Human- Machine Interface - Asyril · 2019-05-03 · This manual contains all the information necessary to use the human-machine interface (HMI), calibrate the system and configure
Post on 24-Mar-2020
0 Views
Preview:
Transcript
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Contents v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 4/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Introduction v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 5/98
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.
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Introduction v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 6/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Introduction v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 7/98
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/
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Introduction v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 8/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
"Header" screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 9/98
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’)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
"Header" screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 10/98
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.)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
"Header" screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 11/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
"Header" screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 12/98
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
Ref. Designation Description
(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
Ref. Designation Description
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
"Header" screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 13/98
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
Ref. Designation Description
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
"Header" screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 14/98
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
Ref. Designation Description
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
"Header" screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 15/98
It is possible to scroll through the shortcut bar, in order to display the following elements:
Figure 2-7: Overview of the "Shortcuts" tab
Ref. Designation Description
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
"Header" screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 16/98
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-
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
"Header" screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 17/98
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 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 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-
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
"Header" screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 18/98
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 1 Press the "Shortcuts" button to display the "Shortcuts" screen.
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 1 Press the "Shortcuts" button to display the "Shortcuts" screen.
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-
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
"Header" screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 19/98
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:
Ref. Designation Description
(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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
"Header" screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 20/98
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
Ref. Designation Description
(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-
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 21/98
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"
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 22/98
3.2. General overview
The configuration screen is separated into three distinct zones:
Figure 3-2: General overview of the configuration screen
Ref. Designation Description
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 23/98
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
Ref. Designation Description
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 24/98
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.
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 25/98
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
Ref. Designation Description
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 26/98
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.
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 27/98
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
Ref. Designation Description
(A) "Process" button Click on this button to display the process navigation bar
(B) "Home" tab Click on this button to display the "home" screen
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 28/98
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
Ref. Designation Description
(A) "Process" button Click on this button to display the process navigation bar
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 29/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 30/98
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 1 Click on the "process" button
Step 2 Click on the "programming" tab to display the screen above
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"
Step 6 Click on the "apply" button to apply your modifications
-1
-2
-4
-3
-6
-5
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 31/98
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 1 Click on the "process" button
Step 2 Click on the "programming" tab to display the screen above
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 6 Click on the "apply" button to apply your modifications
Step 7 A tick box is automatically added to the shortcuts tab.
-4
-6
-5
-7
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 32/98
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
Ref. Designation Description
(A) "Process" button Click on this button to display the process navigation bar
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 33/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 34/98
Step 1 Click on the "process" button
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 35/98
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
Ref. Designation Description
(A) "Robot" button Click on this button to display the robot navigation bar
(B) "Home" tab Click on this button to display the "home" screen
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 36/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 37/98
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
Ref. Designation Description
(A) "Robot" button Click on this button to display the robot navigation bar
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 38/98
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
Ref. Designation Description
(A) "Robot" button Click on this button to display the robot navigation bar
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 39/98
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.
-1
-4
-3
-2
-5
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 40/98
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
Ref. Designation Description
(A) "Robot" button Click on this button to display the robot navigation bar
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 41/98
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
Ref. Designation Description
(A) "Robot" button Click on this button to display the robot navigation bar
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 42/98
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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 43/98
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
Ref. Designation Description
(A) "Robot" button Click on this button to display the robot navigation bar
(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.
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 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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 44/98
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
Ref. Designation Description
(A) "Robot" button Click on this button to display the robot navigation bar
(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.
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 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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 45/98
IMPORTANT NOTE:
Before changing tabs, save your modifications otherwise the changes will be lost!
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
Ref. Designation Description
(A) "Robot" button Click on this button to display the robot navigation bar
(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:
Before changing tabs, save your modifications otherwise the changes will be lost!
(A)
(F)
(C)
(B)
(E)
(D)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 46/98
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
Ref. Designation Description
(A) "Robot" button Click on this button to display the robot navigation bar
(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:
Before changing tabs, save your modifications otherwise the changes will be lost!
