Asyfeed Pocket moduleasyril.com/.../Asyril_MFEED-POC-01_Operating_Manual_E.pdfAsyfeed Pocket module Operating Manual Document Asyril_MFEED-POC-01_Operating_Manual_E Version v1.3 Date

Asyfeed Pocket module

Operating Manual

Document Asyril_MFEED-POC-01_Operating_Manual_E

Version v1.3 Date 20.09.2011

Articles MFEED-POC-01--01-01-01-01

MFEED-POC-01--01-01-02-01

Asyfeed Pocket module - Asyril SA

Operating Manual © Copyright Asyril S.A.

Introduction v1.3 FO 32.03.118

Operating Manual Asyfeed Pocket module - Asyril SA 3/41

Table of Contents

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

1.1. GENERALITIES .......................................................................................................................... 5

1.2. SAFETY PRECAUTIONS ............................................................................................................. 6

1.2.1. General safety precaution ................................................................................................... 6

1.2.2. Specific warnings .................................................................................................................. 7

1.3. WARRANTY INFORMATION ........................................................................................................ 8

1.4. EC INFORMATION ..................................................................................................................... 8

1.5. RELATED MANUALS .................................................................................................................. 8

2. DESCRIPTION ................................................................................................................................ 10

2.1. FIRST GLIMPSE AT THE PRODUCT........................................................................................... 10

2.1.1. Asycube ............................................................................................................................... 11

2.1.2. Robot pocket delta ............................................................................................................. 11

2.2. GENERAL CHARACTERISTICS ................................................................................................. 12

2.2.1. Technical features .............................................................................................................. 12

2.2.2. Overall dimensions ............................................................................................................. 13

2.2.3. Workspace ........................................................................................................................... 14

2.2.4. Asyview performances ....................................................................................................... 16

2.3. ELECTRIC INTERFACES .......................................................................................................... 18

2.3.1. Overview .............................................................................................................................. 18

2.3.2. Wiring of the MFEED ......................................................................................................... 18

2.3.3. Digital Input/Output connector (A) .................................................................................... 20

2.3.4. Power connection (B) ......................................................................................................... 21

2.3.5. RJ 45 connector (C) ........................................................................................................... 22

2.4. PNEUMATIC INTERFACES ........................................................................................................ 23

2.4.1. Pneumatic connection........................................................................................................ 23

2.4.2. Compressed air characteristics ........................................................................................ 23

2.5. MECHANICAL INTERFACES ..................................................................................................... 24

2.5.1. Attachment of the MFEED ................................................................................................ 24

2.5.2. Mechanical Interface .......................................................................................................... 25

2.5.3. Compliance .......................................................................................................................... 27

2.5.4. Ionizer ................................................................................................................................... 28

3. TRANSPORTATION, HANDLING AND INSTALLATION ....................................................... 29

3.1. PACKAGING OF THE PRODUCT, TRANSPORTATION AND HANDLING ....................................... 29

3.2. UNPACKING INSTRUCTIONS .................................................................................................... 29

3.3. INSTALLATION AND STORAGE ENVIRONMENT ......................................................................... 31

3.3.1. Installation environment ..................................................................................................... 31

3.3.2. Storage environment .......................................................................................................... 31





4. MAINTENANCE AND REPAIR .................................................................................................... 32

4.1. SAFETY PRECAUTIONS ........................................................................................................... 32

4.1.1. General safety precautions ............................................................................................... 32

4.2. PERSONNEL RESPONSIBLE FOR MAINTENANCE OR REPAIR ................................................... 32

4.3. MAINTENANCE ........................................................................................................................ 33

4.3.1. Periodic maintenance schedule ....................................................................................... 33

4.3.2. General maintenance ......................................................................................................... 34

4.3.3. PocketDelta maintenance ................................................................................................. 34

4.3.4. Asycube maintenance........................................................................................................ 35

4.4. REPAIR.................................................................................................................................... 37

4.5. TECHNICAL SUPPORT ............................................................................................................. 39

4.5.1. For better service … ........................................................................................................... 39

4.5.2. Contact ................................................................................................................................. 39





1. Introduction

1.1. Generalities

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

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

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

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

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

customer service.

