization tool.

Figure 4-25 "Model Finder" tool, Schematic algorithm

The candidates found by the prelocalization tool are displayed in the "Inputs" tab of the tool in

which we are currently working: "model finder". These inputs can also be consulted visually by

selecting "CurrentInput.Image" from the image selector.

Input image

Blob + Bounding box

Extended Bounding box

Accepted parts Refused parts

Prelocalization

Model Finder

Pattern matching






Figure 4-26: "Model Finder" tool, 01\Results\Results

Step 14 Click on the button to run the tool and obtain the results


Step 15

Select "LastRun.OutputImage" from the image selector And check that the parts that you have

defined as "correct" are accepted and that the others are rejected. Otherwise, modify the values

selected in step 10.

4

6

5

7b-

7a-

13

14

15





4.6.5.5. Type II exclusion zone - Empty picking zone region

4.6.5.5.1. Overview

The Empty picking zone Region (EPZR) tool is used to define a geometric zone centred on the

part picking point in which no other part must be found, to avoid two parts being picked at the

same time:

Figure 4-27: Empty Picking Zone Region (EPZR)

The Empty Picking Zone Region (EPZR) tool is only used on parts accepted by the model finder

as explained below:

Figure 4-28: "Empty Picking Zone Region" tool, Schematic algorithm


Model Finder

Pattern matching


Empty PickingZone Region

EPZR

EPZR - circle

Refused Accepted

EPZR - Rectangle

Refused Accepted





4.6.5.5.2. Configuring the tool

Step 0 Click on the Empty Picking Zone Region tab then on the "+" tab to display the screen below:

Figure 4-29: "Empty Picking Zone Region" tool, +

NOTE:

The "Model" sub-tab of the EPZG tool is configured in a very similar way to the Prelocalization tool.

Therefore, in order not to reproduce the same step twice, this tool may be created directly by

copying the prelocalization tool exactly.

Step 1 Click on the "New from existing" button

Step 2 Choose "Prelocalization.vpp" from the dropdown list

Step 3 Enter a name for this tool, for example "EPZR"

Step 4 Click on the "Create" button

IMPORTANT NOTE:

Before continuing to configure the EPZR, you must run the Model Finder tool again as described in

step 5

Step 5

Return to the "Model Finder" tab and click on the button to run the tool:

c- In the "Model" tab

d- In the "Results" tab

1

2 4

3

0





Step 6 Click on the Empty Picking Zone Region tab then on the Settings tab to display the screen below:

Figure 4-30: "Empty Picking Zone Region" tool, 01\Model\Settings

Step 7 Choose the part for which you want to configure the EPZR exclusion zone using the selection

dropdown list.

Step 8 Choose the geometric zone type that you want to trace: circle or rectangle

NOTE:

If the part to be configured is circular, a circular EPZG or EPZR must be performed. However the

calculation time required for an EPZG is generally less than for a EPZR.

Step 9

a- or b-

Depending on whether you have chosen a circular or rectangular zone, define the parameters

associated with the exclusion zone (circle radius, length and width of the rectangle as well as any

offsets.)

7

9b-

6

9a-

8






Figure 4-31: "Empty Picking Zone Region" tool, 01\Results\Results



Step 12

Select "LastRun.OutputImage" from the image selector And check that the parts accepted are:

- In the right direction (as accepted by the Model Finder)

- Far enough away from other parts (as accepted by the EPZR)

Otherwise, modify the values chosen in step 9 a- or b-.

4 11

10

12





4.6.5.6. Feeder information

The "FeederInformation" tool enables the exact number of parts on the surface of the Asycube to

be obtained as well as their position, regardless of their heads or tail orientation, in order to be

able to calculate the suitable vibration sequence (re-feed components, "flip" to better dispatch the

components, etc.). The configuration is identical to that of the "Model Finder" if it is only performed

on the image with backlighting.

Step 0 Click on the Feeder information tab to display the screen below:

Steps

1 to 8 Refer to section 4.6.5.4.2 “Configuring the tool: "MODEL" tab” on page 79 and follow steps 1 to 8

Step 9 Click on the "Run Parameters" tab

Step 10

Modify the parameters as follows:

a- Algorithm: Best trained

b- Mode: Search image

c- Approx number to find: 100

d- Accept threshold: relatively low (between 0.4 and 0.6)

e- If necessary, modify the value of the angle and the scale.

Figure 4-32: "Feeding Information" tool, 01\Model\Run Params


Step 12 Select "LastRun.OutputImage" from the image selector And check that ALL of the parts are

detected.

9

12

10e-

10a- 10b-

10c-

10d-

11

0





4.7. End of programming

When all of the steps described in the previous section have been performed, follow these

instructions:

Figure 4-33: Vision-Configuration: Applying modifications

Step 0 When each tool has been configured from the Asyview Teaching window, return to the

HMI PC (you can close or simply minimise the remote desktop connection window)


Step 2 Click on the "Configuration" button

Step 3 Click on the "Apply" button to confirm your modifications

IMPORTANT NOTE:

The Asyview state will change to "Configuration - Idle" in the header screen. Wait until the

change is effective before moving on to the next step.

IMPORTANT!

Your Vision model is NOT saved when you click on the "Apply" button; you can test the

modifications made, but if the unit is switched off, all modifications will be lost. For more

information about permanently saving a recipe, refer to section 4.9 on page 91.

