Asycube CC-Link Gateway - Asyril - Experts in Fl · 2019-10-22 · This User Guide presents the...

Asycube CC-Link

Gateway

User Guide

Document

Asyril_ASYCUBE_CC-LINK_GATEWAY_User_Guide_EN

000.103.256

Version A Date 14.10.2019

Asycube CC-Link Gateway

User Guide © Copyright Asyril S.A.

000.103.256 Version : A

2/21

Table of Contents

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

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

2. ASYCUBE CC-LINK 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 CC-LINK ON MITSUBISHI MELSEC-Q SERIES ......................................................... 11

5.2.1. Setting CC-Link communication conditions with a PLC editor software to use the gateway

12

5.2.2. CC-Link Parameter step 1 ........................................................................................................... 12



5.2.5. Example: CC-Link - Modbus TCP Memory Map ...................................................................... 14

6. TROUBLESHOOTING ...................................................................................................................... 15

6.1. MODIFY THE STATION ADDRESS ....................................................................................................... 15

6.2. MODIFY THE BAUD RATE (SPEED) ..................................................................................................... 15

6.3. THE APL LED BLINKS TWICE RED EVERY 3 SECONDS ....................................................................... 18

6.4. THE SYS LED BLINKS ALTERNATIVELY YELLOW/GREEN EVERY SECOND .......................................... 18

7. TECHNICAL SUPPORT ................................................................................................................... 19

7.1. FOR BETTER SERVICE … ................................................................................................................... 19

7.2. CONTACT ............................................................................................................................................ 19



000.103.256 Version : A

3/21



000.103.256 Version : A

4/21

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



000.103.256 Version : A

5/21

2. Asycube CC-Link 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 CC-Link Gateway User Guide for more information.

Machine Controller Asycube Gateway Asycube Feeder

CC-link with default values

CC-Link version: 2 Default station address: 1 (See Section 6.1)

Default Baud Rate: 10 MBaud (See Section 6.2)

X3

X2-IN

The IP Address MUST be set

to the default value:

192.168.127.254

Machine

Controller

PC



000.103.256 Version : A

6/21

3. User Guide Introduction

This User Guide presents the Asycube CC-Link Gateway used to communicate between a

machine controller (PLC, …) and an Asycube feeder using CC-Link fieldbus. The machine

controller is a fieldbus Master while the Asycube Gateway is a fieldbus Slave (station).

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.

Figure 3-1: The Asycube CC-Link Gateway.

NOTE:

The Asycube CC-Link Gateway is ready to use. Do not erase or modify its internal

configuration.



000.103.256 Version : A

7/21

4. Connect the Asycube Gateway

This chapter presents the steps to connect the Asycube CC-Link 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 CC-Link Gateway

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

feeder)

• Your machine controller (PLC, …)

• A RJ45 cable for connection between the gateway and the Asycube

• A CC-Link cable for serial communication between the gateway and the machine

controller

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 X2-IN 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 X2-IN port is 192.168.127.1.

Connect the RJ45 cable from this

port to the Asycube



000.103.256 Version : A

8/21

4.4. Connect the gateway to the machine controller

Connect the Gateway X3 port to the machine controller CC-Link with a CC-Link cable.

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.

Gateway X3 port

1:DA

2:DB

3:DG

4:SLD

5:FG

DA

DB

DG

SLD

FG

CC-Link cable

Gateway X3 portMachine controller

CC-Link port

Terminating resistorTerminating resistor （Typical valueof the resister(Note)：110Ω 1/4W）

CC-Link cable connection

（Note）See the controller manual for the resistor value ofspecial usage



000.103.256 Version : A

9/21

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.



000.103.256 Version : A

10/21

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



000.103.256 Version : A

11/21

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

5.2. Example for CC-Link on Mitsubishi MELSEC-Q Series

This section presents an example of integration of the Asycube CC-Link Gateway with the

Mitsubishi MELSEC-Q Series. The figures below are screens from the GX-Works 2 editor

program.

(*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



000.103.256 Version : A

12/21

5.2.1. Setting CC-Link communication conditions with a PLC editor software to use the gateway

PLC parameter is set as the steps from Sections 5.2.2 to 5.2.4 as the figure below

shows.

5.2.2. CC-Link Parameter step 1

CC-Link parameters are set by step 1 as the following figure shows.

2) I/O Assignment

1) PLC Parameter

3) CC-Link module in a PLC is set as a Type of module, "Intelligent"

4) "End" to save.