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

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

DANGER!

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

DANGER!

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

electric shock

WARNING!

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

NOTE :

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

although failure to do so would not result in injury.

REFER TO …

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

to another paragraph.

WARNING!

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

the items specified in “Safety Precautions.” The customer is responsible to provide the

necessary instruction to the persons concerned.

NOTE :

All dimensions in this document are expressed in millimeters





1.2. Safety precautions

1.2.1. General safety precaution

1.2.1.1. Transport

DANGER !

Be aware of the weight and take care when transporting the system. For more

information, please refer to chapter 3 “Transportation, handling and installation”

1.2.1.2. General

DANGER !

Be sure that all power sources and other cables to the unit are disconnected before

working on the product.

DANGER !

Only qualified personnel (trained by Asyril and with professional experience) are

authorized to work on this device.

DANGER !

Do not unscrew the housing of the system controls. Serious injury or death could

result from electric shock. Only authorized personnel from Asyril SA are allowed to

access this part of the system for maintenance or for repair.

DANGER !

Do not plug or unplug cables of the system unless it is switched off.

DANGER !

Never modify the product. Unauthorized modification may cause the product to

malfunction, resulting in injury, electric shock, fire, etc.

DANGER !

Turn off the power to the product in the event of power failure. Failure to do so may

cause the product to suddenly start moving when the power is restored.

DANGER !

Do not use the product in a place where the main unit or controller may come in

contact with water or oil droplets.





1.2.1.3. Disposal

As soon as the product becomes out of use or outdated, please take care of its proper

disposal prevailing to industrial waste.

NOTE :

Please respect the valid legal regulation for appropriate disposal and environment

protection.

1.2.2. Specific warnings

1.2.2.1. Safety Equipment for Operators

For safety reasons operators must wear the following safety equipment when they are

working with (or near) the robot workspace :

- Safety glasses when using the backlight of the Asycube

- Safety shoes when transporting the MFEED

NOTE :

It is the customer’s responsibility to install warning signs informing that anyone working

around the MFEED must wear safety equipment.

1.2.2.2. Intervention groups

The following table defines the roles affected to each professional involved on the machine at

any time during its life cycle.

Operator Fitter Engineer Support

Carrier

agent Dismantler

Construction X

Transportation X

Installation X X

Commissioning X

Use X

Setting & Programming X

Operation X

Cleaning X X

Maintenance X

Decommissioning

Dismantling X

Table 1-1: Intervention groups





1.2.2.3. Specific warnings concerning this product

NOTE :

It is the customer’s responsibility to install warning signs informing that his specific process

can be dangerous for operators

1.3. Warranty information

You will find all the Asyril warranty information (duration, scope of warranty …) on the general

sales conditions.

1.4. Related manuals

As described in the Table 1-2, this manual is an integral part of the MFEED documentation

set. This manual covers the installation, a technical description, the maintenance, and the

repair of your system. Information on the transport and safety precautions are also included

in this manual.

Manual Title Manual reference Description of the

content

MFEED

Operating

manual

MFEED-POC-01_Operating_Manual_E_V1.0 THIS MANUAL

MFEED HMI

manual

MFEED-POC-01_HMI_Manual_E_V1.0 Describes how to

communicate with the

MFEED, how to program

it, and how to use the

HMI.

Table 1-2 : Related manuals





1.5. EC information

The declaration of incorporation as a partly completed machinery can be found here below.



Description v1.3 FO 32.03.118


2. Description

2.1. First glimpse at the product

The Asyfeed module (MFEED)

consists in a linear vibratory

conveyor, a vision system to localize

the parts, and a PocketDelta robot to

handle them.

(A) Asycube

(B) Camera

(C) PocketDelta robot

(D) Electrical box

WARNING !

There are no user serviceable parts

inside the electrical box. Contact a

supplier to operate a service. In

cases of non respectation, the

product guarentee will expire.

(E) DOAL (Diffused On Axis Light)

(F) MFEED connections

(G) Tool changer

A controller unit (PC) is also part of

the MFEED :

(H) Asyview PC

For more information on the wiring of

the PC to the MFEED, please, refer to

« 2.3 Electric Interfaces »on page 18.

