User Guide - asyril.comThis User Guide presents the Asycube Gateway used to communicate between a...

Asycube Gateway

User Guide

Document Asyril_ASYCUBE_GATEWAY_User_Guide_EN

000.101.794

Version B1 Date 14.10.2019

Asycube Gateway

User Guide © Copyright Asyril S.A.

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Table of Contents

1. INTRODUCTION .................................................................................................................................. 4

1.1. GENERALITIES ...................................................................................................................................... 4

2. ASYCUBE GATEWAY QUICKSTART ............................................................................................. 5

2.1. COMMUNICATION IN PRODUCTION ....................................................................................................... 5

2.2. ASYCUBE GATEWAY POWER SUPPLY .................................................................................................. 5

2.3. ASYCUBE OFFLINE CONFIGURATION (NOT CONNECTED TO THE GATEWAY) ....................................... 5

3. USER GUIDE INTRODUCTION ........................................................................................................ 6

3.1. ASYCUBE FEEDER ................................................................................................................................ 6

3.2. GATEWAY ............................................................................................................................................. 6

4. CONNECT THE ASYCUBE GATEWAY .......................................................................................... 7

4.1. PREPARATION ...................................................................................................................................... 7

4.2. CONNECT THE GATEWAY POWER SUPPLY ........................................................................................... 7

4.3. CONNECT THE GATEWAY TO THE ASYCUBE FEEDER........................................................................... 7

4.4. CONNECT THE GATEWAY TO THE MACHINE CONTROLLER ................................................................... 8

4.5. POWER ON .......................................................................................................................................... 8

5. COMMISSIONING AND INTEGRATION ......................................................................................... 9

5.1. GENERAL PRINCIPLES .......................................................................................................................... 9

5.1.1. Import the fieldbus device description file ................................................................................... 9

5.1.2. Add the Gateway in the configuration .......................................................................................... 9

5.1.3. Program and run the application .................................................................................................. 9

5.2. EXAMPLE FOR ETHERCAT ON TWINCAT 3.1 ...................................................................................... 11

5.2.1. Import the fieldbus device description file ................................................................................. 11

5.2.2. Add the Gateway in the configuration ........................................................................................ 12

5.2.3. Program and run the application ................................................................................................ 16

5.3. EXAMPLE FOR PROFINET ON SIEMENS TIA PORTAL ......................................................................... 19




5.4. EXAMPLE FOR ETHERNET/IP ON ROCKWELL RSLOGIX 5000 .......................................................... 23




6. TROUBLESHOOTING ...................................................................................................................... 28

6.1. MODIFY THE STATION NAME FOR THE PROFINET GATEWAY ............................................................ 28

6.2. MODIFY THE IP ADDRESS FOR THE ETHERNET/IP GATEWAY ........................................................... 28

6.3. THE SYS LED BLINKS ALTERNATIVELY YELLOW/GREEN EVERY SECOND .......................................... 29

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7. TECHNICAL SUPPORT ................................................................................................................... 30

7.1. FOR BETTER SERVICE … ................................................................................................................... 30

7.2. CONTACT ............................................................................................................................................ 30

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1. Introduction

1.1. Generalities

The following document is the property of Asyril S.A. and may not be copied or circulated

without permission. The information contained in this document is subject to change without

notice for the purpose of product improvement. Before operating your product, please read

this document in order to ensure a correct use of the product. Nevertheless, if you meet

difficulties during the operation or the maintenance, please, feel free to contact Asyril

customer service.

In this manual, the safety precautions that you must respect are classified as: “Danger”,

“Warning” and “Note”; the following symbols are used:

DANGER!

Failure to observe the instruction may result in death or serious injury.

DANGER!

Failure to observe the instruction may result in electrocution or serious injury due to

electric shock

WARNING!

Failure to observe the instruction may result in injury or property damage.

NOTE :

The user should read carefully this information to ensure the correct use of the product,

although failure to do so would not result in injury.

Refer to …

For more information on a specific subject, the reader should read other manual, or refer to

other paragraph.

WARNING!

Asyril shall not be liable whatsoever for any loss or damage arising from a failure to observe

the items specified in “Safety Precautions” of the OPERATING MANUAL. The customer is

responsible to provide the necessary instruction to the persons concerned.

NOTE :

All dimensions in this document are expressed in millimeters

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2. Asycube Gateway Quickstart

NOTES:

The Asycube Gateway is ready to use. Do not erase or modify its internal configuration.

The Asycube Feeder needs a firmware version ≥v4.0.0.

2.1. Communication in production

2.2. Asycube Gateway Power supply

2.3. Asycube offline configuration (not connected to the Gateway)

PC running Asyril HMI Asycube Feeder

192.168.127.X (X:1-253) 192.168.127.254

Please refer to the full Asycube Gateway User Guide for more information.