1) CC-Link

2) - CHECK : "Set the station information in the CC-Link configuration window - Double Click : "CC-

Link Configuration Setting"

3) Detect Now 4) The CC-Link setting of the gateway is read automatically

5) Save the data by clicking here



000.103.256 Version : A

13/21





Double Click

Double Click

2) Operation Setting Module1

3) Remote Device Station Initial Target Station Number Setting Module1

4) Operation Setting Module1

Default :

No setting

(Blank)

1) CC-Link

Double Click

1) CC-Link

2) Examples of CC-Link Parameters

- Start I/O No. 0000 - Operating Setting

(To be set at the next pages) - Type (CC-Link module in the PLC)

Master Station - Mode

Remote Net (Ver.2 Mode)

- Remote input (RX) X1000 - Remote output (RY)

Y1000 - Remote register (RWr)

W0 - Remote register (RWw)

W100 - Special relay (SB) SB0 - Special register (SW) SW0 - Retry Count 3 - Automatic Reconnection St Cnt 1 - PLC Down Select Stop - Scan Mode Setting Asynchronous - Delay Time Setting 0 - Station Information Setting (To be set at the next pages) - Remote Device St Initial Setting (To be set at the next pages) - Interrupt Settings

(To be set at the next pages)

Values should be set to suit a PLC program

Default values of the PLC



000.103.256 Version : A

14/21

5.2.5. Example: CC-Link - Modbus TCP Memory Map

Status data of Asycube are sent to PLC and commands from PLC are sent to the

Asycube as the figure shows.

RY： 4200Y1000

RWw： 4400W100

RX： 4000X1000

RWｒ： 4C00W0

8ワード

8ワード

11ワード

25ワード

8ワード

8ワード

11ワード

25ワード

0

8

64

72

RX RX

RYRY

RWr RWr

RWwRWw

PLC (CPU) memory addresses (X, Y, W addresses can be set according to a PLC Program)

PLC (CC-Link module) memory address

Gateway memory address Asycube memory address

Address Memory

size Address

Input

Input

Output

8 Words 8 Words

8 Words

Memory size

8 Words

8 Words

11 Words

25 Words 25 Words

11 Words

8 Words

8 Words

8 Words

11 Words

25Words 25Words

11 Words

Output

Communication Gateway <->

Asycube

Memory copy in the PLC

Input

Input

Output

Output

Comm. PLC -

Gateway



000.103.256 Version : A

15/21

6. Troubleshooting

This chapter presents some tricks to overcome common problems.

6.1. Modify the Station Address

The station address is defined by the two hardware switches. The address ranges from 1 to

64. Use a small flat screwdriver to turn the switches to the desired address.

6.2. Modify the Baud Rate (speed)

The default baud rate may not be suitable for all application. If you need to modify the baud

rate, please follow this procedure:

1. Download the Hilscher SYCON.net software tool on Hilscher website: Gateway Solutions

DVD (https://www.hilscher.com/products/product-groups/software/configurator/syconnet/)

2. Install the Hilscher SYCON.net software tool

3. Launch the Hilscher SYCON.net software tool: click OK without Password

4. Open the cclink project provided

a. Click Open

https://www.hilscher.com/products/product-groups/software/configurator/syconnet/



000.103.256 Version : A

16/21

b. Brows for the cclink.spj file located in the USB memory key provided with the

Asycube (CCLINK CONFIGURATION in the 35_Gateway folder)

c. Click Open

5. Modify the baud rate

a. Right-click on the netTAP item

b. Select the Configuration - CC-Link Slave

c. Set the Baud rate to the desired value



000.103.256 Version : A

17/21

d. Click OK

6. Connect your Asycube CC-Link Gateway to your computer

a. Connect the 24VDC power supply (refer to Section 4.2)

b. Connect the provided USB cable to your gateway (under the flap)

c. Connect the provided USB cable to your computer

7. Download the configuration into your gateway

a. Right-click on the netTAP item

b. Click Download

c. If you get a warning “Do you really want to download?”, click Yes

d. Wait a few seconds until the download succeeded

8. Finalize

a. Exit SYCON.net software tool

b. Remove the USB cable

c. Disconnect the power supply



000.103.256 Version : A

18/21

6.3. The APL led blinks twice red every 3 seconds

The CC-Link configuration has a problem. A typical case is when the address switches are not

in range (e.g. both switches to 0). Refer to Section 6.1 for more information.

6.4. 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.



000.103.256 Version : A

19/21

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]



000.103.256 Version : A

20/21

Review history

Rev. Date Author Comments

A 14.10.2019 PeD Initial Version

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

Asycube CC-Link Gateway - Asyril - Experts in Fl · 2019-10-22 · This User Guide presents the...

Documents

Transcript of Asycube CC-Link Gateway - Asyril - Experts in Fl · 2019-10-22 · This User Guide presents the...