Figure 2-1 : Asyfeed Module (MFEED)

Figure 2-2 : Arbor PC (Asyview)

(H)

(C)

(B)

(G)

(A)

(D)

(E)

(F)





2.1.1. Asycube

Asycube sets new standards in miniature part feeding. Its 3D vibratory platform allows fast

and flexible presentation of miniature parts (0.2 mm to 5 mm) to a robot equipped with a

vision system. It consists in :

(A) A 3D platform with integrated

backlight

(B) A removable bulck where the

components are stored

(C) Electrical interfaces performed

across a RS232 or a RS485

connection.

(D) A specific tool allowing to remove the

platform easily

Figure 2-3 : Asycube overview

2.1.2. Robot pocket delta

The PocketDelta has a parallel kinematics giving 3 degrees of freedom in translation. The

robot PocketDelta consists in :

(A) Control box

(B) Electrical interfaces

(C) 3 motors

(D) Forearms

(E) Platform

(F) Workspace

Figure 2-4 : PocketDelta Robot overview

(B)

(A)

(D)

(C)

(C)

(A)

(D)

(E)

(F)

(B)





2.2. General Characteristics

WARNING !

Do not use the product outside its specifications. In particular, observe the maximum loading

capacity. In cases of non-respectation, the product guarantee will expire.

2.2.1. Technical features

MFEED

Feeder system Asycube

Robot type PocketDelta

Cycle time 100 picks/min

Placing precision + 0.01mm

Handled part size 0.15 – 5 mm

Maximal force 2 N

Handled parts

materials

Metal, ruby, ceramics, glass,

semiconductor components

Tool changer

Components

position and

orientation

recognition

Sound level < 60dBA

Flexibility Adaptable to the customer’s

process

Easy

configuration of

new recipe





2.2.2. Overall dimensions

Figure 2-5 : Overall dimensions (In millimeters)

Characteristic Value

Footprint 327.5 x 490 mm

Weight 27kg

490

275.5

223

327.5

122

371.5





2.2.3. Workspace

Figure 2-6 : Workspace defined by the platform’s midplane

The customer’s process must be placed into the workspace of the robot.

NOTE

For an optimal cycle time, place your specific process as close as possible to the platform of

the cube.

55

103

Ø150 55

165

30

103

30





IMPORTANT NOTE FOR INTEGRATION

This workspace is defined by the space accessible by the midplane of the robot platform.

When a tool (or tool holder) is mounted on the robot, the workspace will be translated down

as much as the length of the tool holder and the tool. The following example illustrates this

phenomenon :

Figure 2-7 : offset on workspace with a tool holder





2.2.4. Asyview performances

2.2.4.1. Lighting

The following table summarizes the combinations of lighting that we propose.

"DD" Resolution field of view

lighting

no lighting Doal 75 green Doal 50 green

02 3Mpx 46 x 35 mm Special program

Special program

03

5Mpx

46 x 35 mm Special program

04 30 x 25 mm Special program Special

program

2.2.4.2. Detection limit

To define the detection limit associated with Asyview, two situations arise:

- You want to locate a precise detail (eg location of a part on the surface of the

Asycube, or quality control of the position of a hole on a part) in this case, details must

be larger than 20 pixels to ensure accuracy of a quarter pixel.

- You want to verify the presence or absence of a detail (eg pitch and toss recognition)

in this case, a size of 10 pixels is sufficient.

Conversion of pixels into millimeters depends on the field of view and on the resolution of the

camera. The Table below gives the minimal size of the detail in micrometers :

'DD' Resolution sensor size field of view Minimal

detail size in pixels

Minimal detail size in micrometers Width length width length

Mpx px px mm mm Px µm

02 3 1200 1600 35 46

20 575

10 288

1 29

03 5 2050 2448 35 46

20 376

10 188

1 19

04 5 2050 2448 25 30

20 245

10 123

1 12





This table summarizes the minimal part or detail size in order to locate or detect them :

Part size

[pixels] P < 20px P > 20px

Detail size

[pixels] D < 10px 10px < D < 20px D > 20px

Example

Localisation

of the part

¼px precise

¼px precise

¼px precise

¼px precise

Detection of

the detail

Localisation

of the detail

¼px precise

NOTE

You can find the configuration of your specific product on the product key. the "DD" refer to

the field of view and camera number of pixels :

P P P

D

P

D

P

D





2.3. Electric Interfaces

2.3.1. Overview

The electrical interfaces to the

MFEED are situated on the right.