(A)
(F)
(B)
(C) (D)
(E)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 47/98
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
Ref. Designation Description
(A) "Vision" button Click on this button to display the Vision navigation bar
(B) "Home" tab Click on this button to display the "home" screen
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 48/98
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
Ref. Designation Description
(A) "Vision" button Click on this button to display the Vision navigation bar
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 49/98
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
Ref. Designation Description
(A) "Vision" button Click on this button to display the Vision navigation bar
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 50/98
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
Ref. Designation Description
(A) "Vision" button Click on this button to display the Vision navigation bar
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 51/98
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]
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 52/98
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
Ref. Designation Description
(A) "Vision" button Click on this button to display the Vision navigation bar
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 53/98
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
Ref. Designation Description
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 54/98
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
Ref. Designation Description
(A) "Recipes" button Click on this button to display the "Recipes" navigation bar
(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.
"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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 55/98
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
Ref. Designation Description
(A) "Recipes" button Click on this button to display the "Recipes" navigation bar
(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.
"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)
(D)
(E)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 56/98
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
Ref. Designation Description
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 57/98
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
Ref. Designation Description
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 58/98
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-
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Configuration screen v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 59/98
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.
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 60/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 61/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 62/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 63/98
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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 64/98
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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 65/98
4.4.2. Creating a new *.avaf file
Step 1 Click on the "Vision" button
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 66/98
4.6. Programming the Vision model
4.6.1. Preliminary step
Step 1 Click on the "Vision" button
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 67/98
4.6.2. Acquiring an image
Step 1 Click on the "Vision" button
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 68/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 69/98
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
Ref. Designation Description
(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)
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 70/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 71/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 72/98
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
Step 11 Click on the button to run the tool
7 8
10
9b- 9a-
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 73/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 74/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 75/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 76/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 77/98
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-
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 78/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 79/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 80/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 81/98
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 11 Click on the button to run the tool
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 82/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 83/98
Step 13 Click on the Results tab to display the screen below:
Figure 4-26: "Model Finder" tool, 01\Results\Results
Step 14 Click on the button to run the tool and obtain the results
(this operation may take some time).
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 84/98
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
Accepted parts Refused parts
Model Finder
Pattern matching
Accepted parts Refused parts
Empty PickingZone Region
EPZR
EPZR - circle
Refused Accepted
EPZR - Rectangle
Refused Accepted
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 85/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 86/98
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 87/98
Step 10 Click on the Results tab to display the screen below:
Figure 4-31: "Empty Picking Zone Region" tool, 01\Results\Results
Step 11 Click on the button to run the tool and obtain the results
(this operation may take some time).
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 88/98
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 11 Click on the button to run the tool and obtain the results
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 89/98
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 1 Click on the "Vision" button
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 90/98
4.8. Vision model test
Step 1 Click on the "Vision" button
Step 2 Click on the "Home" tab
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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Creating and configuring a new recipe v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 91/98
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 2 Click on the "Asyview" tab
(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
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Calibration v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 92/98
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 3 Click on the "Asyview" tab
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"
𝟎
𝟎
𝟏
𝟎
𝟎
𝟏
𝟏
𝟏
2 6
3
5
4
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Calibration v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 93/98
Step 7 Click on the "Vision" button
Figure 5-3: Vision-Calibration: Calibrating the Vision system automatically
Step 8 Click on the "Home" tab
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
7
11
9
8
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Calibration v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 94/98
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
𝟎
𝟎
𝟏
𝟎
𝟎
𝟏
𝟏
𝟏
3-
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Calibration v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 95/98
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
Between 50 and 100µm
Between 100 and 200µm
Between 200 and 500µm
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
-5
-6
-8 -9
-5
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Technical Support v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 96/98
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:
support@asyril.ch
+41 26 653 7190
Human-Machine Interface - Asyril SA
Operating Manual © Copyright Asyril S.A.
Revision table v1.8 FO 32.03.118
Manuel Utilisateur - Asyril SA 97/98
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
info@asyril.ch
www.asyril.ch
top related