Machine Controller Asycube Gateway Asycube Feeder

Ethernet-based fieldbus

X2-IN

X3

The IP Address MUST be set to

the default value:

192.168.127.254

Machine

Controller

PC

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3. User Guide Introduction

This User Guide presents the Asycube Gateway used to communicate between a machine

controller (PLC, …) and an Asycube feeder using fieldbuses such as Ethercat, Profinet and

Ethernet/IP, etc. The machine controller is a fieldbus Master (client) while the Asycube

Gateway is a fieldbus Slave (server).

This chapter quickly presents the Asycube and the Gateway. Chapter 4 shows how to

connect the Gateway. Chapter 5 explains how to integrate the Gateway with a machine

controller.

3.1. Asycube feeder

The Asycube is a flexible feeding system, which spreads the parts on the picking surface

using smart vibrations. The displacements in all directions as well as more advanced

trajectories are the result of the sum of the excitations of the different actuators. The role of

the Asycube is to:

• Distribute and flip the components over the picking surface

• Manage the feeding from the hopper in order to have enough components on the

picking surface

Please refer to the Asycube User Guide for more information.

3.2. Gateway

A gateway is a protocol converter device. The Asycube Gateway is configured to allow a

seamless communication between the Asycube feeder and an external controller based on

fieldbus. Several models of the Asycube Gateway are provided by Asyril based on the

selected fieldbus.

Figure 3-1: The Asycube Gateway.

NOTE:

The Asycube Gateway is ready to use. Do not erase or modify its internal configuration.

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4. Connect the Asycube Gateway

This chapter presents the steps to connect the Asycube Gateway (also simply referred as

Gateway).

4.1. Preparation

You will need the following elements

• An Asycube feeder connected to its power supply

o With firmware version ≥v4.0.0.

o With default communication settings (i.e. IP address 192.168.127.254).

• An Asycube Gateway

• A 24VDC power supply unit (it can be the same as the one used for the Asycube

feeder)

• Your machine controller (PLC, …)

• Two RJ45 cables

• A 2-wires cable for the gateway power supply

• A 2-wires cable for the gateway power supply

4.2. Connect the gateway power supply

Connect the 24VDC (130 mA) power supply on the naked plug provided with the gateway.

Refer to the Figure 4-1. You will need to create the 2-wires cable between the gateway and

the power supply unit.

Figure 4-1: Gateway power supply.

4.3. Connect the gateway to the Asycube feeder

Connect the Gateway X3 port to the Asycube communication port

with a RJ45 cable. The Asycube feeder MUST have it IP Address set

to its default value 192.168.127.254. The IP Address of the Gateway

X3 port is 192.168.127.1.

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4.4. Connect the gateway to the machine controller

Connect the Gateway X2-IN port to the machine controller Ethernet-based fieldbus port with

a RJ45 cable. The IP Address of the Gateway X2-IN port is set 192.168.127.254 and cannot

be changed (See exception in Section 6.2).

4.5. Power ON

Switch the power supply ON to supply both the Asycube and the Gateway.

Check the status of the Gateway LEDs:

• SYS: steady green ON.

• APL: blinking green with 2s OFF and 0.5s ON or steady green ON (if

the machine controller runs).

• X2 LINK IN (CH0) L/A: steady green or blinking green.

• X3 LINK: steady green.

• Other LEDs may also switch on or blink.

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5. Commissioning and integration

This chapter explains how to integrate the Gateway in a machine controller (PLC, …) and

provides some detailed examples for some PLC controllers.

The Input/Output Registers are described in the Asycube Programming Guide (Section

Asycube Modbus Register Table). The outputs correspond to the Control Holding

Registers. The inputs correspond to the Status Holding Registers (do not pay attention to the

“64+” offset in the address). The other Modbus Holding Registers cannot be accessed

through the Gateway.

5.1. General principles

The commissioning and the integration of the Gateway with a machine controller differ from

one controller to the other. The common general principles are presented in this section. The

following sections show some example with some specific machine controllers.

5.1.1. Import the fieldbus device description file

In order for the machine controller to recognize the fieldbus device, the device description file

(also known as electronic datasheet) needs to be imported in the machine controller. This is

usually done by importing the file in the development environment or by copying the file on

the machine controller. All device descriptions files for the Gateway can be found in the USB

memory key provided with the Asycube.

5.1.2. Add the Gateway in the configuration

The Gateway device needs to be added in the hardware configuration of the machine

controller. It should then be possible to interact with the Asycube feeder through the Gateway

with the automatically created input/output registers. For example, you can read the Asycube

firmware version in the given input registers (WORD address 14-16 or BYTE address 28-33).

You can also start a platform vibration by trigging the given output register (WORD address 1

or BYTE address 2) from value 0 to 1.