(A) Digital Input/Output connector

(B) Power connection

(C) RJ 45 connector (x3)

Figure 2-8 : Electrical interfaces to the MFEED

2.3.2. Wiring of the MFEED

When shipped, the MFEED is completely wired (robot PocketDelta, Asycube, Asyview ...)

however, the following section provide information on the electrical interfaces of each

component :

Figure 2-9 : Ethernet connection of the main components

AsycubePocketDelta

robotCamera

4 2

Switch

3 1

RJ 45 out

REMOTE PROCESS ACUBE CAM1 CAM2 CAM3

PC

Bus I/O

optional






Asycube are :

(D) Diagnosis-reserved connector

(E) Communication connector

(F) manual switch to change the address

of the Asycube

(G) Power connection

(H) Backlight synchronization


PocketDelta robot are :

(I) Power connection

(J) Main stop switch

(K) Input/output connection

(L) Ethernet connector

(M) Robot platform

Figure 2-10 : Electrical interfaces to the Asycube

Figure 2-11 : Electrical interfaces to the

PocketDelta Robot

(K)

(L) (J)

(I)

(M)

(D)

(E)

(F)

(G)

(H)





2.3.3. Digital Input/Output connector (A)

A few inputs/outputs are available on

the module to pilot local sensors or

actuators. The connector (on the

MFEED side) is a D-Sub Connectors

15 Female. The pin-out is given in the

table below :

Pin Signal Description Pin

1 OUT 4 Vcc (24V)

IN Vcc (24V)

9

2 Not wired

10

3 Not wired

11

4 OUT 4 (0V)

12

5 Not wired

Not wired 13

6 IN 1

Not wired 14

7 IN 0

Ground 15

8 IN Vcc (24V)

Maximal output current : 1A (24V DC)

Figure 2-12 : I/O connector

Sub-D 15 female

(looking at the pins)

Below is a picture explaining the wiring of an input (represented by a lamp) and an output

(represented by switch)

Figure 2-13 : Example of an I/O connection

(8) (1)

(15) (9)

1 8

9

15





2.3.4. Power connection (B)

The MFEED is powered with

24VDC/10A.


Voltage 24V DC

Current 10 A

Power 240 W

The pin-out is given in the table below

Pin Signal Description

A1 0V (power)

A2 24V (communication)

A3 24V (power)

WARNING !

The 0V pin (A1) must be grounded !

Figure 2-14 : Electrical interfaces

D-Sub 3W3 connector

(on the MFEED side)

WARNING !

- Before supplying power to the product, check that your voltage distribution is the same

as the nominal voltage of the MFEED.

- Never disconnect the power cables when the system is operating. Always turn the

machine off and then turn the power down.

(A1) (A3) (A2)





2.3.5. RJ 45 connector (C)

The three RJ 45 connection enables

to communicate with :

(A) The Camera

NOTE :

The camera must be wired with a

category 6 quality Ethernet cable

(B) The Asycube

(C) The PocketDelta Robot

Figure 2-15 : RJ 45 connection


Asyview PC are :

(A) Remote Ethernet connection

(B) Process (robot) Ethernet connection

(C) Asycube Ethernet connection

(D) Camera 1 Ethernet connection

(E) Camera 2 Ethernet connection

(F) Camera 3 Ethernet connection

(G) USBs connection for keyboard or

mouse


Voltage 12V DC

Power 60W Adapter

Figure 2-16 : Electrical interfaces to the Asyview

(A) (B) (C)

(A) (B)

(G)

(C) (D) (E) (F)





2.4. Pneumatic interfaces

2.4.1. Pneumatic connection

The pneumatic connection of the

MFEED consists in one connector :

(A) Tool changer and venturi connection

connector Nominal

pressure

Diameter

A 5 Bar 6mm

NOTE :

It is the customer’s responsibility to

install a manometer system for

maintenance and control purpose.