1

2

3





4.8. Vision model test



Step 3 Click on the "Acquire and process" button and wait until the end of the image analysis process

Step 4 Check that the parts in the right direction are accepted and that the others are rejected.

Figure 4-34: Vision-Home: Testing the Vision model

Step 5

Vibrate the Asycube from the "Asycube" screen and repeat steps 1 to 4.

If you are satisfied with the results obtained, you can save your recipe by referring to section 4.9.

Otherwise, modify your recipe by returning to chapter 4.6 on page 66.

1

2

3

4: Visual check





4.9. Permanently saving the Vision model

In this section you will learn how to save a Vision recipe.

Figure 4-35: Permanently saving the recipe in a *.vrec file

Step 1 Click on the "Recipe" button


(Step 3) If the descriptor for your recipe is no longer displayed, click on the "Select" button and choose your

recipe, then click on "Open"

Step 4 Click on the "Save to selection" button to load the recipe selected.

IMPORTANT NOTE:

The Asyview state will change to "loading" in the header screen. Wait until the state has changed

to "Configuration – Idle" before moving on to the next step (this operation may take some time).

NOTE:

Ensure that you give your recipe a detailed name in order to be able to find it easily.

1

2

3

4



Calibration v1.8 FO 32.03.118


5. Calibration

5.1. Asycube "Robot – Vision" Calibration

5.1.1. Vision

To calibrate the Vision system, respect the following steps:

Step 1

Load the calibration plate onto the Asycube

For more information about the procedure to change the platform, please refer to the AsyCube manual

Figure 5-1: Calibration plate

Figure 5-2: Recipes-Asyview: Loading the automatic calibration recipe

Step 2 Click on the "Recipes" button


Step 4 Click on the "Select" button and choose the "AutomaticCalibration.vrec" recipe

NOTE:

This recipe, which is preconfigured by Asyril, is saved under D:\AsyrilData\Recipes

Step 5 Click on the "Load selection" button

The HMI state will change to "Working"

Step 6 Wait until the HMI state returns to "Ready"

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Figure 5-3: Vision-Calibration: Calibrating the Vision system automatically


Step 9 Click on the "Calibrate automatically" button

Step 10 Wait until the calibration procedure is complete

Step 11 Check that the blue circles are correctly situated in the calibration holes as shown on the figure above

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5.1.2. Picking Robot frames

Step 1 Load the calibration tool onto the Robot

Step 2 Load the calibration plate onto the Asycube

Figure 5-4: Calibration plate

Step 3 Release the robot brakes using the HMI (shortcut screen)

Figure 5-5: Procedure for releasing the brakes

Step 4 Move the robot to the 1st calibration point

Figure 5-6: Picking point 1

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Figure 5.7: Robot-frames: Managing references and sub-references

Step 5 Click on the "Robot" button on the HMI then on the "Frame" tab

Step 6 Select the "Asycube" frame

NOTE:

The name of the frame and its identifier may vary depending on your specific

application.

Step 7 Insert the current position of the robot in position 0 by clicking on the "Current" button

NOTE:

The colour of the text fields varies according to the proximity of the robot with the

input coordinates (in the parent frame and with the tool selected):

Proximity is defined by: | |

The table below summarises the colour of the box according to proximity:

Between 0 and 10µm

Between 10 and 50µm




Over 500µm

Step 8 Repeat steps 4 and 7 for each calibration point.

Step 9 Click on the "Save changes" button to apply the modifications

Step 10 Click on the "Save to robot" button to apply the modifications

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Technical Support v1.8 FO 32.03.118


6. Technical Support

6.1. For a better service …

Before contacting us, please note down the following information concerning your product:

- Serial number and product key for your equipment

- Software version(s) used

- Error message, alarm, or visual signals displayed by the interface.

6.2. Contact

You can find extensive information on our website: www.asyril.ch

You can also contact our Customer Service department:

[email protected]

+41 26 653 7190

http://www.asyril.ch/

mailto:[email protected]



Revision table v1.8 FO 32.03.118


Revision table

Rev. Date Author Comment HMI version

1.0 09.09.2011 SiA Initial version

1.1 25.10.2011 SiA Modification following HMI update (points file)

1.2 28.10.2011 SiA Modification of Ethernet wiring diagram following update

1.3 15.02.2012 SiA Modification following HMI update (login, Asycube

process and Stats)

1.4 22.02.2012 SiA Modification on p.29/95 concerning the names reserved

for programs corresponding to OMAC machine states

1.4 15.03.2012 SiA Modification of EPZG explanation

1.5 04.10.2012 SiA - Addition of explanations about the "Robot" screen tabs

- Modification of the calibration method

from v1.7.x

1.6 06.11.2012 SiA Modification of the EPZR (concerning the removal of

"area" and "connectivity label")

1.7 27.11.2012 BoB Various modifications

1.8 28.11.2012 HsJ Modifications to robot printscreens (new type of frame),

Asycube and header according to the new HMI.

from v1.8.x

This document is the property of Asyril S.A.; it may not be reproduced, modified or

communicated, in whole or in part, without our prior written authorisation. Asyril S.A. reserves

the right to modify any information contained in this document for reasons related to product

improvements without prior notice.

Asyril SA

Z.I. le Vivier

Ch-1690 Villaz-St-Pierre

Switzerland

Tel. +41 26 653 71 90

Fax +41 26 653 71 91

[email protected]

www.asyril.ch

human- machine interface - asyril · 2019-05-03 · this manual contains all the information...

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