5.1.3. Program and run the application

You can now program the application. First, declare some variables and link/map them with

the input/output registers. Then, program the behavior of the Asycube based on the registers

described in the Asycube Programming Guide (see examples in Figure 5-1 and Figure 5-2).

Finally compile and run the application. The Gateway APL LED should now be steady green

ON.

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Figure 5-1. Programming example for a platform vibration.

(*error detection*) IF asycubeReadRegister.HR_MODBUS_STATUS.w <> 0 THEN state:=-1; END_IF (*state machine*) CASE state OF -1: (*error*) 0: (*initial state*) state:=state+1; 1: (*prepare vibration*) asycubeWriteRegister.HR_PLATFORM_VIBRATION_ID.w:=2; (*C*) asycubeWriteRegister.HR_PLATFORM_VIBRATION_DURATION.w:=1000; (*1000ms*) asycubeWriteRegister.HR_PLATFORM_VIBRATION_TRIG.w:=0; state:=state+1; 2: (*start vibration*) asycubeWriteRegister.HR_PLATFORM_VIBRATION_TRIG.w:=1; (*rising edge*) IF asycubeReadRegister.HR_PLATFORM_REMAINING_TIME.w>0 THEN state:=state+1; END_IF 3: (*wait for the vibration to complete*) IF asycubeReadRegister.HR_PLATFORM_REMAINING_TIME.w=0 THEN state:=state+1; END_IF 4: (*switch backlight on*) asycubeWriteRegister.HR_BACKLIGHT_STATE_CONTROL.w:=1; (*on*) state:=state+1; 5: (*take a picture*) (*insert your code here*) (*... wait ... take a picture ... wait ...*) (*state:=state+1;*) 6: (*switch backlight off*) asycubeWriteRegister.HR_BACKLIGHT_STATE_CONTROL.w:=0; (*off*) state:=state+1; 7: (*final state*) END_CASE

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Figure 5-2. Programming example for a production cycle with sequences.

5.2. Example for Ethercat on Twincat 3.1

This section presents the integration of the Ethercat model of the Asycube Gateway in the

Beckhoff Twincat 3.1 soft-PLC.


1. Localize the Ethercat Gateway description file “Hilscher NT 100-ECS-XX V2.2.xml” in the

USB memory key provided with the Asycube (folder EtherCAT).

(*error detection*) IF asycubeReadRegister.HR_MODBUS_STATUS.w <> 0 THEN state:=-1; END_IF (*state machine*) CASE state OF -1: (*error*) 0: (*initial state and preparation*) asycubeWriteRegister.HR_SELECT_VIBRATION_SET.w:=1; state:=state+1; 1: (*switch backlight on*) asycubeWriteRegister.HR_BACKLIGHT_STATE_CONTROL.w:=1; (*on*) state:=state+1; 2: (*take a picture*) (*insert your code here*) (*... wait ... take a picture ... wait ...*) (*analyze image: nbparts:=..., x:=..., y:=...*) (*state:=state+1;*) 3: (*switch backlight off*) asycubeWriteRegister.HR_BACKLIGHT_STATE_CONTROL.w:=0; (*off*) state:=state+1; 4: (*take the parts on the feeder with the robot*) (*insert your code here*) (*... wait ... take a part ... wait ... take a part ... wait*) (*state:=state+1;*) 5: (*prepare sequence*) asycubeWriteRegister.HR_SEQUENCE_EXECUTION_NBPARTS.w:=nbparts; (*ex: 10*) asycubeWriteRegister.HR_SEQUENCE_EXECUTION_NBMAX.w:=50; asycubeWriteRegister.HR_SEQUENCE_EXECUTION_X.w:=x; (*ex: -10*) asycubeWriteRegister.HR_SEQUENCE_EXECUTION_Y.w:=y; (*ex: 13*) asycubeWriteRegister.HR_SEQUENCE_EXECUTION_SEQUENCEID.w:=1; asycubeWriteRegister.HR_SEQUENCE_EXECUTION_TRIG.w:=0; state:=state+1; 6: (*start sequence*) asycubeWriteRegister.HR_SEQUENCE_EXECUTION_TRIG.w:=1; (*rising edge*) IF asycubeReadRegister.HR_SEQUENCE_REMAINING_TIME.w>0 THEN state:=state+1; END_IF 7: (*wait for the sequence to complete*) IF asycubeReadRegister.HR_SEQUENCE_REMAINING_TIME.w=0 THEN state:=1; (*loop back*) END_IF END_CASE

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2. Copy this file in the folder C:\TwinCAT\3.1\Config\Io\EtherCAT.

3. Restart Twincat application or click on Reload Device Descriptions.


1. Restart in Config Mode

2. Scan for devices

3. Validate the HINT

4. Validate the new I/O Device found

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5. Validate the Scan for boxes

6. Validate the Activate Free Run

7. Confirm the creation of Box1 (NT 100-RE/ECS) and the corresponding TxPDO and

RxPDO

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

version is 4.0.1.