Figure 2-17 : Pneumatic connection

2.4.2. Compressed air characteristics

To ensure optimum performances of the pneumatic interfaces, the following characteristics

must be followed :


Nominal filtration rating < 5 µm

Recommended lubricant No lubrication

(A)





2.5. Mechanical Interfaces

2.5.1. Attachment of the MFEED

The MFEED must be mounted on a smooth, flat and solid surface. Ensure yourself that the MFEED is

not submitted to excessive mounting flexure. Failure to do so would degrade performances.

Figure 2-18 : Attachment of the MFEED

NOTE

the plate is 20 mm thick





2.5.2. Mechanical Interface

2.5.2.1. Robot tool

Tools and grippers are not supplied with the robot. Their design depends on the application

and has to be adapted specifically. Tools and grippers can be attached to the robot’s

platform.

For more information on the robot platform, please, refer to the robot’s documentation.

Figure 2-19: Example of a standard tool (with free geometry for the component)

NOTE

For best performance, note that the length of the tool must be the same as the calibration tool.

Free geometry

(depending on the

component to

manipulate)





2.5.2.2. Robot calibration tool

Depending on the type of application (using a control camera or not, size of the holes on the

calibration plate...) the calibration tool might differ. The grayed column below corresponds to

the standard tool delivered with your equipment.

Perfectly suited for a control

camera with front light lighting.


camera with dark field lighting.


camera with front light lighting.

Perfectly suited for calibrating

holes of Ø1.1mm.


holes of Ø1.5mm.


holes of Ø1.5mm.

Figure 2-20 : Calibration tools available

NOTE :

For more information on the available calibration tools, please contact Asyril.

For more information about the calibration procedure, refer to the HMI manual.

11.2

Ø1.5

Ø1.1

11.2

Ø2

Ø1.5

11.2

Ø2

Ø1.5





2.5.2.3. Calibration plate (for Asycube)

A specific calibration plate is delivered

with your equipment.

The following drawing gives the

positioning of the holes used for the

robot/asycube calibration.

Figure 2-21 : Plaque de calibration pour asycube

Figure 2-22 : Detail of the holes position on the calibration plate.

For more information about the calibration procedure, refer to the HMI manual.





2.5.3. Ionizer

The ionizer, give molecules in the air the ability to carry charges .Thus, the ionizer module is

in charge of neutralizing the electrostatic charges responsible for sticking the component to

the platform.

If the option was purchased, the ionizer is supplied with the unit, wired, mounted and ready to

be used.

For more information on the ionizer please, refer to the manufacturer’s datasheet.



Transportation, handling and installation v1.3 FO 32.03.118


3. Transportation, handling and installation

3.1. Packaging of the product, transportation and handling

The product transport must be executed in accordance with the specified instructions

indicated on the package (top, bottom and fragile …). In addition, pay particular attention to

the following points :

WARNING !

- Be aware of the weight and take care when transporting the system.

- The operator should not carry heavy shipping boxes by himself.

- If the shipping box is to be left standing, it should be in a horizontal position.

- Do not climb on the shipping box.

- Do not place heavy objects on top of the shipping box.

- Be aware not to damage the system while handling

The MFEED is shipped on a wooden pallet and a protecting plastic film surrounds the whole

system. It must be handled with care with a forklift or a pallet truck.

Value

Dimensions 490*328*372 mm

Total weight 28 kg

Table 3-1 : Gross weight and dimensions of the product when packaged

3.2. Unpacking instructions

Before unpacking, look at the ShockWatch Label. As to promote zero-defect shipping, all

Asyril products are shipped with a ShockWatch Label. If this is red, or if any evidence of

damage during transit was to be indicated please :

(A) request that the carrier’s agent is present at the time of unpacking.

(B) pay special attention to any damage on the exteriors of the product

(C) If any damage has occurred, do not sign the delivery receipt and

contact Asyril

(D) In any case, make a note on the delivery receipt

Figure 3-1 : ShockWatch

NOTE :

If the items received do not match your order, or are damaged, do not sign the receipt, and

contact Asyril as soon as possible.





Locate the identification plate at the

back of the product and ensure that

the product you have received is the

appropriate one.

Figure 3-2 : Product key sticker

Important information is on this plate;

such as the power consumption or

the serial number that you will need

for any kind of correspondence with

Asyril. Figure 3-3 : Location of the identification plate

on the product

The product key gives the product designation as follows:

PRODU - TYP - VE - - AA - BB - CC - DD

Product

MFEED - Asyfeed module

Robot type

POC - Pocket Delta robot

Version

01 - Version number

Robot

01 - ROBOT-POC-01--15-03-02-01

Feeder

01 – ACUBE-MEZ-02--01-01-01-02

Vision

03- AVIEW-INT-03--01-01-01-01

Option

02- FOV 45 x 36; 2 Mpx

03- FOV 45 x 36; 5 Mpx

04- FOV 30 x 25; 5 Mpx

Figure 3-4 : Product key





3.3. Installation and storage environment

WARNING !

The MFEED must be mounted on a smooth, flat and strong surface. Be sure that the

MFEED is not exposed to excessive vibrations or mounting flexure. Failure to do so

would deteriorate the MFEED’s performance.

3.3.1. Installation environment

The MFEED can be used under following conditions:

- Working temperature: +5°C to +40°C

WARNING !

note that variations of temperature might affect the precision of the robot, especially if

precisions below 10 microns are necessary

- Pay particular attention to dust : Operate the system in a clean environment.

- Avoid exposure to excessive light or direct radiation, failure to do so could affect Asyview

performances.

WARNING !

It is the customer’s responsibility to install protective equipment against dust and

excessive light around the MFEED.

- Humidity: 30% to 95% max. non-condensing

WARNING !

In the case of extreme humidity, note that it might affect the global performances of the

MFEED. In addition, if humidity is below 30% electrostatic forces may perturb the

components behavior.

- Avoid extreme electromagnetic waves, ultraviolet rays and radiation.

- Avoid using the product in a place where the main unit or controller may be exposed to water

or oil droplets.

- Clean room application: cleanliness class ISO47 and ISO8

WARNING !

Do not use the product in an atmosphere of corrosive gases. Oxidation may occur and

damage certain elements of the product.

3.3.2. Storage environment

The storage environment should be similar to the operating environment. In addition, you

should protect the MFEED against dust.

NOTE :

After a period of inactivity, the robot may require a new calibration.

For more information on the calibration procedure please, refer to the programming manual.



Maintenance and repair v1.3 FO 32.03.118


4. Maintenance and repair

4.1. Safety precautions

4.1.1. General safety precautions

WARNING !

There are no user serviceable parts inside the product. Contact a supplier to execute

maintenance. In cases of non respectation, the product guarantee will expire.

DANGER !

Do not operate the system when it is damaged. Please ensure yourself before use

that now defects are to be noticed.

DANGER !

Power down the system and unplug it from the mains before any kind of

maintenance.

DANGER !

Do not wash the product with water. Failure to do so could result in malfunction,

injury, electric shock...

4.2. Personnel responsible for maintenance or repair

Maintenance operation must be done by personnel that have been trained on the system,

nevertheless, we can define three types of personnel :

(A) Maintenance technician without any specific schooling from Asyril

(B) Maintenance technician with a specific schooling from Asyril

(C) Technician from Asyril’s customer service

Make sure that the person who will be working on the maintenance has received and read

this manual and will be able to work according to specified instructions given in the following

sections. All personnel must observe the safety precautions listed in this manual.

NOTE :

For every maintenance executed by Asyril, a specific report will be issued.

For more information on our maintenance service, please call the Asyril customer service.





4.3. Maintenance

NOTE :

The information given in the “Table 4-1 : Periodic maintenance schedule” is only

informative. Maintenance and frequency must be adapted by the operator according to

the customer specific process, its operating environment and the work charge.

4.3.1. Periodic maintenance schedule

Our robots are largely maintenance-free, however, simple inspections should be done at

regular intervals to ensure optimum performances, and safe operating of your product.