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

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1. Declare the registers in your application so that they can be linked/mapped as inputs and

outputs. Here below is an example using STRUCT and UNION:

a.

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b.

c.

d.

e.

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2. Change the link for all variables between the PLC program and the I/O.

3. Select the appropriate I/O Bytes. Repeat for all variables (Inputs and Outputs).

4. Program the behavior in the MAIN. You can refer to the examples provided in Section

5.1.3.

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5. Build the program.

6. Activate Configuration, Login, Start.

7. Check the Gateway LEDs status and the Asycube behavior.

5.3. Example for Profinet on Siemens TIA Portal

This section presents the integration of the Profinet model of the Asycube Gateway in the

Siemens TIA Portal (V14) environment (Simatic S7) PLC.


1. Look for the GSD files in the Asycube memory key.

a.

b.

c.

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2. Install the GSD files.

a.

b.

c.


1. Add the Gateway (drag and drop)

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a.

b.

c.

2. Link the PLC and the Gateway

a.

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b.

3. Configure the network and the Name of Station (net100repns).

4. Create the 33 Outputs (type Unsigned16 Output) and then the 19 Inputs (type

Unsigned16 Input).

a.

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b.

5. Load the configuration.


Refer to Section 5.1.3

5.4. Example for Ethernet/IP on Rockwell RSLogix 5000

This section presents the integration of the Ethernet/IP model of the Asycube Gateway in the

Rockwell RSLogix 5000 PLC.


1. Launch the EDS Installation tool.

a.

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b.

2. Register the EDS file.

3. Select the Gateway EDS file from the Asycube memory key.

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a.

b.

c.

4. Complete the wizard

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a.

b.

c.


1. Configure the network. The default IP Address of the Gateway (port X2-IN) is

192.168.127.254.

2. Add the 33 Outputs (WORD or INT) and 19 Inputs (WORD or INT). Alternatively, you

can add 66 Byte Outputs (BYTE or SINT) and the 38 Byte Inputs (BYTE or SINT)

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Refer to Section 5.1.3

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6. Troubleshooting

This chapter presents some tricks to overcome common problems.

6.1. Modify the Station Name for the Profinet Gateway

A Profinet fieldbus slave (IO device) is identified on the Profinet network based on the so-

called Station Name. The Station Name of the Profinet Asycube Gateway is set by default to

nt100repns. If several Gateways exist in the same Profinet network, the Station Name of the

Gateway needs to be modified. Most Profinet masters (i.e. Siemens PLC) can persistently

modify the Station Name of a device. The Hilscher tool Ethernet Device Configuration can

also change the Station Name as well as other Profinet parameters.

6.2. Modify the IP address for the Ethernet/IP Gateway

An Ethernet/IP fieldbus slave (Adapter device) is identified on the Ethernet/IP network based

on its IP Address. The IP Address of the Ethernet/IP Asycube Gateway is set by default to

192.168.127.254. If several Gateways exist in the same Ethernet/IP network, the IP Address

of the Gateway needs to be modified. Some dedicated tools can persistently modify the IP

Address of the device, such as the Molex Industrial Communication Competence Center

(ICCC) EtherNetIP Tool (See picture below).

Please note that the IP Address persists even if the Gateway configuration is reset to the

factory settings.

The Hilscher Sycon Software Tool is not to be used to change the IP address of the

Gateway.

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6.3. The SYS led blinks alternatively yellow/green every second

Please contact the Asyril technical support. The gateway has lost its configuration. The

gateway needs to be reset to the factory settings and the fieldbus configuration needs to be

deployed again.

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7. Technical support

7.1. For better service …

You have read the related manuals without finding answers to your questions? Before calling

the support service, note the following information for your system:

• serial number and product key of your material

Figure 7-1. The gateway serial number can be found in the field (4) on the device label.

• software version

• alarm or error message displayed on the screen

7.2. Contact

You can find lot of information on our website: www.asyril.com

You can also contact us by mail or call our support service:

[email protected] +41 26 653 71 90

http://www.asyril.com/

mailto:[email protected]

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Review history

Rev. Date Author Comments

A 03.11.2017 PeD Initial Version

B 31.10.2018 PeD Quickstart added, other improvements (#2334, #1956)

B1 14.10.2019 PeD Minor modifications (#3660, #3963)

This document is the property of Asyril S.A. and may not be copied or circulated without

permission. The information contained in this document is subject to change without notice

for the purpose of product improvement.

asyril sa

z.i. le vivier 22

ch-1690 villaz-st-pierre

switzerland

tel. +41 26 653 71 90

fax +41 26 653 71 91

[email protected]

www.asyril.com

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