Item Period Personnel Reference

General Cleaning of the machine Week A 4.3.2.1

Tool changer Visual inspection of the tools (control of the

state) Change of nozzles in poor condition Week B

Cleaning of the tool’s drillings. Week A

Optical parts Visual check of the optical parts and if

necessary cleaning and calibration of the

Asyview

Year C Contact

Asyril

Pneumatics If necessary exchange of the air filter Year B

Asycube VoiceCoils control and audit of component

behavior Year C Contact

Asyril

Visual check and cleaning of the bulk and plate Week A 4.3.4.1

Visual check and Cleaning 3D vibration

module Year B 4.3.4.3

Robot Visual check, clean and lubricate the

articulations of the parallel structure (including

moving platform and compliance)

Year C Contact

Asyril

Cleaning the robot Year B 4.3.3.1

Table 4-1 : Periodic maintenance schedule

WARNING !

For any kind of maintenance, always use original factory replacement parts.

NOTE :

It is the customer’s responsibility to schedule the maintenance of his specific process





4.3.2. General maintenance

4.3.2.1. Cleaning of the machine

Material needed :

- Lint-free cloth

- isopropanol alcohol

Clean all the exterior surfaces of the

MFEED (baseplate, chassis… )

Figure 4-1 : Cleaning of the machine

4.3.2.2. Optical parts checking and cleaning

Visual check of the optical parts (camera lens, DOAL, Mirror) and cleaning if necessary

NOTE :

This maintenance operation can only be performed by an Asyril technician.

In case of non-respectation the MFEED could malfunction.

For more information on this operation, please contact the Asyril’s customer service.

4.3.3. PocketDelta maintenance

4.3.3.1. Cleaning robot

Material needed :

- Lint-free cloth


- Vacuum-cleaner

Step 1 Clean all exterior surfaces of the

robot. And pay specific attention to

the front arms (B)

Step 2 Use the vacuum cleaner to remove

dust accumulated in the filters (A)

Figure 4-2 : Cleaning the robot PocketDelta

(A)

(B)





4.3.3.2. Controlling the parallel structure

NOTE :



- Clean and lubricate the joints of the parallel structure

- Control the front arms wear

- Control the clearance of the robot platform

4.3.3.3. Controlling the engine group

NOTE :



- Control the engine

- Control the brakes

4.3.3.4. Inspection of the control box

NOTE :



- Clean the air filter

4.3.4. Asycube maintenance

4.3.4.1. Cleaning bulk

Material needed :

- Lint-free cloth


- Allen key (1.5mm)

Step 1 Unscrew the six screws (A) of the

Plexiglas lid (B) of the bulk

Step 2 Clean all interior surfaces of the

bulk

Figure 4-3 : Bulk

(A)

(B)





4.3.4.2. Control and Cleaning of the platform

Material needed :

- Lint-free cloth


Step 1 Control the surface state of the

platform (A) and be particularly

careful to the following points :

- Scratches

- Dirt

- Spotted surface

- Oily or greasy surface

WARNING :

If the surface damage is such that

the vision or the behavior of parts

is disturbed, its replacement must

be proceeded.

Step 2 Clean the surface of the platform

Figure 4-4 : Platform

4.3.4.3. Cleaning 3D vibration module

NOTE :



4.3.4.4. Voicecoils control and audit of component behavior

NOTE :



(A)





4.4. Repair

This section gives a list of the spare parts in the system with their product key. The product

must be returned to the manufacturer for any repair work. For exceptional cases, and after

acceptation of Asyril S.A. this work can be performed on the costumer’s site by trained

personnel as defined in section 4.2.

WARNING !

For any kind of repair, always use original factory replacement parts.

Two kind of parts are defined :

(A) Part that may be changed every year – or critical – or wear part

(B) Part that may be changed after 2 to 5 years

(C) Parts that may never be replaced

Table 4-2 : Replaceable parts for Module MFEED-POC-01--01-01-03-02

Name of the part Type Article number

PC ARBOR FPC-7500-8-i5-8-i340 B 900 006 825

CAMERA 1/1.8'' ECO274 GIGE CCD C 602 700 139

OBJECTIF 50mm C-MOUNT 2/3'' 1.3M C 602 700 664

MIRRO-POC-01--15-02-01-01 C 600 831 006

ECLAIRAGE DOAL 75X75 mm2 G Led 24V B 602 700 354

CAPTEUR STATIQUE D-F8PSAPC B 220 000 466

TABLE LINEAIRE PNEUMATIQUE MXJ8-20CP B 420 002 641

PATIN RESSORT B F M6x14 B 420 002 960

FOURCHE MOBILE CHANGEUR D'OUTIL B 420 004 850

CONVERT ETHERNET/SERIAL MOXA NPORT 5150A B 602 001 602

ELECTRODISTRIBUTEUR EVT307-5DO-01F-F-Q B 420 002 822

VENTURI COMPACT ZQ1101U-K15LO-EBG-00-Q B 420 002 817

ELECTRODISTRIB. 5/2 MONO 24VCC SY3120 B 602 001 731

FILTRE XT534-5-001-AS A 420 011 708

MODULE ETHERNET MOXA 8xRJ45 10/100/1000 B 602 001 768

FUS. T 2A GS 5x20 A1 142 054 202

FUS. T 5A GS 5x20 A1 142 054 502

OPTOCOUPLEUR PLC-OSP- 24DC/24DC/2 B 210 000 171





Table 4-3 : Replaceable parts for Module MFEED-POC-01--01-01-03-03

Name of the part Type Article number

PC ARBOR FPC-7500-8-i5-8-i340 B 900 006 825

CAMERA 2/3'' ECO655 GIGE CCD C 602 700 140

ACCESS. AVIEW OBJECTIF LENS 60 C 660 831 008

MIRRO-POC-01--15-02-01-01 C 600 831 006

ECLAIRAGE DOAL 75X75 mm2 G Led 24V B 602 700 354

CAPTEUR STATIQUE D-F8PSAPC B 220 000 466

TABLE LINEAIRE PNEUMATIQUE MXJ8-20CP B 420 002 641

PATIN RESSORT B F M6x14 B 420 002 960

FOURCHE MOBILE CHANGEUR D'OUTIL B 420 004 850

CONVERT ETHERNET/SERIAL MOXA NPORT 5150A B 602 001 602

ELECTRODISTRIBUTEUR EVT307-5DO-01F-F-Q B 420 002 822

VENTURI COMPACT ZQ1101U-K15LO-EBG-00-Q B 420 002 817

ELECTRODISTRIB. 5/2 MONO 24VCC SY3120 B 602 001 731

FILTRE XT534-5-001-AS A 420 011 708

MODULE ETHERNET MOXA 8xRJ45 10/100/1000 B 602 001 768

FUS. T 2A GS 5x20 A1 142 054 202

FUS. T 5A GS 5x20 A1 142 054 502

OPTOCOUPLEUR PLC-OSP- 24DC/24DC/2 B 210 000 171

IMPORTANT NOTE :

For more information on the replaceable parts on your Asycube Mezzo, please refer to

the section "repair" of your Asycube Operating Manual

IMPORTANT NOTE :

For more information on the replaceable parts on your PocketDelta Robot, please refer

to the section "repair" of your PocketDelta Robot Operating Manual





4.5. Technical support

4.5.1. For better service …

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

- serial number and product key of your material

- software version

- alarm or error message displayed on the screen

4.5.2. Contact

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

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

[email protected]

+41 26 653 7190

http://www.asyril.ch/

mailto:[email protected]





Review history

Rev. Date Author Comments

1.0 20.09.2011 SiA Version Initiale

1.1 19.10.2012 SiA Mise à jour liste pièce de rechange

Modification maintenance asycube (nettoyage interne)

1.2 16.01.2014 SiA Mise à jour passage de 1PC lanner à 1PC arbor (images,

légendes, liste de pces)

1.3 24.02.2015 SiA Mise a jour suite a modification du produit (1 passage

pneumatique, modification interfaces de fixation, modification

liste de pièces de rechange)

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

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

the purpose of product improvement.

asyril sa

z.i. le vivier

ch-1690 villaz-st-pierre

switzerland

tel. +41 26 653 71 90

fax +41 26 653 71 91

[email protected]

www.asyril.ch

Documents

Asyfeed Pocket moduleasyril.com/.../Asyril_MFEED-POC-01_Operating_Manual_E.pdfAsyfeed Pocket module Operating Manual Document Asyril_MFEED-POC-01_Operating_Manual_E Version v1.3 Date